Full-automatic battery replacing device for AGV trolley and radioactive waste conveying system

Abstract

The invention provides a full-automatic battery replacing device for an AGV trolley and a radioactive waste conveying system.The battery replacing device comprises a framework, the framework comprises a top mounting frame, a bottom mounting frame and a side supporting frame, a lifting mechanism is arranged on the top mounting frame, and an inserting rod is arranged on the lifting mechanism; the taking and hoisting mechanism is slidably connected with the top mounting frame in the width direction of the top mounting frame and slidably connected with the side supporting frame in the vertical direction of the side supporting frame. A sliding plate is arranged on the bottom mounting frame, a to-be-charged battery and a fully-charged battery are placed on the sliding plate, and the sliding plate is in sliding connection with the bottom mounting frame in the length direction of the bottom mounting frame; and when the AGV trolley reaches one side of the sliding plate, the insertion rod is used for taking down a to-be-charged battery on the AGV trolley and placing the to-be-charged battery on the sliding plate, and vertically inserting and installing the fully-charged battery on the AGV trolley. According to the full-automatic battery replacing device for the AGV trolley, a battery replacing mode is adopted, the charging time of the AGV trolley is greatly shortened, and the use continuity of the AGV trolley is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of radioactive waste transportation, and in particular to a fully automatic battery replacement device for an AGV vehicle and a radioactive waste transportation system. Background Art

[0002] When AGV needs to be charged, it generally uses an automatic charging station or manual battery replacement. When the AGV battery power is lower than the set value, the AGV can automatically run to the charging pile for charging. This method requires the AGV to stay at the charging pile and charge all the time. It will no longer receive tasks during charging. This method will affect the actual use time of the AGV, especially when there are very few AGVs or even only one AGV. When the car is charging, there is no car to take new tasks.

[0003] AGVs used in radioactive environments need to ensure the safety of waste transfer while also reducing personnel radiation exposure. Therefore, the AGVs themselves need to meet the requirements of use in radioactive environments. If the AGVs are charged in a radioactive environment, it will undoubtedly increase safety risks and be detrimental to the reliability of the automated radioactive waste transportation system.

[0004] Based on this, the inventor of the present application proposed a fully automatic battery replacement device and a radioactive waste transportation system for an AGV vehicle in order to solve the above technical problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defect in the prior art that the AGV trolley has a great potential safety hazard caused by charging for a long time in a radioactive environment, and to provide a fully automatic battery replacement device and a radioactive waste conveying system for the AGV trolley.

[0006] The present invention solves the above technical problems through the following technical solutions:

[0007] The present invention provides a fully automatic battery replacement device for an AGV, which is characterized by comprising:

[0008] The frame includes a top mounting frame, a bottom mounting frame and a side support frame, wherein the top mounting frame is provided with a lifting mechanism, the lifting mechanism is provided with an insertion rod, the lifting mechanism is slidably connected with the top mounting frame along the width direction of the top mounting frame, and is slidably connected with the side support frame along the vertical direction of the side support frame;

[0009] The bottom mounting frame is provided with a sliding plate, the sliding plate is used to place the batteries to be charged and the fully charged batteries, and the sliding plate is slidably connected with the bottom mounting frame along the length direction of the bottom mounting frame; wherein,

[0010] When the AGV trolley reaches one side of the sliding plate, the insertion rod is used to remove the battery to be charged on the AGV trolley and place it on the sliding plate, and vertically insert and install the fully charged battery on the AGV trolley.

[0011] According to one embodiment of the present invention, the top mounting frame is provided with a first slide rail, and the side supporting frame is provided with a second slide rail;

[0012] The lifting mechanism is provided with a first driving motor and a second driving motor, and the output end of the first driving motor is slidably matched with the first slide rail to drive the lifting mechanism to slide along the first slide rail;

[0013] The output end of the second driving motor is slidably matched with the second slide rail to drive the lifting mechanism to slide along the second slide rail.

