An AGV vehicle automatic battery replacement device and method

Abstract

The present invention discloses an automatic battery changing device and method for an AGV vehicle, which belongs to the technical field of AGV vehicles. The automatic battery changing device for an AGV vehicle includes a handling mechanism and a charging mechanism. The charging mechanism includes a fixed frame and a plurality of charging compartments, and the charging compartments can move along the fixed frame. The handling mechanism includes a support frame, a floating frame and a receiving compartment. The support frame is fixedly arranged, and the floating frame is floatingly connected with the support frame; the receiving compartment is rotatably connected with the floating frame, an electromagnet is arranged in the receiving compartment, a guiding component is arranged at one end of the receiving compartment, and the guiding component can be docked with the battery compartment on the AGV vehicle and can be docked with the charging compartment. The electromagnet can suck the battery into the receiving compartment and can push the battery out of the receiving compartment. The automatic battery changing method for an AGV vehicle adopts the above-mentioned automatic battery changing device for an AGV vehicle. Since the floating frame is floatingly connected with the support frame, the receiving compartment has a certain degree of freedom, which is convenient for docking with the AGV vehicle to compensate for the parking error of the AGV vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV vehicles, and in particular to an automatic battery changing device and method for an AGV vehicle. Background Art

[0002] At present, AGV vehicles are widely used in the logistics field and enterprise production lines. Most AGV vehicles are powered by electricity and are equipped with batteries. However, when the battery runs out of power, it needs to be charged. At this time, the AGV vehicle can only be parked at a fixed position for charging or its battery can be replaced. Letting the AGV vehicle park at a fixed position for charging stops the AGV vehicle from working, affecting work efficiency, and replacing the battery of the AGV vehicle requires manual replacement by staff, which is time-consuming and laborious.

[0003] There are automatic battery changing devices in the prior art. When the battery of an AGV vehicle needs to be charged, the AGV vehicle travels near the automatic battery changing device and aligns its own battery conveying mechanism with the entrance of the battery conveying roller path of the automatic battery changing device, and conveys the dead battery to the battery conveying roller path, and the battery conveying roller path conveys the dead battery to be charged.

[0004] Due to the error in the parking position of the AGV vehicle, the battery conveying mechanism cannot accurately dock with the entrance of the battery conveying roller path of the automatic battery changing device, which not only affects the battery changing efficiency, but also there will be collisions during the docking process, resulting in damage. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic battery changing device and method for an AGV vehicle to solve the technical problem that the AGV vehicle and the automatic battery changing device cannot be accurately docked in the prior art.

[0006] With the above concept, the technical solution adopted by the present invention is as follows:

[0007] An automatic battery changing device for an AGV vehicle includes a handling mechanism and a charging mechanism. The charging mechanism includes a fixed frame and a plurality of charging compartments. The charging compartments can move along the fixed frame. The handling mechanism includes:

[0008] A support frame, fixedly arranged;

[0009] A floating frame, floatingly connected to the support frame;

[0010] A receiving compartment, rotatably connected to the floating frame. An electromagnet is arranged in the receiving compartment. A guiding component is arranged at one end of the receiving compartment. The guiding component can be docked with the battery compartment on the AGV vehicle and can be docked with the charging compartment. The electromagnet can suck the battery into the receiving compartment and can push the battery out of the receiving compartment.

[0011] Wherein, a support disk is arranged on the support frame, a plurality of ball bearings are arranged inside the support disk, a bearing disk is arranged on the floating frame, and the bearing disk is lapped on the ball bearings.

[0012] Wherein, a plurality of elastic members are arranged between the support frame and the floating frame. One end of each elastic member is fixedly connected to the support frame, and the other end of each elastic member is fixedly connected to the floating frame. The plurality of elastic members are evenly distributed on both sides of the floating frame.

[0013] Wherein, a sliding table is arranged on the floating frame. The sliding table is slidably connected to the floating frame. The receiving cabin has a rotating shaft, and the rotating shaft is rotatably connected to the sliding table.

