High-precision AGV (Automatic Guided Vehicle) automatic battery replacing device and method thereof

Abstract

The invention discloses a high-precision AGV (Automatic Guided Vehicle) automatic battery replacing device and a method thereof, and belongs to the technical field of AGV automation equipment. The device comprises a box integrating a battery bin, a battery replacing bin and a charging bin, a first conveying mechanism and a second conveying mechanism which are synchronously driven by a first driving device are arranged in the battery bin, a carrier and a second driving device are arranged below the conveying mechanisms, a supporting mechanism is arranged on the carrier, and a jacking mechanism is arranged at the bottom of the battery replacing bin. A guiding and conveying mechanism and a third driving device are erected between the battery replacing bin and the charging bin. According to the battery replacing method, through cooperative action of all the mechanisms, automatic dismounting, transferring and charging of the AGV battery pack and accurate conveying and mounting of the fully-charged battery pack are achieved. The technical problems that a traditional battery replacing device is low in battery replacing precision, poor in battery transferring stability and not smooth in battery replacing process connection are solved, impact-free stable transferring and high-precision positioning battery replacing of a battery pack are achieved, the battery replacing efficiency is greatly improved through the integrated bin design, the occupied space of equipment is reduced, and the automatic battery replacing requirements of various AGVs are met.

Description

Technical Field

[0001] This invention belongs to the field of AGV automation equipment technology, specifically relating to a high-precision AGV automatic battery swapping device and method. Background Technology

[0002] In the prior art, there has been relevant research on automatic battery swapping devices for mobile transportation equipment. For example, CN117584804A discloses a battery swapping device and its swapping method. This device uses a frame constructed with columns and support frames, and coordinates left and right shifting cylinders, front and rear swapping cylinders, and guide wheel assemblies to achieve battery replacement and charging. Although it can achieve continuous battery swapping without manual operation, this type of device is only suitable for specific rail transport vehicles and has the following significant drawbacks: Firstly, the battery swapping positioning accuracy is low. Relying on the combination of cylinder pushing and guide wheel assembly, the battery is prone to positional deviation during the battery transfer process, which cannot meet the high precision requirements of AGV vehicles for battery pack installation. Secondly, the battery transfer stability is poor. The device uses a baffle to hook the battery for transfer, which can easily cause impact to the battery. In addition, it can only achieve straight-line transfer in the horizontal direction, resulting in poor adaptability. Third, the equipment structure is scattered, lacking an integrated design for battery storage, swapping, and charging compartments. The equipment occupies a large space, the various processes of battery swapping are not tightly connected, and the battery swapping efficiency is limited. Fourth, it can only achieve the alternating replacement and charging of single battery packs, lacking a structure for bulk battery storage and automated transport, and cannot meet the large-scale, high-frequency battery swapping needs of AGV vehicles. At the same time, traditional AGV battery swapping mostly adopts fixed-point manual replacement or simple robotic arm battery swapping methods. Manual battery swapping is inefficient and has high labor costs, while simple robotic arm battery swapping has problems such as large positioning errors and easy shaking and damage during battery pack transfer. In addition, it lacks an automated storage and charging linkage structure for battery packs, making it difficult to achieve full automation of the AGV battery swapping process.

[0003] In summary, existing battery swapping devices and methods cannot meet the high-precision, high-stability, and high-efficiency automated battery swapping requirements of AGV vehicles, and there is an urgent need to develop a high-precision automatic battery swapping device suitable for AGV vehicles. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a high-precision AGV automatic battery swapping device and method. It solves the technical problems of low battery swapping accuracy, poor battery transfer stability, dispersed equipment structure, and low battery swapping efficiency of traditional battery swapping devices, and realizes the shock-free and stable transfer of AGV battery packs, high-precision positioning for battery swapping, and full automation of the battery swapping-storage-charging process.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a high-precision AGV automatic battery swapping device, comprising a housing, the housing having a battery compartment for storing a fully charged battery pack, a battery swapping compartment for replacing the AGV vehicle battery pack, and a charging compartment for charging the replaced battery pack; a first conveying mechanism and a second conveying mechanism, both disposed within the battery compartment, with the battery pack placed between the first and second conveying mechanisms; a first driving device for synchronously driving the first and second conveying mechanisms to tilt and release the battery pack; a carrier located below the first and second conveying mechanisms; a second driving device for driving the carrier to slide horizontally back and forth between the battery compartment and the battery swapping compartment; a supporting mechanism for receiving the released battery pack and slowly placing the battery pack flat on the carrier as it moves towards the battery swapping compartment; a lifting mechanism located at the bottom of the battery swapping compartment for lifting and lowering to replace the battery pack; a guiding mechanism erected between the battery swapping compartment and the charging compartment for supporting the battery pack replaced by the lifting mechanism; and a third driving device for pushing the battery pack on the guiding mechanism into the charging compartment.

