Mobile charging and battery replacing platform for new energy agricultural machinery

Abstract

The invention provides a mobile charging platform for a new energy agricultural machine, which is used for solving the problem that the agricultural machine in the prior art is low in reciprocating charging efficiency and is difficult to adapt to the characteristics of farmland decentralization and seasonal fluctuation operation. Comprising a walking module, a battery charging module, a battery transfer module, a power generation and storage module and a monitoring and dispatching module, and a storage box is arranged on the walking module; the battery charging module comprises a battery bin fixedly connected to the inner side wall of the storage box and a plurality of alignment charging devices, a rectangular bin groove is formed in the battery bin, and the alignment charging devices are evenly arranged in the height direction and the width direction of the rectangular bin groove; the battery transfer module is arranged on the side face, facing the length direction of the guide filler strip, of the battery bin. The power generation and storage module is arranged in the storage box and is used for generating power, storing energy and supplying power to the battery charging module; control modules for power generation, energy storage, power supply and battery transfer are integrated in the monitoring and dispatching module. The platform not only can supplement energy quickly, but also can realize quick-taking and quick-inserting battery replacement.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and in particular relates to a mobile charging and battery-swappable platform for new energy agricultural machinery. Background Art

[0002] As the global green transformation of agriculture accelerates, new energy agricultural machinery, with its zero-emission and low-energy consumption characteristics, has become a core focus of modern agricultural equipment upgrades. Currently, agricultural production urgently requires new energy agricultural machinery. However, the efficiency of recharging and the battery capacity of new energy agricultural machinery are key bottlenecks hindering its widespread application. The large-scale application of new energy agricultural machinery is constrained by its range and energy supply model: traditional fuel-powered agricultural machinery can be quickly recharged at decentralized gas stations, while new energy agricultural machinery relies on fixed charging facilities, facing insufficient coverage and delayed response times in wide-area farmland operations. The conflict between the centralized operation requirements of agricultural machinery and energy supply efficiency is particularly prominent during the busy farming season.

[0003] In the existing technology, the energy replenishment scheme for new energy agricultural machinery is mainly based on the static energy replenishment mode of fixed charging piles. The agricultural machinery needs to leave the operation area and go back and forth to charge, which leads to operation interruption and time loss, resulting in low operation efficiency and difficulty in adapting to the decentralized and seasonal fluctuation characteristics of farmland. Summary of the Invention

[0004] In view of the shortcomings of the prior art mentioned above, the purpose of the present invention is to provide a new energy agricultural machinery mobile charging and swapping platform to solve the problems in the prior art of low round-trip charging efficiency of agricultural machinery and difficulty in adapting to the decentralized and seasonal fluctuation characteristics of farmland operations.

[0005] To achieve the above objectives and other related objectives, the present invention provides a new energy agricultural machinery mobile charging and swapping platform, comprising: A walking module, wherein the walking module is provided with a storage box; A battery charging module, comprising a battery compartment fixedly connected to the inner wall of the storage box and a plurality of aligned charging devices, wherein the battery compartment has a rectangular slot, and the plurality of aligned charging devices are evenly arranged along the height and width directions of the rectangular slot; Any of the above-mentioned alignment charging devices includes a battery, an alignment mechanism, a floating plug mechanism and a locking mechanism. A connector plug is provided on one side of the battery. The floating plug mechanism of any of the above-mentioned alignment charging devices is electrically connected to the charging circuit of the battery compartment. The alignment mechanism includes a bottom plate, two side plates arranged opposite to each other and fixed vertically to the bottom plate, a top plate with two ends fixed to the tops of the two side plates, and a guide pad. The bottom plate and the two side plates have at least two guide pads for the batteries to slide in and out. The plug-in mechanism is used to plug and cooperate with the connector plug on the battery to charge the battery. The locking mechanism is provided on the top plate for locking the battery during charging or transportation; A battery transfer module is provided on a side of the battery compartment facing the length direction of the guide strip; A power generation and storage module is provided in the storage box for generating and storing power and supplying power to the battery charging module; A monitoring and scheduling module integrates control modules for power generation, energy storage, power supply and battery transportation.

[0006] Optionally, the battery includes a battery cell, a box body and a cover body, the box body and the cover body cover each other to provide a accommodating cavity for the battery cell, and the connector plug is provided on the cover body and is electrically connected to the battery cell.

[0007] Optionally, the floating plug-in mechanism includes a rear side plate fixedly connected to the rear end of the base plate, an adaptive floating portion, a connector socket, and a guide column fixedly connected to the rear side plate and facing the length direction of the guide pad strip, the rear side plate has a floating space in the length direction of the guide pad strip, the connector socket is arranged in the adaptive floating portion and faces the length direction of the guide pad strip, and the connector socket is a charging socket of the battery compartment; The adaptive floating portion is disposed in the floating space and can adaptively float in all directions and forward and backward within the floating space; The battery has a guide sleeve on the same side of the connector plug, and the guide sleeve has a guiding conical surface at one end close to the connector socket. The dimension of the guide column toward the guide pad in the length direction is larger than the dimension of the connector socket toward the guide pad. The guide column is used to insert the guide sleeve into the connector plug and the connector socket for guidance and positioning before they are mated.

[0008] Optionally, the adaptive floating parts have four groups, and the four groups of adaptive floating parts are respectively arranged around the floating body; Each group of the adaptive floating parts includes a floating body, an L-shaped arm, front and rear elastic members, a solid hemispherical rear body, a hollow central shell, a hollow front spherical shell, and an elastic force-supplying member provided on the horizontal portion of the L-shaped arm to provide a force for the floating body to return to the center. The connector socket is provided on the floating body and faces the length direction of the guide pad. One end of the guide column is fixedly connected to the floating body, and the other end faces the length direction of the guide pad. The bottom end of the floating space has an adjustment hole for accommodating the front and rear elastic members, the two ends of the front and rear elastic members are respectively fixedly connected to the back of the vertical part of the L-shaped arm and the bottom of the adjustment hole, the two ends of the hollow central shell are respectively fixedly connected to the solid hemispherical rear body and the hollow front spherical shell, the inner side surface of the vertical part of the L-shaped arm has a guiding hemispherical groove abutting against the solid hemispherical rear body, and the floating body has a ball socket adapted to the hollow front spherical shell; A first magnetic block is provided at the bottom center of the guiding hemispherical groove, a second magnetic block is provided on the solid hemispherical rear body and is magnetically attracted to the first magnetic block, a first magnetic strip is provided at the bottom center of the ball socket, and a second magnetic strip is provided on the hollow front spherical shell and is magnetically attracted to the first magnetic strip; The elastic force supply member, the gravity of the solid hemispherical rear body, the magnetic attraction of the first magnetic block and the second magnetic block, and the magnetic attraction of the first magnetic strip and the second magnetic strip cooperate to reset the connector socket on the floating body relative to the rear side plate.

[0009] Optionally, the elastic force supply member includes a spring, and the spring provides a pushing force or a pulling force for returning the floating body to the center; The elastic force supply member has one end, and both ends of the elastic force supply member are fixedly connected to the outer wall of the hollow core shell and the horizontal part of the L-shaped arm respectively; Alternatively, there are two elastic force supply members, which are arranged in an eight-shaped shape, and both ends of each elastic force supply member are fixedly connected to the outer side wall of the hollow inner shell and the horizontal part of the L-shaped arm respectively.

[0010] Optionally, a cover plate is provided on a side of the rear side plate facing the guide pad, and the cover plate has a slot for the floating body to pass through and float around; The cover plate is provided with an elastic covering sheet, the outer side of the elastic covering sheet is fixedly connected to the cover body, and the inner side of the elastic covering sheet is fixedly connected to the floating body.