[0014] Wherein, a rack is fixedly arranged on the floating frame, a gear is arranged on the rotating shaft, the gear is selectively engaged with the rack, and the extending direction of the rack is parallel to the sliding direction of the sliding table.

[0015] Wherein, a guide rail is fixedly arranged on the floating frame, a limiting wheel is arranged on the receiving cabin, and the guide rail can be inserted between two adjacent limiting wheels.

[0016] Wherein, the guiding assembly includes a V-shaped plate and guiding wheels arranged on the V-shaped plate. A first V-shaped groove cooperating with the V-shaped plate is arranged on the battery cabin, and a second V-shaped groove cooperating with the V-shaped plate is arranged on the charging cabin.

[0017] Wherein, a guiding groove is annularly arranged on the fixed frame, and the charging cabin can move along the guiding groove. The guiding groove is located in a vertical plane.

[0018] Wherein, the charging mechanism further includes:

[0019] A chain drive assembly, including two sprockets and a chain wound around the two sprockets;

[0020] A plurality of support rods. One end of each support rod is rotatably connected to the chain, and the other end is slidably connected to the guiding groove. The support rods penetrate through the charging cabin.

[0021] Wherein, the support rods are arranged at the upper end of the charging cabin, rollers are arranged at the lower end of the charging cabin, and a limiting groove cooperating with the rollers is annularly arranged on the fixed frame.

[0022] An AGV car automatic battery changing method, using the above AGV car automatic battery changing device, includes:

[0023] The AGV car travels to the vicinity of the handling mechanism. The guiding assembly at one end of the receiving cabin is docked with the battery cabin on the AGV car, and the electromagnet sucks the battery into the receiving cabin;

[0024] The receiving compartment detaches from the battery compartment, and the receiving compartment rotates 180 degrees relative to the floating frame to turn the battery around;

[0025] An empty charging compartment moves along the fixed frame to a position directly opposite the receiving compartment. The receiving compartment docks with the charging compartment, and the electromagnet pushes the battery into the charging compartment. The charging compartment moves away from the receiving compartment along the fixed frame, and the battery is charged in the charging compartment;

[0026] A charging compartment loaded with a fully charged battery moves along the fixed frame to a position directly opposite the receiving compartment. The receiving compartment docks with the charging compartment, and the electromagnet sucks the battery into the receiving compartment;

[0027] The receiving compartment detaches from the charging compartment, and the receiving compartment rotates 180 degrees relative to the floating frame to turn the battery around;

[0028] The guiding component at one end of the receiving compartment docks with the battery compartment on the AGV cart, and the electromagnet pushes the battery into the battery compartment.

[0029] Advantages of the present invention:

[0030] For the automatic battery changing device and method of the AGV cart proposed by the present invention, when the battery of the AGV cart needs to be charged, the AGV cart travels near the handling mechanism. The guiding component at one end of the receiving compartment docks with the battery compartment on the AGV cart. Since the floating frame is floatingly connected to the support frame and the receiving compartment is rotationally connected to the floating frame, the receiving compartment has a certain degree of freedom, which facilitates smooth docking with the AGV cart to compensate for the parking error of the AGV cart. The electromagnet sucks the battery into the receiving compartment. The receiving compartment rotates 180 degrees relative to the floating frame to turn the battery around to face an empty charging compartment. The receiving compartment docks with the charging compartment, and the electromagnet pushes the battery into the charging compartment, and the battery can be charged in the charging compartment; Since there are multiple charging compartments and they can move along the guiding groove, the fully charged batteries can move to a position directly opposite the receiving compartment driven by the charging compartments. After the receiving compartment docks with the charging compartment, the electromagnet can suck the battery into the receiving compartment. The receiving compartment rotates 180 degrees relative to the floating frame to turn the battery around to face the battery compartment on the AGV cart. After the receiving compartment docks with the battery compartment, the electromagnet can push the battery into the battery compartment, thereby realizing automatic battery replacement, reducing labor intensity, and saving time and effort. Description of the Drawings