[0006] Preferably, both the first conveying mechanism and the second conveying mechanism include a first guide roller and a second guide roller, which are arranged parallel to each other vertically. Both the first guide roller and the second guide roller are rotatably connected to the housing. Both ends of the first guide roller and the second guide roller are fixed with pulleys, and the upper and lower pulleys are connected by a transmission belt. The opposite side of the transmission belt on both the first conveying mechanism and the second conveying mechanism is provided with teeth to restrict the two sides of the battery pack.

[0007] Preferably, the first driving device includes a first motor, which is fixed to the outer side of the housing. The output end of the first motor is fixed to a first guide roller. A first sprocket is fixed on the first guide roller of the first conveying mechanism, and a second sprocket is fixed on the first guide roller of the second conveying mechanism. The first sprocket and the second sprocket are connected by chain drive.

[0008] Preferably, the carrier includes a tray, with side plates fixed on both sides of the tray. Slide strips are fixed on the outer surfaces of the side plates. The inner surface of the housing is provided with a sliding groove that slides with the slide strips. The tray has a movable groove for the support mechanism to rotate up and down and a guide hole for the lifting mechanism to lift the battery pack on the carrier. A rubber pad is fixed on the upper surface of the tray, and a first lead screw nut that drives the second drive device is fixed at the center of the bottom surface of the tray.

[0009] Preferably, the second drive device includes a second motor, which is fixed to the outer side of the housing. The output end of the second motor is fixed with a first transmission screw that is rotatably connected to the housing. The first transmission screw is threadedly engaged with a first screw nut.

[0010] Preferably, the supporting mechanism includes a rotating shaft, with supports fixed to the bottom surface of the carrier rotatably connected to both ends of the rotating shaft. A V-shaped movable bracket is fixed to the outside of the rotating shaft. A first tray for contacting the bottom surface of the battery pack is fixed to one end of the movable bracket, and a second tray for contacting the right inclined end of the battery pack is fixed to the other end of the movable bracket. A stop block for resisting the battery pack is fixed to the upper surface of the second tray. A torsion spring is engaged between the movable bracket and the supports. Under the elastic force of the torsion spring, the movable bracket tends to rotate the first tray below the surface of the tray.

[0011] Preferably, the lifting mechanism includes an electric telescopic rod, which is fixed to the bottom of the battery swapping compartment. A push plate is fixed to the output end of the electric telescopic rod, and a rectangularly distributed lifting rod is fixed to the upper surface of the push plate. The lifting rod slides vertically with the housing, and a rubber disc for supporting the battery pack is fixed to the top surface of the lifting rod. The rubber disc can pass vertically through the guide hole.

[0012] Preferably, the guiding mechanism includes a wheel frame, which is fixed inside the box and horizontally arranged along the length of the box. Several evenly distributed rollers are rotatably connected to the inner side of the wheel frame.

[0013] Preferably, the third drive device includes a third motor, which is fixed to the outer side of the housing. The output end of the third motor is fixed with a second transmission screw that is rotatably connected to the housing. A push plate is slidably connected to the outer side of the wheel frame, and a second screw nut that is threadedly engaged with the second transmission screw is fixed at the middle position of the push plate.

[0014] This invention also discloses a high-precision AGV automatic battery swapping method, implemented based on the aforementioned high-precision AGV automatic battery swapping device, comprising the following steps: Step 1: The AGV vehicle travels towards the battery swapping device and stops above the battery swapping compartment; Step 2: The lifting mechanism lifts the battery pack removed from the AGV vehicle onto the guiding mechanism; Step 3: The third drive unit pushes the battery pack on the guide mechanism into the charging compartment for charging. Step four: The first drive device drives the first conveying mechanism and the second conveying mechanism to operate synchronously, raising the left side of the fully charged battery pack and lowering the right side, thereby gradually tilting and releasing the battery pack. Step 5: During the process of step 4, the second drive device works synchronously to drive the vehicle to move to the left. The support mechanism on the vehicle contacts one end of the battery pack and gradually rotates with the movement of the vehicle until it is in contact with the bottom surface of the battery pack. Step 6: After the first and second conveying mechanisms fully release the battery pack, the second drive unit operates to drive the vehicle to move to the right. The battery pack is slowly placed flat on the vehicle under the support of the holding mechanism and is then transported by the vehicle to the designated position in the battery swapping compartment. Step 7: The lifting mechanism works again to lift the battery pack on the vehicle to the installation position, completing the battery swapping operation for the AGV vehicle.