[0011] Optionally, the floating plug-in mechanism further includes a position sensing portion, the position sensing portion being used to sense whether the connector socket and the connector plug are plugged into place when the guide post and the guide sleeve are plugged into each other; The position sensing portion includes a proximity switch. One end of the guide column facing the length direction of the guide pad has an inwardly concave mounting hole along its own axial direction, and the proximity switch is installed in the mounting hole.

[0012] Optionally, the locking mechanism includes a mounting seat, a U-shaped push plate, a locking hook, an extension arm, a rolling element, and a linear power element for pushing and retracting the U-shaped push plate along the length direction of the top plate; The top plate is provided with a mounting groove, the mounting seat is fixedly mounted in the mounting groove, the fixed end and the telescopic end of the linear power member are fixedly connected to the mounting seat and the bottom of the U-shaped push plate respectively, the locking hook is rotatably mounted on the U-shaped push plate, both ends of the locking hook are fixedly connected to one end of the extending arm, and the rolling member is rotatably arranged at the other end of the extending arm; The side plate is provided with an inclined rolling groove adapted to the rolling element.

[0013] Optionally, the battery transport module includes a grab plate, a plurality of suction cups, a vacuum generator fixed to the grab plate, a U-shaped bracket, a plurality of rollers, a push-pick-and-place mechanism, and a moving mechanism. The plurality of suction cups are evenly arranged on the grab plate, and each of the suction cups is connected to the vacuum generator through a vent pipe. The bottom of the U-shaped bracket has a plurality of empty slots along the length direction of the guide pad, and the plurality of rollers are rotatably arranged in the plurality of empty slots. The side of the grab plate facing the length direction of the guide pad has an identification portion for identifying the position of the alignment mechanism, and the side of the storage box has a pick-and-place slot for the U-shaped bracket to extend out. The pushing and placing mechanism includes a pushing screw, a pushing rail, a first pushing block, a second pushing block, and a pushing power member for driving the pushing rod to rotate. Pushing grooves are provided on the two opposite side walls in the U-shaped bracket. The pushing screw is rotatably installed in one of the pushing grooves, and the pushing rail is fixedly installed in the other pushing groove. The first pushing block is threadedly engaged with the pushing screw, and the second pushing block is slidably engaged with the pushing rail. The first pushing block and the second pushing block are both fixedly connected to the grabbing plate. The moving mechanism is arranged on the side surface of the battery compartment body facing the length direction of the guide pad to drive the U-shaped bracket to move along the height direction and width direction of the rectangular compartment slot.

[0014] Optionally, the moving mechanism includes a first screw rotatably installed in the width direction of the battery compartment body, a first guide rail fixedly installed in the width direction of the battery compartment body, a first slider engaged with the first screw thread, a second slider slidably engaged with the first guide rail, a vertical plate with both ends fixed to the first slider and the second slider, a second screw rotatably installed on the vertical plate, two second guide rails fixed to the vertical plate and located at both ends of the second screw, a moving platform, a first power member driving the first screw to rotate, and a second power member driving the second screw to rotate, the moving platform is engaged with the second screw thread, the moving platform is slidably engaged with both the second guide rails, and one side of the moving platform is fixedly connected to the side of the U-shaped bracket.

[0015] As described above, the new energy agricultural machinery mobile charging and swapping platform of the present invention has at least the following beneficial effects: 1. Through the coordinated cooperation of the walking module, battery charging module, battery transfer module, power generation and storage module and monitoring and scheduling module, the charging and swapping platform has the ability to move independently and can go directly to farmland, farms and other agricultural machinery operation sites. There is no need for agricultural machinery to go back and forth to fixed charging stations, reducing the energy consumption and time cost of agricultural machinery idling, so that the battery can be replaced and replenished in time at the operation site. It is suitable for scenarios such as scattered farmland, remote areas and busy farming seasons, thereby solving the problem of limited coverage of traditional fixed charging stations, improving the continuity of agricultural machinery operations, and also being able to quickly replenish batteries replaced from agricultural machinery at the operation site. A rigid frame structure is formed by the bottom plate, side plates and top plate to provide a fixed guide path for the battery. The battery transfer module moves the battery in and out along the length of the guide pad, so that the connector plug and the floating plug-in mechanism can be quickly and smoothly plugged and unplugged during the floating fine-tuning process to charge the battery, thereby improving the speed and accuracy of plugging and unplugging, realizing quick replacement and plugging of battery charging, and avoiding damage to the plug when plugging and unplugging. The guide pad is made of wear-resistant material and has a good shockproof effect. The locking mechanism locks the battery during charging or transportation to prevent the battery from loosening due to vibration, shaking and other factors, ensuring that the connector plug and the floating plug-in mechanism are always connected, preventing power outages or electric sparks, and reducing safety hazards.

[0016] 2. Initially, the floating body is located in the center of the floating space. Under the action of the elastic force of the elastic force supply member, the gravity of the solid hemispherical rear body, and the magnetic attraction of the first magnetic block and the second magnetic block, it is stably located in the center of the guide hemispherical groove. Under the action of the magnetic attraction of the first magnetic strip and the second magnetic strip, the hollow front spherical shell is stably located in the center of the ball socket. The front and rear elastic members are in a natural state. At this time, the connector socket is in the center of the floating space. When the battery is inserted for charging, the conical tip of the guide column first enters the guide conical surface of the guide sleeve. If there is an error between the conical tip of the guide column and the guide conical surface of the guide sleeve, the floating body set in the floating space is pushed by the thrust of the battery adapter module. The device can be adaptively floated in the front, back, and all directions, causing the L-shaped arm to move forward and backward, the solid hemispherical rear shell to deviate from the center of the guide hemispherical groove and change its center of gravity, the hollow front spherical shell to deviate from the center of the ball socket, and the elastic force supply member to stretch or compress, thereby adjusting the position of the connector socket. This allows the guide conical surface to automatically correct the direction of battery insertion, adapting to deviations caused by misalignment, and moving the battery along a preset trajectory, ensuring that the connector plug and connector socket can be quickly and smoothly plugged and unplugged to charge the battery. This improves the speed, accuracy, and smoothness of plugging and unplugging, reduces the difficulty of plugging and unplugging, and enables quick replacement and plugging of battery charging, avoiding damage to the plug when plugged and unplugged. When the battery is pulled out, the external force is lost. At this time, the elastic force supply member, the gravity of the solid hemispherical rear body, the magnetic attraction of the first and second magnetic blocks, and the magnetic attraction of the first and second magnetic strips work together to reset the connector socket on the floating body relative to the rear side plate, facilitating continued use next time. Moreover, the floating body can adaptively float in the front, back and all directions, so that the battery can be well protected from shock when it is transported to farmland, farms and other agricultural machinery operation sites, thereby maintaining the plug-in and matching relationship between the connector plug and the connector socket, and improving safety and reliability.