[0031] Figure 1 is a schematic structural diagram of the automatic battery changing device of the AGV cart provided by the embodiment of the present invention;

[0032] Figure 2 is a schematic structural diagram of the AGV cart provided by the embodiment of the present invention;

[0033] Figure 3It is a schematic exploded view of a battery and a battery compartment provided by an embodiment of the present invention;

[0034] Figure 4 It is a schematic diagram of the cooperation process between a receiving compartment and an AGV cart provided by an embodiment of the present invention;

[0035] Figure 5 It is a schematic structural diagram of a handling mechanism provided by an embodiment of the present invention;

[0036] Figure 6 is Figure 5 an exploded schematic diagram of a partial structure of the provided handling mechanism;

[0037] Figure 7 It is a schematic diagram of the movement of the floating frame in cooperation with the receiving compartment provided by an embodiment of the present invention Figure 1 ;

[0038] Figure 8 It is a schematic diagram of the movement of the floating frame in cooperation with the receiving compartment provided by an embodiment of the present invention Figure 2 ;

[0039] Figure 9 It is a schematic structural diagram of a charging mechanism provided by an embodiment of the present invention;

[0040] Figure 10 It is a schematic structural diagram of a charging compartment provided by an embodiment of the present invention;

[0041] Figure 11 It is a schematic diagram of the movement process of a power - deficient battery provided by an embodiment of the present invention;

[0042] Figure 12 It is a schematic diagram of the movement process of a fully - charged battery provided by an embodiment of the present invention.

[0043] In the figure:

[0044] 10. AGV cart;

[0045] 11. Battery; 111. Terminal;

[0046] 12. Battery compartment; 121. First interface; 122. First V - shaped groove;

[0047] 13. First check member;

[0048] 20. Handling mechanism;

[0049] 21. Support frame; 211. Support disk; 212. Ball;

[0050] 22. Floating frame; 221. Bearing disk; 222. Slide; 223. Rack; 224. Guide rail;

[0051] 23. Receiving chamber; 231. Rotating shaft; 232. Gear; 233. Limiting wheel;

[0052] 24. Guide assembly; 241. V-shaped plate; 242. Guide wheel;

[0053] 25. Elastic member;

[0054] 30. Charging mechanism;

[0055] 31. Fixed bracket; 311. Guide groove; 312. Limiting groove;

[0056] 32. Charging chamber; 321. Second V-shaped groove; 322. Second check member; 323. Second interface;

[0057] 33. Chain drive assembly; 331. Sprocket; 332. Chain;

[0058] 34. Support rod. Detailed implementation mode

[0059] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0060] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0061] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0062] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation modes.

[0063] See Figure 1 and Figure 2 An embodiment of the present invention provides an automatic battery replacement device for an AGV cart, which includes a handling mechanism 20 and a charging mechanism 30. The handling mechanism 20 can carry out the dead battery 11 on the AGV cart 10 from the battery compartment 12 and transfer the battery 11 to the charging mechanism 30. The charging mechanism 30 is used for charging the battery 11. The handling mechanism 20 can carry out the fully charged battery 11 from the charging mechanism 30 and carry the battery 11 into the battery compartment 12 on the AGV cart 10, thereby realizing the automatic replacement of the battery 11.

[0064] The charging mechanism 30 includes a fixing frame 31 and a plurality of charging compartments 32, and the charging compartments 32 can move along the fixing frame 31. Specifically, a guiding groove 311 is provided around the fixing frame 31, and the charging compartments 32 can move along the guiding groove 311. The guiding groove 311 is located in a vertical plane, so that the plurality of charging compartments 32 are similar to a Ferris wheel structure and move in the vertical direction, reducing the volume occupation and saving the site.