[0014] According to one embodiment of the present invention, at least two groups of card seats are provided on the top of the lifting mechanism, and the top mounting frame is provided with a guide rail that slides with the card seats;

[0015] The guide rail and the first slide rail have the same length extension direction.

[0016] According to one embodiment of the present invention, the lifting mechanism is provided with two inserted rods arranged at intervals along the width direction of the top mounting seat, and the inserted rods correspond to the insertion interface positions on the fully charged battery placed on the sliding plate, so as to be used for inserting the fully charged battery and placing the fully charged battery on the AGV trolley; wherein,

[0017] The length extension direction of the insertion rod is consistent with the length extension direction of the first slide rail.

[0018] According to one embodiment of the present invention, a linear guide rail is provided on the bottom mounting frame, and the sliding plate is slidably matched with the linear guide rail;

[0019] The bottom mounting frame is provided with a third driving motor below the sliding plate, and the third driving motor is used for driving the sliding plate to slide relative to the linear guide rail.

[0020] According to one embodiment of the present invention, a socket is provided on the sliding plate;

[0021] The fully charged battery and the battery to be charged are inserted into the socket to be connected with the sliding plate, and the insertion rod is used to cooperate with the battery insertion hole set on the fully charged battery or the battery to be charged.

[0022] According to one embodiment of the present invention, the sliding plate is provided with a first placement position and a second placement position, and the first placement position is located upstream of the second placement position;

[0023] The first placement position is used to place the battery to be charged removed from the AGV, and the second placement position is used to place the fully charged battery.

[0024] According to one embodiment of the present invention, a control box is further provided on the skeleton, and the control box is electrically connected to a driving motor of the lifting mechanism.

[0025] The present invention also provides a radioactive waste transportation system, comprising:

[0026] The AGV is provided with at least two removable batteries;

[0027] The fully automatic battery replacement device for the AGV trolley as described above is used to replace a fully charged battery with a battery to be charged on the AGV trolley.

[0028] According to one embodiment of the present invention, the AGV trolley is provided with a battery socket, and the detachable bottom of the battery is inserted into the battery socket to complete the electrical connection;

[0029] Two battery insertion holes are arranged at intervals on the upper part of the detachable battery, and the insertion rod of the lifting mechanism is used to be inserted into the battery insertion holes to remove the battery to be charged or install a fully charged battery.

[0030] The positive and progressive effects of the present invention are:

[0031] The fully automatic battery replacement device for the AGV trolley of the present invention eliminates the charging method in a radioactive environment and adopts a battery replacement method, which greatly reduces the charging time of the AGV trolley and improves the continuity of the use of the AGV trolley. There is no need for staff to enter to replace the battery of the AGV trolley, which greatly reduces the radiation exposure of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which:

[0033] Figure 1 This is a three-dimensional diagram of the fully automatic battery replacement device for the AGV vehicle of the present invention;

[0034] Figure 2 for Figure 1 An enlarged structural diagram of the middle and bottom mounting frame;

[0035] Figure 3 It is a schematic diagram of the coordination structure between the lifting mechanism and the top mounting frame;

[0036] Figure 4 It is a structural diagram of the lifting mechanism;

[0037] Figure 5is a schematic diagram of the battery structure;

[0038] Figure 6 This is a structural diagram of the AGV car arriving at the battery exchange device;

[0039] Figure 7 Schematic diagram of removing the battery to be charged from the AGV car to the first placement position;

[0040] Figure 8 Schematic diagram of installing a fully charged battery for the AGV;

[0041] Fig. 9 This is a schematic diagram of the AGV car's fully charged battery installation.