[0017] 3. A linear actuator directly propels the U-shaped push plate along the length of the top plate, achieving linear actuation of the locking hook. This design boasts high transmission efficiency and precise control. As the rolling element rolls within the inclined grooves of the side plates, it converts the linear motion of the U-shaped push plate into rotational motion of the locking hook, automatically engaging and disengaging the battery. Specifically, as the rolling element rolls upward along the inclined groove, the extension arm rotates the locking hook, unlocking it; reverse motion locks it. This smooth and effortless operation prevents battery loosening due to vibration and shaking, ensuring the connector plug and receptacle remain connected, preventing power outages and sparks, and minimizing safety hazards. Both ends of the locking hook are fixedly connected to the extension arm, forming a symmetrical structure that evenly distributes force and avoids deformation or sticking caused by unilateral force. The contact between the rolling element and the inclined groove is rolling friction, which offers less resistance than sliding friction, reducing wear and extending service life. Furthermore, the smoother rolling motion reduces vibration and noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shown is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 Shown is a schematic diagram of the internal three-dimensional structure of the present invention; Figure 3 Shown is a schematic diagram of the three-dimensional structure of the battery charging module of the present invention; Figure 4 Shown is a schematic diagram of the three-dimensional structure of the alignment charging device of the present invention; Figure 5 Shown is a schematic diagram of the three-dimensional structure of the battery of the present invention; Figure 6 Shown is an exploded view of the battery of the present invention; Figure 7 Shown is a schematic diagram of the three-dimensional structure of the floating plug-in mechanism of the present invention; Figure 8 Shown is an exploded view of the floating plug-in mechanism of the present invention; Figure 9 Shown is a schematic diagram of the three-dimensional structure of the adaptive floating portion of the present invention; Figure 10 It shows a schematic diagram of the three-dimensional structure of the solid hemispherical rear body, the hollow inner shell and the hollow front spherical shell of the present invention; Figure 11 Shown is a schematic diagram of the three-dimensional structure of the floating body of the present invention; Figure 12 Shown is a schematic diagram of the three-dimensional structure of the battery transport module and the battery charging module of the present invention; Figure 13 Shown is an exploded view of the push-and-place mechanism of the present invention.

[0019] Component number description Battery charging module 1, battery 11, connector plug 111, battery cell 112, housing 113, cover 114, accommodating chamber 115, alignment mechanism 12, bottom plate 121, weight-reducing groove 1211, side plate 122, tilted rolling groove 1221, top plate 123, mounting groove 1231, guide pad 124, floating plug-in mechanism 13, rear side plate 131, floating space 1311, adjustment hole 13111, connector socket 132, guide post 133, mounting hole 1331, guide sleeve 134, guide tapered surface 1341, position sensing unit 135, proximity switch 1351, adaptive floating unit 136, floating body 136 1. Ball socket 13611, L-shaped arm 1362, guiding hemispherical groove 13621, front and rear elastic members 1363, solid hemispherical rear body 1364, hollow center shell 1365, hollow front spherical shell 1366, elastic force supply member 1367, first magnetic block 1368, second magnetic block 1369, first magnetic strip 13610, second magnetic strip 13612, cover plate 13613, slot 13614, elastic cover sheet 13615, locking mechanism 14, mounting base 141, U-shaped push plate 142, locking hook 143, extending arm 144, rolling member 145, linear power member 146, battery compartment 15, rectangular slot 151; Walking module 2, storage box 21, pick-and-place slot 211; Battery transfer module 3, grabbing plate 31, suction cup 32, vacuum generator 33, U-shaped bracket 34, empty slot 341, pushing slot 342, roller 35, pushing pick-and-place mechanism 36, pushing screw 361, pushing rail 362, first pushing block 363, second pushing block 364, pushing power member 365, moving mechanism 37, first screw 371, first guide rail 372, first slider 373, second slider 374, vertical plate 375, second screw 376, second guide rail 377, moving platform 378, first power member 379, second power member 3710; Power generation and storage module 4, generator set 41, energy storage battery group 42; Monitoring and scheduling module 5. DETAILED DESCRIPTION

[0020] The following describes the implementation of the present invention through specific embodiments. People skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0021] See also Figures 1 to 13. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0022] The following embodiments are for illustration only and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0023] In this embodiment, please refer to Figures 1 to 13 The present invention provides a new energy agricultural machinery mobile charging and swapping platform, comprising: A walking module 2, wherein a storage box 21 is provided on the walking module 2; the walking module 2 is a driving vehicle, and the driving vehicle includes a cab and a frame, and the storage box 21 is provided on the frame; A battery 11 charging module 1 includes a battery compartment 15 fixedly connected to the inner wall of the storage box 21 and a plurality of alignment charging devices. The battery compartment 15 has a rectangular slot 151, and the plurality of alignment charging devices are evenly arranged along the height and width of the rectangular slot 151. There are 18 alignment charging devices arranged in the battery compartment 15, and each alignment charging device can achieve quick insertion and quick removal. Any of the above-mentioned alignment charging devices includes a battery 11, an alignment mechanism 12, a floating plug-in mechanism 13 and a locking mechanism 14. A connector plug 111 is provided on one side of the battery 11. The floating plug-in mechanism 13 of any of the above-mentioned alignment charging devices is electrically connected to the charging circuit of the battery compartment 15. The power module of the agricultural machinery can be modified so that the battery 11 can adapt to a variety of agricultural machinery, providing applicability.

[0024] The alignment mechanism 12 includes a bottom plate 121, two side plates 122 that are oppositely arranged and vertically fixed to the bottom plate 121, a top plate 123 with both ends fixed to the tops of the two side plates 122, and guide pads 124. The bottom plate 121 and the two side plates 122 are provided with at least two guide pads 124 for the battery 11 to slide in and out; the plug-in mechanism is used to plug and cooperate with the connector plug 111 on the battery 11 to charge the battery 11; the side plates 122 and the bottom plate 121 are both provided with weight-reducing grooves 1211. The use of the weight-reducing grooves 1211 can not only save materials, reduce overall weight, and save costs, but also increase the heat dissipation effect of the battery 11 when charging. The guide pads 124 are made of wear-resistant materials, rubber or silicone, which can not only reduce the friction resistance of the battery 11 when sliding, but also cushion the impact and protect the battery 11 shell and internal components. The guide strip 124 has inclined surfaces on both sides to reduce the contact area with the battery 11 and reduce friction.

[0025] The locking mechanism 14 is provided on the top plate 123 to lock the battery 11 during charging or transportation; A battery transport module 3 is provided on the side of the battery compartment 15 facing the length direction of the guide strip 124; Power generation and storage module 4, located within storage box 21, generates and stores energy, and supplies power to battery 11 charging module 1. This module includes a generator set 41 and a storage battery pack 42. Generator set 41 is an Isuzu GF-20WSL diesel generator set with a rated power of 20 kW. The storage battery pack 42 is configured with a 100 Ah capacity. Combined with the batteries 11 within battery compartment 15, this allows the battery 11 to store over 500 Ah of energy during nighttime off-peak hours.

[0026] The monitoring and scheduling module 5 integrates control modules for power generation, energy storage, power supply, and battery 11 transport, and can also monitor the charging status of the battery 11 in real time. The monitoring and scheduling system is electrically connected to the generator set 41, the energy storage battery pack 42, and the modular battery pack 11. The energy storage battery pack 42 is electrically connected to the generator set 41 and the charging circuit of the battery compartment 15. The conversion components involved in this connection adopt existing technologies and are not detailed here.