[0065] The handling mechanism 20 includes a support frame 21, a floating frame 22 and a receiving compartment 23. The support frame 21 is fixedly arranged, the floating frame 22 is floatingly connected with the support frame 21, the receiving compartment 23 is rotatably connected with the floating frame 22. An electromagnet is arranged in the receiving compartment 23. A guiding component 24 is arranged at one end of the receiving compartment 23. The guiding component 24 can be docked with the battery compartment 12 on the AGV cart 10 and can be docked with the charging compartment 32. The electromagnet can suck the battery 11 into the receiving compartment 23 and can push the battery 11 out of the receiving compartment 23.

[0066] See Figure 3 and Figure 4 The battery 11 has terminals 111, and a first interface 121 capable of cooperating with the terminals 111 is provided on the battery compartment 12. When the battery 11 is inserted into the battery compartment 12, the terminals 111 are inserted into the first interface 121.

[0067] First check valves 13 are provided on both sides of the opening of the battery compartment 12. The first check valves 13 have elastic protrusions, and the elastic protrusions can prevent the battery 11 from being disengaged from the battery compartment 12. When the battery 11 is inserted into the battery compartment 12, the elastic protrusions are squeezed, and after the battery 11 is inserted into the battery compartment 12, the elastic protrusions pop up and abut against the end of the battery 11.

[0068] The guiding component 24 includes a V-shaped plate 241 and guiding wheels 242 arranged on the V-shaped plate 241. A first V-shaped groove 122 is provided on the battery compartment 12. When the receiving compartment 23 is docked with the battery compartment 12, the V-shaped plate 241 can be inserted into the first V-shaped groove 122, and the guiding wheels 242 are in contact with the inner wall of the first V-shaped groove 122. Due to the arrangement of the guiding wheels 242, the friction force is reduced, which is convenient for the receiving compartment 23 to be smoothly docked with the battery compartment 12.

[0069] When the battery 11 of the AGV cart 10 needs to be charged, the AGV cart 10 travels near the handling mechanism 20. The guiding component 24 at one end of the receiving chamber 23 docks with the battery compartment 12 on the AGV cart 10. Since the floating frame 22 is floatingly connected to the support frame 21 and the receiving chamber 23 is rotatably connected to the floating frame 22, the receiving chamber 23 has a certain degree of freedom, which facilitates smooth docking with the AGV cart 10 to compensate for the parking error of the AGV cart 10. The electromagnet sucks the battery 11 into the receiving chamber 23, and the receiving chamber 23 rotates 180 degrees relative to the floating frame 22 so that the battery 11 turns to face an empty charging chamber 32. The receiving chamber 23 docks with the charging chamber 32, and the electromagnet pushes the battery 11 into the charging chamber 32, and the battery 11 can be charged in the charging chamber 32. Since there are multiple charging chambers 32 and they can move along the guiding groove 311, the fully charged battery 11 can move to a position facing the receiving chamber 23 driven by the charging chamber 32. After the receiving chamber 23 docks with the charging chamber 32, the electromagnet can suck the battery 11 into the receiving chamber 23, and the receiving chamber 23 rotates 180 degrees relative to the floating frame 22 so that the battery 11 turns to face the battery compartment 12 on the AGV cart 10. After the receiving chamber 23 docks with the battery compartment 12, the electromagnet can push the battery 11 into the battery compartment 12, thereby realizing the automatic replacement of the battery 11, reducing the labor intensity and saving time and effort.

[0070] See Figure 5 and Figure 6 , the floating frame 22 is floatingly connected to the support frame 21. A support disk 211 is arranged on the support frame 21, and balls 212 are arranged inside the support disk 211. A bearing disk 221 is arranged on the floating frame 22, and the bearing disk 221 is lapped on the balls 212. Since the balls 212 can rotate, the floating frame 22 has a certain degree of freedom relative to the support frame 21 and can move up and down and rotate within a certain range.