[0015] Compared with related technologies, the high-precision AGV automatic battery swapping device and method provided by the present invention have the following beneficial effects: 1. High battery swapping accuracy, adapting to the high-precision installation requirements of AGVs: This invention achieves precise horizontal sliding of the carrier through the cooperation of a screw and nut. The lifting mechanism uses rectangularly distributed lifting rods and a rubber disc to achieve precise vertical lifting of the battery pack. Furthermore, the transmission belts of the first and second conveying mechanisms are equipped with locking teeth to limit the battery pack on both sides. The multi-mechanism collaboration achieves high-precision positioning of the battery pack throughout the entire process, solving the problem of large positioning errors caused by the cylinder push of traditional battery swapping devices and meeting the high-precision requirements of AGV vehicles for battery pack installation. 2. Impact-free and highly stable battery transfer: This invention uses a tilting release + support mechanism to transfer the battery pack. The V-shaped movable bracket of the support mechanism, in conjunction with a torsion spring, can flexibly contact the tilted battery pack and slowly flatten it during the movement of the carrier, avoiding the impact and damage caused by the baffle hooking the battery in traditional devices. At the same time, the roller design of the guide mechanism enables the smooth transfer of old battery packs, further improving the stability of battery pack transfer. 3. Integrated housing design, compact structure, and high battery swapping efficiency: This invention integrates the battery compartment, battery swapping compartment, and charging compartment into the same housing, realizing an integrated layout for battery pack storage, swapping, and charging, significantly reducing the space occupied by the equipment; moreover, the various mechanisms work together in a coordinated manner, with the old battery pack disassembly-charging and the new battery pack delivery-installation process proceeding simultaneously, resulting in a tight connection between each stage of the battery swapping process. Compared with traditional distributed battery swapping devices, the battery swapping efficiency is significantly improved. 4. Fully automated process, adaptable to large-scale battery swapping needs: This invention achieves automatic disassembly, transfer, and charging of AGV battery packs, as well as automatic delivery and installation of fully charged battery packs, through synchronous control of the actions of each mechanism by various drive devices. No manual intervention is required throughout the process, reducing labor costs. At the same time, the battery compartment can realize the batch storage of fully charged battery packs, and the first and second conveying mechanisms can realize the automated batch delivery of battery packs, adapting to the large-scale, high-frequency battery swapping needs of AGV vehicles. 5. High adaptability, applicable to various AGV vehicles: The device structure of this invention is modularly designed, and the size and stroke of each mechanism can be adjusted according to the battery pack specifications and installation position of different AGV vehicles. This solves the problem that traditional battery swapping devices are only compatible with specific rail transport vehicles, and is compatible with the battery swapping needs of various AGV vehicles, with a wide range of applications. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a high-precision AGV automatic battery swapping device proposed in this invention. Figure 2 This is a partial cross-sectional schematic diagram of a high-precision AGV automatic battery swapping device proposed in this invention. Figure 3 This is a partial cross-sectional schematic diagram from another perspective of a high-precision AGV automatic battery swapping device proposed in this invention. Figure 4 This is a schematic diagram of the first driving device, the first conveying mechanism, and the second conveying mechanism proposed in this invention; Figure 5 This is a schematic diagram of the vehicle and support mechanism proposed in this invention; Figure 6 This is a schematic diagram of the vehicle and support mechanism proposed in this invention from another perspective; Figure 7 This is a schematic diagram of the lifting mechanism proposed in this invention; Figure 8 This is a schematic diagram of the third driving device proposed in this invention; Figure 9 This is a schematic diagram of the standby state of the support mechanism proposed in this invention.