[0027] Through the coordinated cooperation of the walking module 2, the battery 11 charging module 1, the battery transfer module 3, the power generation and storage module 4 and the monitoring and scheduling module 5, the charging and swapping platform has the ability to move independently, and can go directly to farmlands, farms and other agricultural machinery operation sites. There is no need for agricultural machinery to travel back and forth to fixed charging stations, reducing the energy consumption and time cost of idling agricultural machinery, so that the battery 11 can be replaced at the operation site and the battery 11 can be replenished in time. It is suitable for scenarios such as scattered farmland, remote areas and busy farming seasons, thereby solving the problem of limited coverage of traditional fixed charging stations, improving the continuity of agricultural machinery operations, and also being able to quickly replenish the battery 11 replaced from the agricultural machinery at the operation site. The bottom plate 121, side plate 122 and top plate 123 form a rigid frame structure to provide a fixed guide path for the battery 11. The battery transfer module 3 moves the battery 11 in and out along the length direction of the guide pad 124, so that the connector plug 111 and the floating plug-in mechanism 13 can be quickly and smoothly plugged and unplugged during the floating fine-tuning process to charge the battery 11, thereby improving the speed and accuracy of plugging and unplugging, realizing quick replacement and plugging of the battery 11, and avoiding damage to the plug when plugging and unplugging. The guide pad 124 is made of wear-resistant material and has a good shock-proof effect. The locking mechanism 14 locks the battery 11 during charging or transportation, which can prevent the battery 11 from loosening due to vibration, shaking and other factors, and ensure that the connector plug 111 and the floating plug-in mechanism 13 always remain connected, preventing power outages or electric sparks, and reducing safety hazards.

[0028] In this embodiment, please refer to Figures 3 to 6 The battery 11 includes a battery cell 112, a housing 113, and a cover 114. The housing 113 and the cover 114 cover each other to provide a housing 115 for the battery cell 112. The connector plug 111 is disposed on the cover 114 and is electrically connected to the battery cell 112. There is at least one battery cell 112. When there are multiple battery cells 112, the battery cells 112 can be connected in series and / or in parallel, and then the battery cells 112 are housed in the housing 115. The battery 11 may also include other structures, for example, a current collector for electrically connecting the multiple battery cells 112. The housing 113 and the cover 114 have a discharge port and a handle on the surface opposite to each other. The discharge port is electrically connected to the at least one battery cell 112 housed in the housing 115, and is used to release the power of the at least one battery cell 112 through the discharge port. The adjacent surfaces of the box body 113 and the cover body 114 are also provided with a lifting handle to facilitate operators to lift the battery 11.

[0029] In this embodiment, please refer to Figures 7 to 11The floating plug-in mechanism 13 includes a rear side plate 131 fixed to the rear end of the bottom plate 121, an adaptive floating portion 136, a connector socket 132, and a guide column 133 fixed to the rear side plate 131 and facing the length direction of the guide pad 124. The guide column 133 has a tapered tip, which is used for pre-guiding and positioning. The rear side plate 131 is provided with a floating space 1311 in the length direction of the guide pad 124. The connector socket 132 is provided in the adaptive floating portion 136 and faces the length direction of the guide pad 124. The connector socket 132 is a charging socket for the battery compartment 15. The adaptive floating portion 136 is disposed in the floating space 1311 and can adaptively float in all directions and forward and backward within the floating space 1311; The battery 11 has a guide sleeve 134 on the same side as the connector plug 111. The guide sleeve 134 has a guiding conical surface 1341 at one end close to the connector socket. The dimension of the guide column 133 toward the guide pad 124 in the length direction is larger than the dimension of the connector socket 132 toward the guide pad 124. The guide column 133 is used to insert the guide sleeve 134 for guidance and positioning before the connector plug 111 and the connector socket 132 are mated.

[0030] Because the length of the guide column 133 is greater than the connector socket 132, the tapered tip of the guide column 133 first enters the guide tapered surface 1341 of the guide sleeve 134 during insertion, and the setting of the adaptive floating portion 136 allows the connector socket 132 provided on the adaptive floating portion 136 to adaptively float in the front, back and all directions within the floating space 1311, thereby realizing the position adjustment of the connector socket 132, and then the guide tapered surface 1341 can automatically correct the insertion direction of the battery 11, adapt to the deviation caused by misalignment, and move the battery 11 along a preset trajectory, ensuring that the connector plug 111 and the connector socket 132 can be quickly and smoothly plugged and unplugged to charge the battery 11, improving the speed, accuracy and smoothness of plugging and unplugging, reducing the difficulty of plugging and unplugging, realizing quick replacement and plugging of the battery 11, and avoiding damage to the plug when plugging and unplugging, wherein the rear side plate 131 can also limit the battery 11.

[0031] In this embodiment, please refer to Figures 7 to 11 The adaptive floating portion 136 has four groups, and the four groups of adaptive floating portions 136 are respectively arranged around the floating body 1361; Each set of the adaptive floating parts 136 includes a floating body 1361, an L-shaped arm 1362, front and rear elastic members 1363, a solid hemispherical rear body 1364, a hollow center shell 1365, a hollow front spherical shell 1366, and an elastic force-supplying member 1367 provided on the horizontal portion of the L-shaped arm 1362 to provide a force for returning the floating body 1361 to the center. The connector socket 132 is provided on the floating body 1361 and faces the length direction of the guide pad 124. One end of the guide column 133 is fixedly connected to the floating body 1361, and the other end faces the length direction of the guide pad 124. The horizontal portion of the L-shaped arm 1362 is parallel to the horizontal plate. The bottom end of the floating space 1311 has an adjustment hole 13111 for accommodating the front and rear elastic members 1363. The two ends of the front and rear elastic members 1363 are respectively fixedly connected to the back of the vertical portion of the L-shaped arm 1362 and the bottom of the adjustment hole 13111. The front and rear elastic members 1363 include springs. The two ends of the hollow shell 1365 are respectively fixedly connected to the solid hemispherical rear body 1364 and the hollow front spherical shell 1366. The inner side surface of the vertical portion of the L-shaped arm 1362 has a guiding hemispherical groove 13621 that abuts against the solid hemispherical rear body 1364. The floating body 1361 has a ball socket 13611 that adapts to the hollow front spherical shell 1366. A first magnetic block 1368 is provided at the bottom center of the guiding hemispherical groove 13621. A second magnetic block 1369 is provided on the solid hemispherical rear body 1364 and is magnetically attracted to the first magnetic block 1368. A first magnetic strip 13610 is provided at the bottom center of the ball socket 13611. A second magnetic strip 13612 is provided on the hollow front spherical shell 1366 and is magnetically attracted to the first magnetic strip 13610. The elastic force supply member 1367, the gravity of the solid hemispherical rear body 1364, the magnetic attraction of the first magnetic block 1368 and the second magnetic block 1369, and the magnetic attraction of the first magnetic strip 13610 and the second magnetic strip 13612 cooperate to reset the connector socket 132 on the floating body 1361 relative to the rear side plate 131.