[0042] 1. Frame; 11. Top mounting frame; 111. First slide rail; 112. Guide rail; 12. Bottom mounting frame; 121. Sliding plate; 122. Linear guide rail; 123. Third drive motor; 124. Connecting socket; 125. First placement position; 126. Second placement position; 13. Side support frame; 131. Second slide rail; 14. Control box;

[0043] 2. Lifting mechanism; 21. Insertion rod; 22. First drive motor; 23. Second drive motor; 24. Card holder;

[0044] 3. Battery; 31. Fully charged battery; 32. Battery to be charged; 33. Socket; 34. Plug-in hole;

[0045] 4. AGV trolley; 41. Battery socket. DETAILED DESCRIPTION

[0046] The present invention is further described below in conjunction with specific embodiments and drawings. More details are elaborated in the following description to facilitate a full understanding of the present invention. However, the present invention can obviously be implemented in a variety of other ways different from the description herein. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the connotation of the present invention. Therefore, the protection scope of the present invention should not be limited by the content of this specific embodiment.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0048] Please refer to Figures 1 to 9The present invention proposes a fully automatic battery replacement device for an AGV vehicle, comprising a skeleton 1, wherein the skeleton 1 comprises a top mounting frame 11, a bottom mounting frame 12 and a side support frame 13, wherein a lifting mechanism 2 is provided on the top mounting frame 11, wherein an insertion rod 21 is provided on the lifting mechanism 2, wherein the lifting mechanism 2 is slidably connected to the top mounting frame 11 along the width direction of the top mounting frame 11, and is slidably connected to the side support frame 13 along the vertical direction of the side support frame 13; a sliding plate 121 is provided on the bottom mounting frame 12, wherein the sliding plate 121 is used for placing batteries to be charged 32 and fully charged batteries 31, and the sliding plate 121 is slidably connected to the bottom mounting frame 12 along the length direction of the bottom mounting frame 12; wherein, when the AGV vehicle 4 reaches one side of the sliding plate 121, the insertion rod 21 is used to remove the batteries to be charged 32 on the AGV vehicle 4 and place them on the sliding plate 121, and the fully charged batteries 31 are vertically inserted and installed on the AGV vehicle 4.

[0049] In the radioactive waste transportation system, on the one hand, it is necessary to improve the transportation efficiency of radioactive waste, and on the other hand, it is necessary to ensure the safety of the transportation process.

[0050] The present invention proposes to use an AGV trolley 4 to replace the traditional roller conveying method, which greatly reduces manual participation, realizes full automation in the conveying process, and makes the operation process more flexible. On the other hand, it greatly reduces the cost required for waste transportation.

[0051] However, the traditional AGV 4 is powered by electricity and cannot adapt to the use in radioactive environments. On the one hand, the radiation in the radioactive environment will affect the structural strength of the AGV 4 and the normal use of electronic devices. On the other hand, the AGV 4 needs to be charged manually or run to a charging station for charging. Whether it is manual or at a charging station, the long charging process reduces the waste transfer efficiency on the one hand, and there are certain safety hazards on the other hand, which increases the difficulty of operation and maintenance of the radioactive waste transportation system.

[0052] Based on this, the present invention adopts a battery replacement method to design a fully automatic battery replacement device for an AGV trolley, and replaces the removable battery 3 on the AGV trolley 4 through the lifting mechanism 2. For example, the battery 32 to be charged on the AGV trolley 4 can be removed and then replaced with a fully charged battery 31. The removed battery 3 can be charged at the battery replacement device, and the AGV trolley 4 with a replaced battery can further perform transportation work, which greatly reduces the charging time of the AGV trolley 4, and only needs to ensure safety at the battery replacement device. The battery replacement device can be set to a non-radioactive environment. When there are safety hazards or some components need to be repaired, maintenance personnel can respond quickly and reach the battery replacement device to eliminate safety hazards.

[0053] Please refer to Figure 3 and Figure 4A first slide rail 111 is provided on the top mounting frame 11, and a second slide rail 131 is provided on the side supporting frame 13; a first driving motor 22 and a second driving motor 23 are provided on the lifting mechanism 2, and the output end of the first driving motor 22 is slidably matched with the first slide rail 111 to drive the lifting mechanism 2 to slide along the first slide rail 111; the output end of the second driving motor 23 is slidably matched with the second slide rail 131 to drive the lifting mechanism 2 to slide along the second slide rail 131.