[0017] In the diagram: 1. Housing; 11. Battery compartment; 12. Charging compartment; 13. Battery swapping compartment; 2. First conveying mechanism; 21. First guide roller; 22. Second guide roller; 23. Pulley; 24. Drive belt; 25. Gear; 3. Second conveying mechanism; 4. First drive unit; 41. First motor; 42. First sprocket; 43. Second sprocket; 44. Chain; 5. Carrier; 51. Pallet; 52. Side plate; 53. Movable groove; 54. Guide hole; 55. Rubber pad; 56. First lead screw nut; 6. Second drive unit 61. Drive device; 62. Second motor; 7. First transmission screw; 7. Supporting mechanism; 71. Rotating shaft; 72. Support; 73. Movable bracket; 74. First support plate; 75. Second support plate; 76. Stop block; 8. Lifting mechanism; 81. Electric telescopic rod; 82. Push plate; 83. Lifting rod; 84. Rubber disc; 9. Guide mechanism; 91. Wheel frame; 92. Roller; 10. Third drive device; 101. Third motor; 102. Second transmission screw; 103. Push plate; 104. Second screw nut. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to specific embodiments, so that those skilled in the art can understand it.

[0019] Please see Figures 1-9The high-precision AGV automatic battery swapping device of the present invention includes a housing 1, which is an integrated steel structure and is internally divided into three interconnected cavities: a battery compartment 11, a charging compartment 12, and a battery swapping compartment 13. The battery compartment 11 is located on the upper left side of the housing 1 and is used to store a fully charged battery pack. The charging compartment 12 is located on the lower left side of the housing 1 and has a built-in charging module for automatically charging the old battery pack. The battery swapping compartment 13 is located on the lower right side of the housing 1 and is the battery swapping operation area for the AGV vehicle.

[0020] The first conveying mechanism 2 and the second conveying mechanism 3 are symmetrically arranged in the battery compartment 11. They have the same structure and both include a first guide roller 21 and a second guide roller 22 that are parallel to each other. Both ends of the guide rollers are rotatably connected to the housing 1 through bearings. Pulleys 23 are fixed on the outer sides of both ends of the guide rollers. A transmission belt 24 is wound between the upper and lower pulleys 23. The opposite sides of the transmission belts 24 of the first conveying mechanism 2 and the second conveying mechanism 3 are integrally formed with teeth 25. The battery pack is placed between the two transmission belts 24. The teeth 25 are embedded on both sides of the battery pack to limit the position of the battery pack.

[0021] The first drive device 4 includes a first motor 41 fixed on the outer side of the housing 1. The output shaft of the first motor 41 is fixedly connected to the first guide roller 21 of the first conveying mechanism 2. A first sprocket 42 is fixed on the first guide roller 21 of the first conveying mechanism 2. A second sprocket 43 is fixed on the first guide roller 21 of the second conveying mechanism 3. A chain 44 is wound between the first sprocket 42 and the second sprocket 43. When the first motor 41 starts, the first conveying mechanism 2 and the second conveying mechanism 3 are synchronously operated through the sprocket and chain drive, thereby tilting and releasing the battery pack.

[0022] The carrier 5 is located below the first conveying mechanism 2 and the second conveying mechanism 3, and includes a tray 51. Side plates 52 are fixed on both sides of the tray 51, and slide bars are fixed on the outer side of the side plates 52. The inner side of the housing 1 is provided with a sliding groove that slides with the slide bars to achieve horizontal sliding guidance of the carrier 5. A rubber pad 55 is attached to the upper surface of the tray 51 to avoid damage caused by hard contact between the battery pack and the tray 51. The tray 51 is provided with a movable groove 53 and a guide hole 54. The movable groove 53 provides rotation space for the supporting mechanism 7, and the guide hole 54 provides a vertical movement channel for the lifting rod 83 of the lifting mechanism 8. A first lead screw nut 56 is fixed in the middle of the bottom surface of the tray 51, which cooperates with the second drive device 6 to realize the power drive of the carrier 5.

[0023] The second drive device 6 includes a second motor 61 fixed on the outer side of the housing 1. The output shaft of the second motor 61 is fixed with a first transmission screw 62. The first transmission screw 62 is rotatably connected to the housing 1 through a bearing, and the first transmission screw 62 is threadedly engaged with the first screw nut 56. When the second motor 61 is started, the carrier 5 is driven to slide horizontally back and forth between the battery compartment 11 and the battery swapping compartment 13 through the helical transmission of the screw nut.