[0032] The side wall of the floating space 1311 may be provided with a T-shaped slot for the L-shaped arm 1362 to slide forward and backward. The L-shaped arm 1362 is provided with a T-shaped block that slides in cooperation with the T-shaped slot, so that the movement path of the L-shaped arm 1362 is more stable when it moves forward and backward and compresses the front and rear elastic members 1363. Initially, the floating body 1361 is located in the center of the floating space 1311. Under the elastic force of the elastic force supply member 1367, the self-weight of the solid hemispherical rear body 1364, and the magnetic attraction of the first magnetic block 1368 and the second magnetic block 1369, it is stably located in the center of the guide hemispherical groove 13621. Under the magnetic attraction of the first magnetic strip 13610 and the second magnetic strip 13612, the hollow front spherical shell 1366 is stably located in the center of the ball socket 13611. The front and rear elastic members 1363 are in a natural state. At this time, the connector socket 132 is in the center of the floating space 1311. When the battery 11 is inserted for charging, the conical tip of the guide column 133 first enters the guide conical surface 1341 of the guide sleeve 134. If there is an error between the conical tip of the guide column 133 and the guide conical surface 1341 of the guide sleeve 134, the thrust of the battery 11 adapter module Under the action of , the floating body 1361 arranged in the floating space 1311 can adaptively float in the front, back and all directions, so that the L-shaped arm 1362 moves forward and backward, the solid hemispherical rear shell deviates from the center of the guide hemispherical groove and the center of gravity changes, the hollow front spherical shell 1366 deviates from the center of the ball socket 13611, and the elastic force supply member 1367 is stretched or compressed, thereby realizing the position adjustment of the connector socket 132, and then the guiding conical surface 1341 can automatically correct the insertion direction of the battery 11, adapt to the deviation caused by misalignment, and make the battery 11 move along the preset trajectory, ensuring that the connector plug 111 and the connector socket 132 can be quickly and smoothly plugged and unplugged to charge the battery 11, improving the speed, accuracy and smoothness of plugging and unplugging, reducing the difficulty of plugging and unplugging, realizing quick replacement and plugging of the battery 11, and avoiding damage to the plug when plugging and unplugging. When battery 11 is removed, the external force acting on it is removed. The elastic force-supplying member 1367, the gravity of the solid hemispherical rear body 1364, the magnetic attraction of the first and second magnetic blocks 1368 and 1369, and the magnetic attraction of the first and second magnetic strips 13610 and 13612 cooperate to return connector socket 132 on float 1361 to its original position relative to rear panel 131, facilitating its next use. Furthermore, float 1361 is capable of adaptively floating forward, backward, and in all directions, effectively protecting battery 11 from shock when transported to agricultural fields, farms, and other agricultural machinery operation sites. This maintains the mating relationship between connector plug 111 and connector socket 132, improving safety and reliability.

[0033] In this embodiment, please refer to Figure 8 and Figure 9 The elastic force supply member 1367 includes a spring, and the spring provides a push or pull force for returning the floating body 1361 to the center; The elastic force supply member 1367 has one end, and both ends of the elastic force supply member 1367 are fixedly connected to the outer wall of the hollow shell 1365 and the horizontal part of the L-shaped arm 1362 respectively; Alternatively, there are two elastic force supply members 1367 , which are arranged in an eight-shaped shape, and both ends of each elastic force supply member 1367 are fixedly connected to the outer wall of the hollow inner shell 1365 and the horizontal part of the L-shaped arm 1362 .

[0034] In this embodiment, please refer to Figure 7 and Figure 8 A cover plate 13613 is provided on the side of the rear side plate 131 facing the guide pad 124, and the cover plate 13613 has a slot 13614 for the floating body to pass through and float around; the opening size of the slot 13614 is larger than the extending size of the floating body 1361, and the size of the slot 13614 can limit the floating range of the floating body 1361 to the surroundings, thereby improving safety.

[0035] The cover plate 13613 has an elastic cover sheet 13615, which is fixedly connected to the cover body 114 on the outside and to the floating body 1361 on the inside. The elastic cover sheet 13615 is elastic and can be made of rubber. The elastic cover sheet 13615 blocks the gap between the slot 13614 and the floating body 1361, thereby preventing dust and dirt.

[0036] In this embodiment, please refer to Figure 7 The floating plug-in mechanism 13 further includes a position sensing portion 135, which is used to sense whether the connector socket 132 and the connector plug 111 are plugged into place when the guide column 133 and the guide sleeve 134 are plugged into each other; The position sensing portion 135 includes a proximity switch 1351 . The guide column 133 has an inwardly concave mounting hole 1331 along its own axial direction at one end facing the guide pad 124 in the length direction. The proximity switch 1351 is installed in the mounting hole 1331 .

[0037] The proximity switch 1351 can be a magnetic induction switch, and the bottom of the guide sleeve 134 has a permanent magnet for triggering the magnetic induction switch. By installing the proximity switch 1351 in the mounting hole 1331 of the guide post 133, the anti-interference capability is enhanced, the structural layout is compact, and it is adaptable to a small space. During insertion, the permanent magnet at the bottom of the guide sleeve 134 approaches the proximity switch 1351 as the battery 11 is inserted. When the guide post 133 and the guide sleeve 134 are fully inserted, the proximity switch 1351 triggers an output signal, facilitating the sensing judgment of whether the connector socket 132 and the connector plug 111 are plugged in place, thereby improving the safety of the plugging of the connector socket 132 and the connector plug 111. For charging safety, an annular groove can also be provided at the tapered tip of the guide post 133, and a safety magnet can be provided in the annular groove. During charging, the permanent magnet and the safety magnet are attracted to each other by magnetic attraction.

[0038] Alternatively, the proximity switch 1351 is an ultrasonic proximity switch 1351. The ultrasonic proximity switch 1351 detects objects by emitting ultrasonic waves and receiving reflected echoes. Specifically, the transmitter emits ultrasonic waves, which are reflected after encountering an object. The receiver calculates the echo time or frequency change to determine the distance of the object, thereby determining whether the connector socket 132 and the connector plug 111 are properly plugged in. This achieves contactless measurement, enhances adaptability, and improves the safety of plugging the connector socket 132 and the connector plug 111.

[0039] In this embodiment, please refer to Figure 3 and Figure 4 The locking mechanism 14 includes a mounting seat 141, a U-shaped push plate 142, a locking hook 143, an extending arm 144, a rolling member 145, and a linear power member 146 for pushing and retracting the U-shaped push plate 142 along the length direction of the top plate 123; the linear power member 146 includes one of a cylinder, a hydraulic cylinder, and an electric push rod to control the linear movement of the U-shaped push plate 142.

[0040] The top plate 123 has a mounting groove 1231, and the mounting seat 141 is fixedly installed in the mounting groove 1231. The mounting groove 1231 can save materials and reduce the overall weight, and provide a concealed installation space for the linear power member 146 and the U-shaped push plate, making the structure more compact. The fixed end and the telescopic end of the linear power member 146 are respectively fixedly connected to the mounting seat 141 and the bottom of the U-shaped push plate 142. The locking hook 143 is rotatably installed on the U-shaped push plate 142. Both ends of the locking hook 143 are fixedly connected to one end of the extending arm 144. The rolling member 145 is rotatably provided at the other end of the extending arm 144. The side plate 122 has an inclined groove 1221 adapted to accommodate the rolling element 145. The rolling element 145 can be a bearing or a roller. In the case of a bearing, the inner ring is coaxially fixedly engaged with the other end of the extension arm 144. In the case of a roller, the roller is rotatably mounted on the other end of the extension arm 144. The contact between the rolling element 145 and the inclined groove 1221 is rolling friction, which offers less resistance than sliding friction, reducing wear and extending service life. Furthermore, the rolling motion is smoother, reducing vibration and noise.

[0041] The linear actuator 146 directly propels the U-shaped push plate to extend and retract along the length of the top plate 123, achieving linear actuation of the locking hook 143. This design boasts high transmission efficiency and precise control. As the rolling element 145 rolls within the inclined groove 1221 of the side plate 122, it converts the linear motion of the U-shaped push plate into rotational motion of the locking hook 143, automatically engaging or disengaging the locking hook 143 from the battery 11. Specifically, as the rolling element 145 rolls upward along the inclined groove, the extended arm 144 rotates the locking hook 143, unlocking it; reverse motion locks it. This smooth and effortless operation prevents loosening of the battery 11 due to vibration or shaking, ensuring that the connector plug 111 remains connected to the connector receptacle 132 of the plug-in mechanism, preventing power outages and sparks, and minimizing safety hazards. Both ends of the locking hook 143 are fixedly connected to the extended arm 144, forming a symmetrical structure that evenly distributes force and prevents deformation or jamming caused by unilateral force. The contact between the rolling element 145 and the inclined rolling groove 1221 is rolling friction, which has smaller resistance than sliding friction, can reduce wear and extend service life. At the same time, the rolling motion is smoother and can reduce vibration and noise.