[0054] It can be seen that the upper part of the battery 3 is provided with an insertion hole 34, and the socket 33 at the bottom is electrically connected to the battery socket 41 of the AGV trolley 4. Figure 5 The battery socket 41 in the figure belongs to a part of the AGV trolley, which is a schematic diagram of the matching state of the battery 3 on the AGV trolley.

[0055] When it is necessary to remove the battery 32 to be charged on the AGV trolley 4, the second drive motor 23 can be used to lower the insertion rod 21 to the target height, and then the first drive motor 22 can be used to insert the insertion rod 21 into the insertion hole 34 of the battery 3, and finally the second drive motor 23 can be used to lift it up, so that the socket 33 of the battery 3 is separated from the battery socket 41 of the AGV trolley 4, and then the battery 3 can be removed.

[0056] Thereafter, the first driving mechanism places the removed battery 32 to be charged on the sliding plate 121 , and then inserts the fully charged battery 31 , and inserts it into the battery socket 41 of the AGV trolley 4 from top to bottom, thereby completing the installation of the fully charged battery 31 .

[0057] The battery 32 to be charged can be further transported to a charging position on the sliding plate 121 to be charged, and after being fully charged, it can be used as a fully charged battery 31 for standby use.

[0058] Specifically, at least two groups of clamping seats 24 are provided on the top of the lifting mechanism 2, and a guide rail 112 slidably matched with the clamping seats 24 is provided on the top mounting frame 11; the guide rail 112 and the first slide rail 111 have the same length extension direction.

[0059] The clamping seat 24 can be L-shaped to form a clamping connection with the guide rail 112. When the first driving motor 22 is driven, the guide rail 112 serves as a guide, so that the lifting mechanism 2 can slide along the guide rail 112.

[0060] Furthermore, the lifting mechanism 2 is provided with two spaced-apart insertion rods 21 along the width direction of the top mounting seat, and the insertion rods 21 correspond to the insertion interface positions on the fully charged battery 31 placed on the sliding plate 121, so as to be used to insert the fully charged battery 31 and place the fully charged battery 31 on the AGV cart 4; wherein, the length extension direction of the insertion rod 21 is consistent with the length extension direction of the first slide rail 111.

[0061] The distance between the two insertion rods 21 is consistent with the distance between the two insertion ports of the battery 3 , so that at the same height, the two insertion rods 21 can be inserted into the insertion ports to insert and remove the battery 3 .

[0062] It can be seen that two insertion rods 21 and two insertion interfaces are used as an example for description here, and the specific number is not limited.

[0063] Please refer to Figure 1 and Figure 2 A linear guide rail 122 is provided on the bottom mounting frame 12, and the sliding plate 121 slides with the linear guide rail 122; a third driving motor 123 is provided under the sliding plate 121 of the bottom mounting frame 12, and the third driving motor 123 is used to drive the sliding plate 121 to slide relative to the linear guide rail 122.

[0064] It can be seen that the linear guide rail 122 and the first slide rail 111 are arranged in parallel, and the second slide rail 131 is arranged perpendicular to the linear guide rail 122 and the first slide rail 111 .

[0065] A charging position for the battery 3 (not shown) is also provided on one side of the linear guide rail 122. The battery 32 to be charged is moved to the charging position for charging via the sliding plate 121. The fully charged battery 3 can be transported to the bottom target position via the sliding plate 121 and used as a fully charged battery 31.

[0066] Specifically, a socket 124 is provided on the sliding plate 121; the fully charged battery 31 and the battery to be charged 32 are inserted into the socket 124 to be connected to the sliding plate 121, and the insertion rod 21 is used to cooperate with the insertion hole 34 of the battery 3 set on the fully charged battery 31 or the battery to be charged 32.

[0067] The socket 124 is used to limit the fully charged battery 31 and the battery to be charged 32, so that when the sliding plate 121 moves, the fully charged battery 31 and / or the battery to be charged 32 will not be relatively displaced relative to the sliding plate 121, thereby ensuring that the sliding plate 121 can accurately move the fully charged battery 31 or the battery to be charged 32 to the target position.