[0024] The support mechanism 7 is installed on the bottom surface of the carrier 5 and includes a rotating shaft 71. Both ends of the rotating shaft 71 are fixed to the bottom surface of the carrier 5 through supports 72. A V-shaped movable bracket 73 is fixed to the outside of the rotating shaft 71. One end of the movable bracket 73 is fixed to a first support plate 74, and the other end is fixed to a second support plate 75. A stop block 76 is fixed to the upper surface of the second support plate 75 to prevent the battery pack from slipping. A torsion spring is engaged between the movable bracket 73 and the support 72. The elastic force of the torsion spring keeps the first support plate 74 of the movable bracket 73 below the surface of the tray 51 under normal conditions. When the battery pack is tilted and released, the second support plate 75 contacts the battery pack. When the carrier 5 moves, it drives the movable bracket 73 to rotate around the rotating shaft 71, so that the first support plate 74 gradually rotates to fit against the bottom surface of the battery pack, realizing flexible support of the battery pack.

[0025] The lifting mechanism 8 is located at the bottom of the battery swapping compartment 13 and includes an electric telescopic rod 81. The cylinder of the electric telescopic rod 81 is fixed to the bottom of the battery swapping compartment 13. A push plate 82 is fixed to the end of the telescopic rod. Four lifting rods 83 arranged in a rectangular pattern are fixed to the upper surface of the push plate 82. The lifting rods 83 slide vertically with the housing 1. A rubber disc 84 is fixed to the top surface of the lifting rod 83. The rubber disc 84 is made of rubber and can pass vertically through the guide hole 54 on the tray 51 to achieve flexible lifting and raising of the battery pack.

[0026] The guiding mechanism 9 is installed between the battery swapping compartment 13 and the charging compartment 12. It includes a wheel frame 91, which is fixed to the inner wall of the box 1. Several rollers 92 are evenly connected to the inner side of the wheel frame 91 along the length direction to support the old battery packs transferred by the lifting mechanism 8, so as to realize the smooth transfer of the old battery packs.

[0027] The third drive device 10 includes a third motor 101 fixed to the outer side of the housing 1. The output shaft of the third motor 101 is fixed with a second transmission screw 102. The second transmission screw 102 is rotatably connected to the housing 1 through a bearing. A push plate 103 is slidably connected to the outer side of the wheel frame 91. A second screw nut 104 is fixed in the middle of the push plate 103 and threadedly engaged with the second transmission screw 102. When the third motor 101 starts, it drives the push plate 103 to slide along the wheel frame 91 through the screw nut, thereby pushing the old battery pack on the guide mechanism 9 into the charging compartment 12.

[0028] The high-precision AGV automatic battery swapping method of the present invention is implemented based on the above-mentioned device, and the specific steps are as follows: Step 1: The AGV vehicle travels towards the battery swapping device through its own positioning system until it stops at the preset battery swapping position above the battery swapping compartment 13, and the battery pack installation position of the AGV vehicle is aligned with the lifting mechanism 8 of the battery swapping compartment 13. Step 2: The electric telescopic rod 81 of the lifting mechanism 8 is started. The telescopic rod extends upward, driving the lifting rod 83 and the rubber tray 84 to rise vertically. After the rubber tray 84 passes through the guide hole 54 of the tray 51, it comes into contact with the bottom surface of the old battery pack on the AGV vehicle. It continues to rise to unload the old battery pack from the AGV vehicle and lift it to a position flush with the top surface of the roller 92 of the guide mechanism 9. Step 3: The third motor 101 of the third drive device 10 starts, driving the second transmission screw 102 to rotate. Through the screw nut, the push plate 103 is driven to slide along the wheel frame 91. The push plate 103 pushes the old battery pack to slide on the roller 92 until the old battery pack is pushed into the charging compartment 12. The charging module in the charging compartment 12 automatically docks with the old battery pack and starts charging. Step four: While step three is being performed, the first motor 41 of the first drive device 4 starts, driving the guide rollers of the first conveying mechanism 2 and the second conveying mechanism 3 to rotate synchronously. The transmission belt 24 runs and raises the left side and lowers the right side of the fully charged battery pack in the battery compartment 11, so that the battery pack is gradually released in an inclined state. Step 5: The second motor 61 of the second drive device 6 starts synchronously, driving the first transmission screw 62 to rotate, causing the carrier 5 to slide horizontally towards the battery compartment 11. The second support plate 75 of the support mechanism 7 on the carrier 5 contacts the right end of the tilted battery pack. As the carrier 5 continues to slide, the movable bracket 73 rotates around the pivot 71 to overcome the torsion spring force, causing the first support plate 74 to gradually rotate until it fits against the bottom surface of the battery pack, thus achieving flexible support of the battery pack. Step 6: After the first conveying mechanism 2 and the second conveying mechanism 3 fully release the fully charged battery pack, the second motor 61 rotates in the opposite direction, driving the carrier 5 to slide horizontally towards the battery swapping compartment 13. During the sliding of the carrier 5, the movable bracket 73 of the supporting mechanism 7 slowly resets under the action of the torsion spring, and slowly places the battery pack flat on the rubber pad 55 of the tray 51. The carrier 5 continues to slide to the preset position of the battery swapping compartment 13, and the battery pack is precisely aligned with the battery pack installation position of the AGV vehicle. Step 7: The electric telescopic rod 81 of the lifting mechanism 8 is activated again. The telescopic rod extends upward, and the lifting rod 83 and the rubber disc 84 pass through the guide hole 54 to lift the fully charged battery pack on the carrier 5. It continues to rise to lift the battery pack to the battery pack installation position of the AGV vehicle. The locking mechanism of the AGV vehicle automatically locks the battery pack, and the electric telescopic rod 81 resets, completing the entire battery swapping operation. The AGV vehicle can then drive away from the battery swapping device to continue working.