[0071] Optionally, a first magnet is arranged on the floating frame 22, and a second magnet is arranged on the support frame 21. The magnetic poles of the first magnet and the second magnet are opposite, thereby forming a magnetic levitation structure, so that the floating frame 22 has a certain degree of freedom relative to the support frame 21.

[0072] A plurality of elastic members 25 are arranged between the support frame 21 and the floating frame 22. One end of the elastic member 25 is fixedly connected to the support frame 21, and the other end of the elastic member 25 is fixedly connected to the floating frame 22. The plurality of elastic members 25 are evenly distributed on both sides of the floating frame 22. During the movement of the floating frame 22, the elastic member 25 is stretched or compressed, and the elastic member 25 can drive the floating frame 22 to reset. The elastic member 25 is a helical spring or a gas spring.

[0073] The receiving cabin 23 is rotatably connected to the floating frame 22. Specifically, the receiving cabin 23 can rotate 360 degrees relative to the floating frame 22. The receiving cabin 23 has a rotating shaft 231, and the rotating shaft 231 can be rotatably connected to the floating frame 22.

[0074] In this embodiment, not only should the receiving cabin 23 be able to rotate relative to the floating frame 22, but also the receiving cabin 23 should be able to move linearly relative to the floating frame 22 to facilitate the docking of the receiving cabin 23 with the battery cabin 12.

[0075] A sliding table 222 is provided on the floating frame 22. The sliding table 222 is slidably connected to the floating frame 22, and the rotating shaft 231 of the receiving cabin 23 is rotatably connected to the sliding table 222. The sliding table 222 can drive the receiving cabin 23 to move linearly to approach the battery cabin 12 or the charging cabin 32.

[0076] A rack 223 is fixedly provided on the floating frame 22, and a gear 232 is provided on the rotating shaft 231. The gear 232 is selectively engaged with the rack 223, and the extending direction of the rack 223 is parallel to the sliding direction of the sliding table 222. The cooperation of the gear 232 and the rack 223 makes the rotation of the receiving cabin 23 smoother.

[0077] A guide rail 224 is fixedly provided on the floating frame 22, and a limiting wheel 233 is provided on the receiving cabin 23. The guide rail 224 can be inserted between two adjacent limiting wheels 233. The cooperation of the guide rail 224 and the limiting wheel 233 makes the linear movement of the receiving cabin 23 smoother. There are two guide rails 224, and guide rails 224 are provided at both ends of the floating frame 22. The two guide rails 224 will not be inserted between the two limiting wheels 233 at the same time. When one guide rail 224 is inserted between two adjacent limiting wheels 233, the other guide rail 224 is disengaged from the limiting wheel 233.

[0078] The movement of the sliding table 222 can be controlled by a cylinder, and the rotation of the gear 232 can be controlled by a motor.

[0079] See Figure 7 , when the receiving cabin 23 is successfully docked with the battery cabin 12, the guide rail 224 is inserted between two adjacent limiting wheels 233, and at this time the gear 232 is disengaged from the rack 223; after the battery 11 is sucked into the receiving cabin 23, the sliding table 222 moves linearly in the direction away from the battery cabin 12, driving the receiving cabin 23 away from the battery cabin 12, so that the guiding assembly 24 of the receiving cabin 23 is disengaged from the first V-shaped groove 122 of the battery cabin 12, and at the same time the limiting wheel 233 is disengaged from the guide rail 224. At this time, the gear 232 is engaged with the rack 223; the gear 232 rotates, and then the gear 232 moves along the rack 223, so that the receiving cabin 23 rotates and moves in the direction away from the battery cabin 12.

[0080] See Figure 8After the receiving compartment 23 rotates 90 degrees, the gear 232 continues to rotate, and then the gear 232 moves along the rack 223, causing the receiving compartment 23 to move away from the battery compartment 12 while rotating; after the receiving compartment 23 rotates 180 degrees, the sliding table 222 moves linearly away from the battery compartment 12, driving the receiving compartment 23 closer to the charging compartment 32, causing the gear 232 to disengage from the rack 223. At the same time, a guide rail 224 is inserted between the two limiting wheels 233, and the guiding assembly 24 of the receiving compartment 23 cooperates with the charging compartment 32.