[0068] Please refer to Figure 2 A first placement position 125 and a second placement position 126 are provided on the sliding plate 121, and the first placement position 125 is located upstream of the second placement position 126; the first placement position 125 is used to place the battery 32 to be charged removed from the AGV trolley 4, and the second placement position 126 is used to place the fully charged battery 31.

[0069] Please refer to Figures 6 to 9 When the AGV 4 is changing the battery, the first placement position 125 is in an empty state, and the second placement position 126 is placed with a fully charged battery 31. For details, please refer to Figure 5 .

[0070] For details, please refer to Figure 6 The AGV trolley 4 first arrives at the first placement position 125 and uses the lifting mechanism 2 to remove the battery 32 to be charged on the AGV trolley 4, and the removed battery 3 is placed in the first placement position 125.

[0071] Please refer to Figure 7 and Figure 8 , then the AGV trolley 4 moves to the second placement position 126 or the sliding plate 121 moves the fully charged battery 31 to the first placement position 125, and the lifting mechanism 2 installs the fully charged battery 31 on the AGV trolley 4, after which the AGV trolley 4 completes the battery replacement and leaves the battery replacement device to carry out waste transfer work. Finally, the battery 32 to be charged placed on the first placement position 125 moves with the moving plate to the charging position on one side of the battery replacement device for charging, and the fully charged battery 3 can be moved with the moving plate to the second placement position 126 as a standby fully charged battery 31.

[0072] In one embodiment, a control box 14 is further provided on the frame 1 , and the control box 14 is electrically connected to a driving motor of the lifting mechanism 2 .

[0073] It can be seen that the control box 14 is connected to the first drive motor 22, the second drive motor 23 and the third drive motor 123 respectively, thereby automatically controlling the battery replacement process.

[0074] In summary, the fully automatic battery replacement device for the AGV cart of the present invention eliminates the charging method in a radioactive environment and adopts a battery replacement method, which greatly reduces the charging time of the AGV cart 4 and improves the continuity of the use of the AGV cart 4. There is no need for staff to enter to replace the battery of the AGV cart 4, which greatly reduces the radiation exposure of personnel.

[0075] The present invention also provides a radioactive waste transportation system, comprising:

[0076] An AGV trolley 4 is provided with at least two detachable batteries 3;

[0077] The fully automatic battery replacement device for the AGV trolley as described above is used to replace the fully charged battery 31 with the battery 32 to be charged on the AGV trolley 4.

[0078] Specifically, a battery socket 41 is provided on the AGV trolley 4, and the bottom of the detachable battery 3 is inserted into the battery socket 41 to complete the electrical connection; two battery 3 insertion holes 34 are provided at intervals on the upper part of the detachable battery 3, and the insertion rod 21 of the lifting mechanism 2 is used to be inserted into the battery 3 insertion holes 34 to remove the battery 32 to be charged or install a fully charged battery 31.

[0079] First, the battery 3 of the AGV 4 is of redundant design, with at least two groups of detachable batteries 3. When one group is out of power, the AGV 4 can switch to the other group of batteries 3 to power it, and then move it to the battery exchange device for battery exchange, thereby improving the continuity of the operation of the AGV 4 and further improving the waste transfer efficiency.

[0080] In addition, the outer shell of the AGV trolley 4 is made of thick steel plates or lead plates, which can prevent radiation and facilitate operation in a radioactive environment.

[0081] Moreover, all control units of the AGV trolley 4 are arranged in a radiation-proof box, which is made of detachable lead plates, so as to avoid the radioactive environment from causing serious impact on the control unit and shell of the AGV trolley 4.

[0082] Furthermore, a plug interface that cooperates with the battery socket 41 of the AGV trolley 4 is provided at the bottom of the battery 3, thereby simplifying the installation process of the battery 3.

[0083] Two insertion holes 34 are provided on the top of the battery 3, which are convenient for cooperating with the insertion rod 21 of the lifting mechanism 2 in the battery replacement device, thereby meeting the requirements of fully automatic battery replacement.

[0084] Since the battery 3 itself is heavy, in order to improve the stability of battery replacement, a plug-in method is adopted. In some other implementations, a hook or the like may also be used, which is not limited here.