[0029] The device of the present invention can realize synchronous control of each driving device through a PLC control system, preset the action stroke and timing of each mechanism, and realize the full automation and intelligence of the battery swapping process without manual operation.

[0030] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions also fall within the scope of protection of the present invention.

Claims

1. A high-precision AGV automatic battery swapping device, characterized in that, include: The housing (1) has a battery compartment (11) for storing a fully charged battery pack, a battery swapping compartment (13) for replacing the battery pack of the AGV vehicle, and a charging compartment (12) for charging the replaced battery pack. The first conveying mechanism (2) and the second conveying mechanism (3) are both located inside the battery compartment (11), and the battery pack is placed between the first conveying mechanism (2) and the second conveying mechanism (3); The first drive device (4) is used to synchronously drive the first conveying mechanism (2) and the second conveying mechanism (3) to tilt and release the battery pack; The vehicle (5) is located below the first conveying mechanism (2) and the second conveying mechanism (3); The second drive unit (6) is used to drive the vehicle (5) to slide horizontally back and forth between the battery compartment (11) and the battery swapping compartment (13); The holding mechanism (7) is used to receive the released battery pack and slowly place the battery pack flat on the vehicle (5) as the vehicle (5) moves toward the battery swapping compartment (13); The lifting mechanism (8) is located at the bottom of the battery swapping compartment (13) and is used to lift and lower the battery pack for replacement. The guiding mechanism (9) is installed between the battery swapping compartment (13) and the charging compartment (12) to support the battery pack replaced by the lifting mechanism (8); The third drive unit (10) is used to push the battery pack on the guide mechanism (9) into the charging compartment (12).

2. The high-precision AGV automatic battery swapping device according to claim 1, characterized in that, Both the first conveying mechanism (2) and the second conveying mechanism (3) include a first guide roller (21) and a second guide roller (22). The first guide roller (21) and the second guide roller (22) are arranged parallel to each other. The first guide roller (21) and the second guide roller (22) are rotatably connected to the housing (1). Both ends of the first guide roller (21) and the second guide roller (22) are fixed with pulleys (23), and the upper and lower pulleys (23) are connected by a transmission belt (24). The opposite side of the transmission belt (24) on the first conveying mechanism (2) and the second conveying mechanism (3) is provided with teeth (25) that restrict the two sides of the battery pack.

3. A high-precision AGV automatic battery swapping device according to claim 2, characterized in that, The first driving device (4) includes a first motor (41), which is fixed to the outer side of the housing (1). The output end of the first motor (41) is fixed to the first guide roller (21). A first sprocket (42) is fixed on the first guide roller (21) of the first conveying mechanism (2). A second sprocket (43) is fixed on the first guide roller (21) of the second conveying mechanism (3). The first sprocket (42) and the second sprocket (43) are connected by a chain (44).