[0081] When the receiving compartment 23 is successfully docked with the charging compartment 32, the guide rail 224 is inserted between two adjacent limiting wheels 233. At this time, the gear 232 disengages from the rack 223; after the battery 11 is pushed into the charging compartment 32, the sliding table 222 moves linearly away from the charging compartment 32, driving the receiving compartment 23 away from the charging compartment 32, causing the receiving compartment 23 to disengage from the charging compartment 32. The charging compartment 32 moves away from the receiving compartment 23 along the guiding groove 311, and another charging compartment 32 loaded with a fully charged battery 11 approaches the receiving compartment 23.

[0082] The sliding table 222 moves linearly towards the charging compartment 32, driving the receiving compartment 23 closer to the charging compartment 32, causing the guiding assembly 24 of the receiving compartment 23 to dock with the charging compartment 32. At this time, the guide rail 224 is inserted between the two limiting wheels 233, and the electromagnet sucks the battery 11 into the receiving compartment 23. The sliding table 222 moves linearly away from the charging compartment 32, driving the receiving compartment 23 away from the charging compartment 32, causing the guiding assembly 24 of the receiving compartment 23 to disengage from the charging compartment 32. At this time, the limiting wheels 233 disengage from the guide rail 224, and the gear 232 meshes with the rack 223.

[0083] After the gear 232 drives the receiving compartment 23 to rotate 180 degrees, the sliding table 222 moves linearly towards the battery compartment 12, driving the receiving compartment 23 closer to the battery compartment 12, causing the gear 232 to disengage from the rack 223. At the same time, the guide rail 224 is inserted between the two limiting wheels 233, and the guiding assembly 24 of the receiving compartment 23 docks with the battery compartment 12, and the electromagnet pushes the battery 11 into the battery compartment 12.

[0084] See Figure 9 and Figure 10 As shown in [relevant figure numbers], a second V-shaped groove 321 is provided on the charging compartment 32. When the receiving compartment 23 is docked with the charging compartment 32, the V-shaped plate 241 of the guiding assembly 24 can be inserted into the second V-shaped groove 321, and the guiding wheel 242 contacts the inner wall of the second V-shaped groove 321. Due to the setting of the guiding wheel 242, the friction is reduced, facilitating the smooth docking of the receiving compartment 23 and the charging compartment 32.

[0085] After the receiving compartment 23 and the charging compartment 32 are successfully docked, the electromagnet pushes the battery 11 into the charging compartment 32. Second check members 322 are provided on both sides of the opening of the charging compartment 32. The second check members 322 have elastic protrusions that can prevent the battery 11 from being removed from the charging compartment 32. When the battery 11 is inserted into the charging compartment 32, the elastic protrusions are squeezed, and after the battery 11 is inserted into the charging compartment 32, the elastic protrusions pop out and abut against the end of the battery 11.

[0086] A second interface 323 is provided on the charging compartment 32. When the battery 11 is inserted into the charging compartment 32, the terminal 111 on the battery 11 can be docked with the second interface 323 for charging.

[0087] The charging mechanism 30 further includes a chain drive assembly 33 and a plurality of support rods 34. The chain drive assembly 33 includes two sprockets 331 and a chain 332 wound around the two sprockets 331. One end of the support rod 34 is rotatably connected to the chain 332, and the other end is slidably connected to the guide groove 311. The support rod 34 passes through the charging compartment 32. When the sprocket 331 rotates, it drives the chain 332 to rotate, and then drives the support rod 34 to move along the guide groove 311, so that the charging compartment 32 can approach or move away from the receiving compartment 23.