[0042] In this embodiment, please refer to Figure 2 、 Figure 12 and Figure 13The battery transport module 3 includes a grab plate 31, a plurality of suction cups 32, a vacuum generator 33 fixed to the grab plate 31, a U-shaped bracket 34, a plurality of rollers 35, a push-pick-and-place mechanism 36, and a moving mechanism 37. The plurality of suction cups 32 are evenly arranged on the grab plate 31, and each of the suction cups 32 is connected to the vacuum generator 33 through a ventilator. The bottom of the U-shaped bracket 34 has a plurality of slots 341 along the length direction of the guide pad 124. The plurality of rollers 35 are rotatably arranged in the plurality of slots 341. The side of the grab plate 31 facing the length direction of the guide pad 124 has a The identification part for identifying the position of the alignment mechanism 12, the identification part on the grabbing plate 31, such as a laser sensor or a visual camera, detects the position of the alignment mechanism 12 in real time, and combines the two-dimensional movement of the moving mechanism 37 to enable the suction cup 32 group to automatically align with the surface of the battery 11. The side of the storage box 21 has a pick-up and placement groove 211 for the U-shaped bracket 34 to extend; a protective cover is provided on the roller 35, and the protective cover can be non-elastic, and the size and cross-sectional shape are fixed. When picking and placing, the protective cover is tangent to the contact surface of the guide pad 124 and the battery 11, reducing friction resistance, allowing the battery 11 to slide smoothly, reducing transportation energy consumption, and also protecting the battery 11. The plurality of suction cups 32 may be five, and the five suction cups 32 are arranged in a field shape, so that a uniform and sufficient adsorption force can be provided when the battery 11 is taken out, ensuring a stable grasping of the surface of the battery 11; the shape of the suction cup 32 may be deep or accordion-shaped, and the vacuum generator 33 is used to evacuate the inside of the suction cup 32 to suck the surface of the box 113 of the battery 11. The pushing and placing mechanism 36 includes a pushing screw 361, a pushing rail 362, a first pushing block 363, a second pushing block 364, and a pushing power member 365 for driving the pushing rod to rotate. The pushing power member 365 includes a motor, a rotary cylinder or a hydraulic motor. Pushing grooves 342 are provided on the opposite side walls of the U-shaped bracket 34. The pushing screw 361 is rotatably installed in one of the pushing grooves 342, and the pushing rail 362 is fixedly installed in the other pushing groove 342. The first pushing block 363 is threadedly engaged with the pushing screw 361, and the second pushing block 364 is slidably engaged with the pushing rail 362. The first pushing block 363 and the second pushing block 364 are both fixedly connected to the grabbing plate 31; The moving mechanism 37 is disposed on the side of the battery compartment 15 facing the length direction of the guide strip 124 to drive the U-shaped bracket 34 to move along the height direction and the width direction of the rectangular slot 151 .

[0043] The U-shaped bracket is driven by the moving mechanism 37 to move along the height and width directions of the rectangular slot 151 to achieve full coverage of the charging station. When taking the battery 11, the power piece 365 is pushed to drive the screw to rotate forward and reverse to drive the first push block 363 to move along the length direction of the guide pad 124. At this time, the second push block 364 slides with the push rail 362 to push the grab plate 31 forward and backward to adapt to the insertion and removal of the battery 11. The vacuum generator 33 is used to evacuate the inside of the suction cup 32 to suck the surface of the battery box 113 of the battery 11, ensuring stable grasping of the surface of the battery 11, thereby realizing instant suction and use, and adapting to the needs of rapid battery replacement of agricultural machinery.

[0044] In this embodiment, please refer to Figure 12 The moving mechanism 37 includes a first screw 371 rotatably mounted in the width direction of the battery compartment 15, a first guide rail 372 fixedly mounted in the width direction of the battery compartment 15, a first slider 373 threadedly engaged with the first screw 371, a second slider 374 slidingly engaged with the first guide rail 372, a vertical plate 375 with both ends fixed to the first slider 373 and the second slider 374, a second screw 376 rotatably mounted on the vertical plate 375, two fixed to the vertical plate 375 and located at the The second guide rails 377 at both ends of the second screw 376, the moving platform 378, the first power member 379 that drives the first screw 371 to rotate, and the second power member 3710 that drives the second screw 376 to rotate. The first power member 379 and the second power member 3710 can each be a motor, a rotary cylinder, or a hydraulic motor. The moving platform 378 is threadedly engaged with the second screw 376 and slidably engaged with both second guide rails 377. One side of the moving platform 378 is fixedly connected to the side of the U-shaped bracket 34. The first screw 371 drives the first slider 373 to move laterally. The first guide rail 372 constrains the motion trajectory to prevent deviation and ensure the positioning accuracy of the U-shaped bracket in the width direction of the slot. The second screw 376 drives the moving platform 378 to rise and fall vertically. The second guide rails 377 on both sides provide guidance to prevent shaking during lifting and lowering, ensuring the smoothness of the movement process.

[0045] Working principle: When a battery 11 of an agricultural machine needs to be replaced, the monitoring and scheduling module 5 controls the moving mechanism 37 to drive the U-shaped bracket 34 to move to the position of the fully charged battery 11 in the battery compartment 15. The linear power member 146 directly pushes the U-shaped push plate to extend and retract along the length direction of the top plate 123, which can realize the linear drive of the lock hook 143. When the rolling member 145 rolls in the inclined rolling groove 1221 of the side plate 122, the U-shaped push plate 34 will be moved to the position of the fully charged battery 11 in the battery compartment 15. The linear motion of the push plate is converted into the rotational motion of the lock hook 143, so that the lock hook 143 is disengaged from the locked battery 11, and the first push block 363 is driven to move along the length direction of the guide pad 124 by rotating the driving screw through the pushing power piece 365. At this time, the second push block 364 slides with the pushing rail 362 to push the grab plate 31 to move. When it contacts the surface of the battery 11, the vacuum generator 33 vacuums the inside of the suction cup 32 to suck the surface of the box 113 of the battery 11, ensuring stable grasping of the surface of the battery 11, thereby realizing instant use and adapting to the needs of taking the battery 11. The force member 365 rotates in the opposite direction to remove the battery 11. At this time, the elastic force member 1367, the gravity of the solid hemispherical rear body 1364, the magnetic attraction of the first magnetic block 1368 and the second magnetic block 1369, and the magnetic attraction of the first magnetic strip 13610 and the second magnetic strip 13612 cooperate to reset the connector socket 132 on the floating body 1361 relative to the rear side plate 131, so that it can be used again. The moving mechanism 37 extends the battery 11 from the access slot 211 on the side wall of the storage box 21. The operator removes the battery 11 and places the depleted battery 11 into the U-shaped bracket 34. The monitoring and scheduling module 5 controls the moving mechanism 37 to drive the U-shaped bracket 34 to move to the empty position in the battery compartment 15, and the driving screw is rotated by pushing the power piece 365 to drive the first pushing block 363 to move along the length direction of the guide pad 124. At this time, the second pushing block 364 slides with the pushing rail 362 to push the grabbing plate 31 to move and drive the battery 11 to move. When the battery 11 is inserted for charging, the conical tip of the guide column 133 first enters the guiding conical surface 1341 of the guide sleeve 134. If there is an error between the conical tip of the guide column 133 and the guiding conical surface 1341 of the guide sleeve 134, under the action of the thrust of the battery 11 adapter module, the floating body 1361 set in the floating space 1311 can move forward and backward and in all directions. Adaptive floating causes the L-shaped arm 1362 to move forward and backward, the solid hemispherical rear shell deviates from the center of the guide hemispherical groove and the center of gravity changes, the hollow front spherical shell 1366 deviates from the center of the ball socket 13611, and the elastic force supply member 1367 is stretched or compressed, thereby realizing the position adjustment of the connector socket 132, and then the guiding conical surface 1341 can automatically correct the insertion direction of the battery 11, adapt to the deviation caused by misalignment, and make the battery 11 move along the preset trajectory, ensuring that the connector plug 111 and the connector socket 132 can be quickly and smoothly plugged and unplugged to charge the battery 11, improving the speed, accuracy and smoothness of plugging and unplugging, reducing the difficulty of plugging and unplugging, realizing quick replacement and plugging of the battery 11, and avoiding damage to the plug when plugging and unplugging.