4. A high-precision AGV automatic battery swapping device according to claim 1, characterized in that, The carrier (5) includes a tray (51), and side plates (52) are fixed on both sides of the tray (51). Slide strips are fixed on the outer side of the side plates (52). The inner side of the box (1) is provided with a sliding groove that slides with the slide strips. The tray (51) is provided with a movable groove (53) for the support mechanism (7) to rotate up and down and a guide hole (54) for the lifting mechanism (8) to lift the battery pack on the carrier (5). A rubber pad (55) is fixed on the upper surface of the tray (51). A first screw nut (56) that drives the second drive device (6) is fixed at the middle position of the bottom surface of the tray (51).

5. A high-precision AGV automatic battery swapping device according to claim 4, characterized in that, The second drive device (6) includes a second motor (61), which is fixed to the outer side of the housing (1). The output end of the second motor (61) is fixed with a first transmission screw (62) that is rotatably connected to the housing (1). The first transmission screw (62) is threadedly engaged with a first screw nut (56).

6. A high-precision AGV automatic battery swapping device according to claim 1, characterized in that, The supporting mechanism (7) includes a rotating shaft (71), with supports (72) fixed to the bottom surface of the carrier (5) rotatably connected to both ends of the rotating shaft (71). A V-shaped movable bracket (73) is fixed to the outside of the rotating shaft (71). A first support plate (74) for contacting the bottom surface of the battery pack is fixed to one end of the movable bracket (73). A second support plate (75) for contacting the right inclined end of the battery pack is fixed to the other end of the movable bracket (73). A stop block (76) for blocking the battery pack is fixed to the upper surface of the second support plate (75). A torsion spring is engaged between the movable bracket (73) and the support (72). Under the elastic force of the torsion spring, the movable bracket (73) tends to rotate the first tray (74) below the surface of the tray (51).

7. A high-precision AGV automatic battery swapping device according to claim 4, characterized in that, The lifting mechanism (8) includes an electric telescopic rod (81), which is fixed to the bottom of the battery swapping compartment (13). A push plate (82) is fixed to the output end of the electric telescopic rod (81). A rectangularly distributed lifting rod (83) is fixed to the upper surface of the push plate (82). The lifting rod (83) slides vertically with the housing (1). A rubber disc (84) for supporting the battery pack is fixed to the top surface of the lifting rod (83). The rubber disc (84) can pass vertically through the guide hole (54).

8. A high-precision AGV automatic battery swapping device according to claim 1, characterized in that, The guiding mechanism (9) includes a wheel frame (91), which is fixed inside the box (1) and horizontally arranged along the length of the box (1). Several evenly distributed rollers (92) are rotatably connected to the inner side of the wheel frame (91).

9. A high-precision AGV automatic battery swapping device according to claim 8, characterized in that, The third drive device (10) includes a third motor (101), which is fixed to the outer side of the housing (1). The output end of the third motor (101) is fixed with a second transmission screw (102) that is rotatably connected to the housing (1). A push plate (103) is slidably connected to the outer side of the wheel frame (91). A second screw nut (104) that is threadedly engaged with the second transmission screw (102) is fixed at the middle position of the push plate (103).

10. A high-precision AGV automatic battery swapping method, wherein the high-precision AGV automatic battery swapping device according to claim 1 is characterized in that, Includes the following steps: Step 1: The AGV vehicle travels towards the battery swapping device and stops above the battery swapping compartment (13); Step 2: The lifting mechanism (8) lifts the battery pack unloaded from the AGV vehicle onto the guiding mechanism (9); Step 3: The third drive unit (10) pushes the battery pack on the guide mechanism (9) into the charging compartment (12) for charging; Step 4: The first drive device (4) drives the first conveying mechanism (2) and the second conveying mechanism (3) to operate synchronously, raising the left side of the fully charged battery pack and lowering the right side, thereby gradually tilting and releasing the battery pack. Step 5: During the process of step 4, the second drive device (6) works synchronously to drive the vehicle (5) to move to the left. The support mechanism (7) on the vehicle (5) contacts the right end of the battery pack and gradually rotates with the movement of the vehicle (5) until it is in contact with the bottom surface of the battery pack. Step 6: After the first conveying mechanism (2) and the second conveying mechanism (3) completely release the battery pack, the second drive device (6) drives the carrier (5) to move to the right. The battery pack is slowly placed flat on the carrier (5) under the support of the holding mechanism (7) and is sent by the carrier (5) to the designated position of the battery swapping compartment (13). Step 7: The lifting mechanism (8) works again to lift the battery pack on the carrier (5) to the installation position, completing the battery swapping operation of the AGV vehicle.

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