[0088] The support rod 34 is provided at the upper end of the charging compartment 32, and rollers are provided at the lower end of the charging compartment 32. A limiting groove 312 that cooperates with the rollers is provided around the fixed frame 31. During the movement of the charging compartment 32, the support rod 34 moves along the guide groove 311, and the rollers move along the limiting groove 312, so that both the upper and lower ends of the charging compartment 32 are limited, making the movement of the charging compartment 32 stable.

[0089] A fork is provided on the receiving compartment 23. The fork can unlock the first check member 13 and can also unlock the second check member 322. The first check member 13 and the second check member 322 have the same structure and principle.

[0090] The embodiment of the present invention also provides an AGV vehicle automatic battery replacement method, which uses the above AGV vehicle automatic battery replacement device. See Figure 11 , as shown by the arrow is the moving process of the power-depleted battery 11. The battery 11 is transported from the battery compartment 12 of the AGV vehicle 10 to the receiving compartment 23 and then transferred to the charging compartment 32 and then moves away from the receiving compartment 23. See Figure 12 , as shown by the arrow is the moving process of the fully charged battery 11. The battery 11 moves from the charging compartment 32 of the charging mechanism 30 towards the receiving compartment 23 and is transported by the receiving compartment 23 to the battery compartment 12 of the AGV vehicle 10.

[0091] The specific battery replacement process of the battery 11 includes:

[0092] The AGV cart 10 travels near the handling mechanism 20. The guiding component 24 at one end of the receiving compartment 23 docks with the battery compartment 12 on the AGV cart 10, and the electromagnet sucks the battery 11 into the receiving compartment 23;

[0093] The receiving compartment 23 is detached from the battery compartment 12, and the receiving compartment 23 rotates 180 degrees relative to the floating frame 22 to turn the battery 11 around;

[0094] An empty charging compartment 32 moves along the guiding groove 311 on the fixed frame 31 to a position directly opposite to the receiving compartment 23. The receiving compartment 23 docks with the charging compartment 32, and the electromagnet pushes the battery 11 into the charging compartment 32. The charging compartment 32 moves away from the receiving compartment 23 along the guiding groove 311 on the fixed frame 31, and the battery 11 is charged in the charging compartment 32;

[0095] A charging compartment 32 loaded with a fully charged battery 11 moves along the guiding groove 311 on the fixed frame 31 to a position directly opposite to the receiving compartment 23. The receiving compartment 23 docks with the charging compartment 32, and the electromagnet sucks the battery 11 into the receiving compartment 23;

[0096] The receiving compartment 23 is detached from the charging compartment 32, and the receiving compartment 23 rotates 180 degrees relative to the floating frame 22 to turn the battery 11 around;

[0097] The guiding component 24 at one end of the receiving compartment 23 docks with the battery compartment 12 on the AGV cart 10, and the electromagnet pushes the battery 11 into the battery compartment 12.

[0098] The above embodiments only illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, there are various changes and modifications to the present invention, and these changes and modifications all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic battery changing device for an AGV vehicle, characterized in that, it includes a handling mechanism (20) and a charging mechanism (30). The charging mechanism (30) includes a fixing frame (31) and a plurality of charging compartments (32). The charging compartments (32) can move along the fixing frame (31). The handling mechanism (20) includes: a support frame (21), fixedly arranged; a floating frame (22), floatingly connected to the support frame (21); a receiving compartment (23), rotatably connected to the floating frame (22). An electromagnet is arranged in the receiving compartment (23). A guiding component (24) is arranged at one end of the receiving compartment (23). The guiding component (24) can be docked with the battery compartment (12) on the AGV vehicle (10) and can be docked with the charging compartment (32). The electromagnet can suck the battery (11) into the receiving compartment (23) and can push the battery (11) out of the receiving compartment (23); a plurality of elastic members (25) are arranged between the support frame (21) and the floating frame (22). One end of the elastic member (25) is fixedly connected to the support frame (21), and the other end of the elastic member (25) is fixedly connected to the floating frame (22). The plurality of elastic members (25) are evenly distributed on both sides of the floating frame (22); a sliding table (222) is arranged on the floating frame (22). The sliding table (222) is slidably connected to the floating frame (22). The receiving compartment (23) has a rotating shaft (231), and the rotating shaft (231) is rotatably connected to the sliding table (222); a rack (223) is fixedly arranged on the floating frame (22). A gear (232) is arranged on the rotating shaft (231). The gear (232) is selectively engaged with the rack (223). The extending direction of the rack (223) is parallel to the sliding direction of the sliding table (222).