[0046] To sum up, the present invention enables the charging and swapping platform to have autonomous mobility through the coordinated cooperation of the walking module 2, the battery 11 charging module 1, the battery transfer module 3, the power generation and storage module 4 and the monitoring and scheduling module 5. It can go directly to farmland, farms and other agricultural machinery operation sites, without the need for agricultural machinery to travel back and forth to fixed charging stations, reducing the energy consumption and time cost of idling agricultural machinery, so that the battery 11 can be replaced at the operation site and the battery 11 can be replenished in time. It is suitable for scenarios such as scattered farmland, remote areas and busy farming seasons, thereby solving the problem of limited coverage of traditional fixed charging stations, improving the continuity of agricultural machinery operations, and also being able to quickly replenish the battery 11 replaced from the agricultural machinery at the operation site. The bottom plate 121, side plate 122 and top plate 123 form a rigid frame structure to provide a fixed guide path for the battery 11. The battery transfer module 3 moves the battery 11 in and out along the length direction of the guide pad 124, so that the connector plug 111 and the floating plug-in mechanism 13 can be quickly and smoothly plugged and unplugged during the floating fine-tuning process to charge the battery 11, thereby improving the speed and accuracy of plugging and unplugging, realizing quick replacement and plugging of the battery 11, and avoiding damage to the plug when plugging and unplugging. The guide pad 124 is made of wear-resistant material and has a good shock-proof effect. The locking mechanism 14 locks the battery 11 during charging or transportation, which can prevent the battery 11 from loosening due to vibration, shaking and other factors, and ensure that the connector plug 111 and the floating plug-in mechanism 13 always remain connected, preventing power outages or electric sparks, and reducing safety hazards.Initially, the floating body 1361 is located in the center of the floating space 1311. Under the elastic force of the elastic force supply member 1367, the self-weight of the solid hemispherical rear body 1364, and the magnetic attraction of the first magnetic block 1368 and the second magnetic block 1369, it is stably located in the center of the guide hemispherical groove 13621. Under the magnetic attraction of the first magnetic strip 13610 and the second magnetic strip 13612, the hollow front spherical shell 1366 is stably located in the center of the ball socket 13611. The front and rear elastic members 1363 are in a natural state. At this time, the connector socket 132 is in the center of the floating space 1311. When the battery 11 is inserted for charging, the conical tip of the guide column 133 first enters the guide conical surface 1341 of the guide sleeve 134. If there is an error between the conical tip of the guide column 133 and the guide conical surface 1341 of the guide sleeve 134, the thrust of the battery 11 adapter module Under the action of , the floating body 1361 arranged in the floating space 1311 can adaptively float in the front, back and all directions, so that the L-shaped arm 1362 moves forward and backward, the solid hemispherical rear shell deviates from the center of the guide hemispherical groove and the center of gravity changes, the hollow front spherical shell 1366 deviates from the center of the ball socket 13611, and the elastic force supply member 1367 is stretched or compressed, thereby realizing the position adjustment of the connector socket 132, and then the guiding conical surface 1341 can automatically correct the insertion direction of the battery 11, adapt to the deviation caused by misalignment, and make the battery 11 move along the preset trajectory, ensuring that the connector plug 111 and the connector socket 132 can be quickly and smoothly plugged and unplugged to charge the battery 11, improving the speed, accuracy and smoothness of plugging and unplugging, reducing the difficulty of plugging and unplugging, realizing quick replacement and plugging of the battery 11, and avoiding damage to the plug when plugging and unplugging. When battery 11 is removed, the external force acting on it is removed. The elastic force-supplying member 1367, the gravity of the solid hemispherical rear body 1364, the magnetic attraction of the first and second magnetic blocks 1368 and 1369, and the magnetic attraction of the first and second magnetic strips 13610 and 13612 cooperate to return connector socket 132 on float 1361 to its original position relative to rear panel 131, facilitating its next use. Furthermore, float 1361 is capable of adaptively floating forward, backward, and in all directions, effectively protecting battery 11 from shock when transported to agricultural fields, farms, and other agricultural machinery operation sites. This maintains the mating relationship between connector plug 111 and connector socket 132, improving safety and reliability.The linear actuator 146 directly propels the U-shaped push plate to extend and retract along the length of the top plate 123, achieving linear actuation of the locking hook 143. This design boasts high transmission efficiency and precise control. As the rolling element 145 rolls within the inclined groove 1221 of the side plate 122, it converts the linear motion of the U-shaped push plate into rotational motion of the locking hook 143, automatically engaging or disengaging the locking hook 143 from the battery 11. Specifically, as the rolling element 145 rolls upward along the inclined groove, the extended arm 144 rotates the locking hook 143, unlocking it; reverse motion locks it. This smooth and effortless operation prevents loosening of the battery 11 due to vibration or shaking, ensuring that the connector plug 111 remains connected to the connector receptacle 132 of the plug-in mechanism, preventing power outages and sparks, and minimizing safety hazards. Both ends of the locking hook 143 are fixedly connected to the extended arm 144, forming a symmetrical structure that evenly distributes force and prevents deformation or jamming caused by unilateral force. The contact between the rolling element 145 and the inclined rolling groove 1221 is rolling friction, which has lower resistance than sliding friction, reducing wear and extending service life. Furthermore, the rolling motion is smoother, reducing vibration and noise. Therefore, the present invention effectively overcomes the shortcomings of the prior art and has high industrial application value.

[0047] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A new energy agricultural machinery mobile charging and swapping platform, characterized in that: include: A walking module, wherein the walking module is provided with a storage box; A battery charging module, comprising a battery compartment fixedly connected to the inner wall of the storage box and a plurality of aligned charging devices, wherein the battery compartment has a rectangular slot, and the plurality of aligned charging devices are evenly arranged along the height and width directions of the rectangular slot; Any of the above-mentioned alignment charging devices includes a battery, an alignment mechanism, a floating plug mechanism and a locking mechanism. A connector plug is provided on one side of the battery. The floating plug mechanism of any of the above-mentioned alignment charging devices is electrically connected to the charging circuit of the battery compartment. The alignment mechanism includes a bottom plate, two side plates arranged opposite to each other and fixed vertically to the bottom plate, a top plate with two ends fixed to the tops of the two side plates, and a guide pad. The bottom plate and the two side plates have at least two guide pads for the batteries to slide in and out. The plug-in mechanism is used to plug and cooperate with the connector plug on the battery to charge the battery. The locking mechanism is provided on the top plate for locking the battery during charging or transportation; A battery transfer module is provided on a side of the battery compartment facing the length direction of the guide strip; A power generation and storage module is provided in the storage box for generating and storing power and supplying power to the battery charging module; A monitoring and scheduling module integrates control modules for power generation, energy storage, power supply and battery transportation.