[0085] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "install", "connect", "connect", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can also be a mechanical connection. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0086] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0087] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A fully automatic battery replacement device for an AGV, characterized in that: include: The frame includes a top mounting frame, a bottom mounting frame and a side support frame, wherein the top mounting frame is provided with a lifting mechanism, the lifting mechanism is provided with an insertion rod, the lifting mechanism is slidably connected with the top mounting frame along the width direction of the top mounting frame, and is slidably connected with the side support frame along the vertical direction of the side support frame; The bottom mounting frame is provided with a sliding plate, the sliding plate is used to place the batteries to be charged and the fully charged batteries, and the sliding plate is slidably connected with the bottom mounting frame along the length direction of the bottom mounting frame; wherein, When the AGV trolley reaches one side of the sliding plate, the insertion rod is used to remove the battery to be charged on the AGV trolley and place it on the sliding plate, and vertically insert and install the fully charged battery on the AGV trolley.

2. The fully automatic battery replacement device for an AGV according to claim 1 is characterized in that: The top mounting frame is provided with a first slide rail, and the side supporting frame is provided with a second slide rail; The lifting mechanism is provided with a first driving motor and a second driving motor, and the output end of the first driving motor is slidably matched with the first slide rail to drive the lifting mechanism to slide along the first slide rail; The output end of the second driving motor is slidably matched with the second slide rail to drive the lifting mechanism to slide along the second slide rail.

3. The fully automatic battery replacement device for AGV according to claim 2 is characterized in that: At least two groups of card seats are provided on the top of the lifting mechanism, and the top mounting frame is provided with guide rails that slide with the card seats; The guide rail and the first slide rail have the same length extension direction.

4. The fully automatic battery replacement device for an AGV according to claim 2 is characterized in that: The lifting mechanism is provided with two inserted rods spaced apart along the width direction of the top mounting seat, and the inserted rods correspond to the insertion ports on the fully-charged battery placed on the sliding plate, so as to be used for inserting the fully-charged battery and placing the fully-charged battery on the AGV trolley; wherein, The length extension direction of the insertion rod is consistent with the length extension direction of the first slide rail.

5. The fully automatic battery replacement device for AGV according to claim 1 is characterized in that: The bottom mounting frame is provided with a linear guide rail, and the sliding plate is slidably matched with the linear guide rail; The bottom mounting frame is provided with a third driving motor below the sliding plate, and the third driving motor is used for driving the sliding plate to slide relative to the linear guide rail.

6. The fully automatic battery replacement device for AGV according to claim 5 is characterized in that: The sliding plate is provided with a socket; The fully charged battery and the battery to be charged are inserted into the socket to be connected with the sliding plate, and the insertion rod is used to cooperate with the battery insertion hole set on the fully charged battery or the battery to be charged.

7. The fully automatic battery replacement device for an AGV according to claim 6 is characterized in that: The sliding plate is provided with a first placement position and a second placement position, wherein the first placement position is located upstream of the second placement position; The first placement position is used to place the battery to be charged removed from the AGV, and the second placement position is used to place the fully charged battery.

8. The fully automatic battery replacement device for an AGV according to claim 1 is characterized in that: A control box is also provided on the frame, and the control box is electrically connected to the driving motor of the lifting mechanism.

9. A radioactive waste transport system, characterized in that: include: The AGV is provided with at least two removable batteries; The fully automatic battery replacement device for an AGV trolley as described in any one of claims 1 to 8, wherein the fully automatic battery replacement device for an AGV trolley is used to replace a fully charged battery with a battery to be charged on the AGV trolley.

10. The radioactive waste transport system according to claim 9, characterized in that: The AGV trolley is provided with a battery socket, and the bottom of the detachable battery is inserted into the battery socket to complete the electrical connection; Two battery insertion holes are arranged at intervals on the upper part of the detachable battery, and the insertion rod of the lifting mechanism is used to be inserted into the battery insertion holes to remove the battery to be charged or install a fully charged battery.

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