2. The automatic battery changing device for an AGV vehicle according to claim 1, characterized in that, a support disc (211) is arranged on the support frame (21). A plurality of balls (212) are arranged in the support disc (211). A bearing disc (221) is arranged on the floating frame (22). The bearing disc (221) is lapped on the balls (212).

3. The automatic battery changing device for an AGV vehicle according to claim 1, characterized in that, a guide rail (224) is fixedly arranged on the floating frame (22). A limiting wheel (233) is arranged on the receiving compartment (23). The guide rail (224) can be inserted between two adjacent limiting wheels (233).

4. The automatic battery changing device for an AGV vehicle according to claim 1, characterized in that, the guiding component (24) includes a V-shaped plate (241) and a guiding wheel (242) arranged on the V-shaped plate (241). A first V-shaped groove (122) cooperating with the V-shaped plate (241) is arranged on the battery compartment (12). A second V-shaped groove (321) cooperating with the V-shaped plate (241) is arranged on the charging compartment (32).

5. The automatic battery changing device for an AGV cart according to claim 1, characterized in that, a guiding groove (311) is annularly arranged on the fixing frame (31), the charging compartment (32) can move along the guiding groove (311), and the guiding groove (311) is located in a vertical plane.

6. The automatic battery changing device for an AGV cart according to claim 5, characterized in that, the charging mechanism (30) further includes: a chain drive assembly (33), including two sprockets (331) and a chain (332) wound around the two sprockets (331); a plurality of support rods (34), one end of the support rod (34) is rotatably connected to the chain (332), the other end is slidably connected to the guiding groove (311), and the support rod (34) passes through the charging compartment (32).

7. The automatic battery changing device for an AGV cart according to claim 6, characterized in that, the support rod (34) is arranged at the upper end of the charging compartment (32), rollers are arranged at the lower end of the charging compartment (32), and a limiting groove (312) matched with the rollers is annularly arranged on the fixing frame (31).

8. An automatic battery changing method for an AGV cart, characterized in that, using the automatic battery changing device for an AGV cart according to any one of claims 1-7, including: the AGV cart (10) travels near the handling mechanism (20), the guiding assembly (24) at one end of the receiving compartment (23) is docked with the battery compartment (12) on the AGV cart (10), and the electromagnet sucks the battery (11) into the receiving compartment (23); the receiving compartment (23) is separated from the battery compartment (12), and the receiving compartment (23) rotates 180 degrees relative to the floating frame (22) to turn the battery (11) around; an empty charging compartment (32) moves along the fixing frame (31) to a position opposite to the receiving compartment (23), the receiving compartment (23) is docked with the charging compartment (32), the electromagnet pushes the battery (11) into the charging compartment (32), the charging compartment (32) moves away from the receiving compartment (23) along the fixing frame (31), and the battery (11) is charged in the charging compartment (32); a charging compartment (32) loaded with a fully charged battery (11) moves along the fixing frame (31) to a position opposite to the receiving compartment (23), the receiving compartment (23) is docked with the charging compartment (32), and the electromagnet sucks the battery (11) into the receiving compartment (23); the receiving compartment (23) is separated from the charging compartment (32), and the receiving compartment (23) rotates 180 degrees relative to the floating frame (22) to turn the battery (11) around; the guiding assembly (24) at one end of the receiving compartment (23) is docked with the battery compartment (12) on the AGV cart (10), and the electromagnet pushes the battery (11) into the battery compartment (12).

Images