2. The new energy agricultural machinery mobile charging and swapping platform according to claim 1 is characterized by: The battery includes a battery cell, a box body and a cover body. The box body and the cover body cover each other to provide a housing for the battery cell. The connector plug is provided on the cover body and is electrically connected to the battery cell.

3. The new energy agricultural machinery mobile charging and swapping platform according to claim 1 is characterized by: The floating plug-in mechanism includes a rear side plate fixedly connected to the rear end of the base plate, an adaptive floating portion, a connector socket, and a guide column fixedly connected to the rear side plate and facing the length direction of the guide pad. The rear side plate has a floating space in the length direction of the guide pad. The connector socket is arranged in the adaptive floating portion and faces the length direction of the guide pad. The connector socket is a charging socket for the battery compartment. The adaptive floating portion is disposed in the floating space and can adaptively float in all directions and forward and backward within the floating space; The battery has a guide sleeve on the same side of the connector plug, and the guide sleeve has a guiding conical surface at one end close to the connector socket. The dimension of the guide column toward the guide pad in the length direction is larger than the dimension of the connector socket toward the guide pad. The guide column is used to insert the guide sleeve into the connector plug and the connector socket for guidance and positioning before they are mated.

4. The new energy agricultural machinery mobile charging and swapping platform according to claim 3 is characterized by: There are four groups of the adaptive floating parts, and the four groups of the adaptive floating parts are respectively arranged around the floating body; Each group of the adaptive floating parts includes a floating body, an L-shaped arm, front and rear elastic members, a solid hemispherical rear body, a hollow central shell, a hollow front spherical shell, and an elastic force-supplying member provided on the horizontal portion of the L-shaped arm to provide a force for the floating body to return to the center. The connector socket is provided on the floating body and faces the length direction of the guide pad. One end of the guide column is fixedly connected to the floating body, and the other end faces the length direction of the guide pad. The bottom end of the floating space has an adjustment hole for accommodating the front and rear elastic members, the two ends of the front and rear elastic members are respectively fixedly connected to the back of the vertical part of the L-shaped arm and the bottom of the adjustment hole, the two ends of the hollow central shell are respectively fixedly connected to the solid hemispherical rear body and the hollow front spherical shell, the inner side surface of the vertical part of the L-shaped arm has a guiding hemispherical groove abutting against the solid hemispherical rear body, and the floating body has a ball socket adapted to the hollow front spherical shell; A first magnetic block is provided at the bottom center of the guiding hemispherical groove, a second magnetic block is provided on the solid hemispherical rear body and is magnetically attracted to the first magnetic block, a first magnetic strip is provided at the bottom center of the ball socket, and a second magnetic strip is provided on the hollow front spherical shell and is magnetically attracted to the first magnetic strip; The elastic force supply member, the gravity of the solid hemispherical rear body, the magnetic attraction of the first magnetic block and the second magnetic block, and the magnetic attraction of the first magnetic strip and the second magnetic strip cooperate to reset the connector socket on the floating body relative to the rear side plate.

5. The new energy agricultural machinery mobile charging and swapping platform according to claim 4 is characterized by: The elastic force supply member includes a spring, and the spring provides a pushing force or a pulling force for returning the floating body to the center; The elastic force supply member has one end, and both ends of the elastic force supply member are fixedly connected to the outer wall of the hollow core shell and the horizontal part of the L-shaped arm respectively; Alternatively, there are two elastic force supply members, which are arranged in an eight-shaped shape, and both ends of each elastic force supply member are fixedly connected to the outer side wall of the hollow inner shell and the horizontal part of the L-shaped arm respectively.

6. The new energy agricultural machinery mobile charging and swapping platform according to claim 3 is characterized by: A cover plate is provided on the side of the rear side plate facing the guide pad, and the cover plate has a slot for the floating body to pass through and float around; The cover plate is provided with an elastic covering sheet, the outer side of the elastic covering sheet is fixedly connected to the cover body, and the inner side of the elastic covering sheet is fixedly connected to the floating body.

7. The new energy agricultural machinery mobile charging and swapping platform according to claim 3 is characterized by: The floating plug-in mechanism further includes a position sensing portion, which is used to sense whether the connector socket and the connector plug are plugged into place when the guide post and the guide sleeve are plugged into each other; The position sensing portion includes a proximity switch. One end of the guide column facing the length direction of the guide pad has an inwardly concave mounting hole along its own axial direction, and the proximity switch is installed in the mounting hole.

8. The new energy agricultural machinery mobile charging and swapping platform according to claim 1 is characterized by: The locking mechanism includes a mounting seat, a U-shaped push plate, a locking hook, an extension arm, a rolling element, and a linear power element for pushing and retracting the U-shaped push plate along the length direction of the top plate; The top plate is provided with a mounting groove, the mounting seat is fixedly mounted in the mounting groove, the fixed end and the telescopic end of the linear power member are fixedly connected to the mounting seat and the bottom of the U-shaped push plate respectively, the locking hook is rotatably mounted on the U-shaped push plate, both ends of the locking hook are fixedly connected to one end of the extending arm, and the rolling member is rotatably arranged at the other end of the extending arm; The side plate is provided with an inclined rolling groove adapted to the rolling element.

9. The new energy agricultural machinery mobile charging and swapping platform according to claim 1 is characterized by: The battery transport module includes a grab plate, a plurality of suction cups, a vacuum generator fixed to the grab plate, a U-shaped bracket, a plurality of rollers, a push-pick-and-place mechanism, and a moving mechanism. The plurality of suction cups are evenly arranged on the grab plate, and each of the suction cups is connected to the vacuum generator through a vent pipe. The bottom of the U-shaped bracket has a plurality of empty slots along the length direction of the guide pad, and the plurality of rollers are rotatably arranged in the plurality of empty slots. The side of the grab plate facing the length direction of the guide pad has an identification portion for identifying the position of the alignment mechanism, and the side of the storage box has a pick-and-place slot for the U-shaped bracket to extend out. The pushing and placing mechanism includes a pushing screw, a pushing rail, a first pushing block, a second pushing block, and a pushing power member for driving the pushing rod to rotate. Pushing grooves are provided on the two opposite side walls in the U-shaped bracket. The pushing screw is rotatably installed in one of the pushing grooves, and the pushing rail is fixedly installed in the other pushing groove. The first pushing block is threadedly engaged with the pushing screw, and the second pushing block is slidably engaged with the pushing rail. The first pushing block and the second pushing block are both fixedly connected to the grabbing plate. The moving mechanism is arranged on the side surface of the battery compartment body facing the length direction of the guide pad to drive the U-shaped bracket to move along the height direction and width direction of the rectangular compartment slot.

10. The new energy agricultural machinery mobile charging and swapping platform according to claim 1 is characterized by: The movable mechanism includes a first screw rotatably installed in the width direction of the battery compartment body, a first guide rail fixedly installed in the width direction of the battery compartment body, a first slider engaged with the first screw thread, a second slider slidably engaged with the first guide rail, a vertical plate with both ends fixed to the first slider and the second slider, a second screw rotatably installed on the vertical plate, two second guide rails fixed to the vertical plate and located at both ends of the second screw, a movable platform, a first power member driving the first screw to rotate, and a second power member driving the second screw to rotate, the movable platform engaged with the second screw thread, the movable platform slidably engaged with the two second guide rails, and one side of the movable platform is fixedly connected to the side surface of the U-shaped bracket.

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