Battery exchange device, battery exchange system, and battery exchange method

Abstract

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

Description

[Technical Field]

[0001] The present disclosure relates to a battery exchange device, a battery exchange system, and a battery exchange method. This application claims priority from Japanese Patent Application No. 2022-151617, filed on September 22, 2022, the contents of which are incorporated herein by reference. [Background technology]

[0002] Patent Document 1 discloses a system for replacing batteries in a transport vehicle. This system includes a transport vehicle having a storage unit for storing batteries and a receiving unit for receiving a replaceable battery, and an attachment / detachment device for transporting the battery between the receiving unit and the storage unit of the transport vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5629312 Summary of the Invention [Problem to be solved by the invention]

[0004] Such transport vehicles are used, for example, to load and unload cargo onto shelves in a warehouse. In this case, the transport vehicles travel, for example, through aisles between shelves. In recent years, there has been a demand for designing transport vehicles as small as possible in order to narrow the spaces between shelves and increase the storage capacity in warehouses. In order to design transport vehicles to be small, small batteries may be used and multiple batteries may be installed in the transport vehicle. In this case, the small batteries have a short lifespan, so the batteries must be replaced frequently. This has led to the problem of long battery replacement times.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a battery replacement device, a battery replacement system, and a battery replacement method that can shorten the time required for battery replacement. [Means for solving the problem]

[0006] In order to solve the above problem, the battery replacement device of the present disclosure is a battery replacement device for a transport vehicle having a battery storage section, and includes a mounting table having a first area and a second area that is arranged opposite the battery storage section in the forward / backward direction of the transport vehicle and that can mount a pair of batteries side by side in the width direction of the transport vehicle that intersects the forward / backward direction, a first moving mechanism that moves the mounting table in the width direction to selectively make the first area and the second area face the battery storage section of the transport vehicle, a second moving mechanism that moves the mounting table toward or away from the transport vehicle in the forward / backward direction, and an actuator that can pull the battery out of the battery storage section of the transport vehicle and into the first area, and that can insert the battery on the second area into the battery storage section.

[0007] A battery exchange system according to the present disclosure includes the battery exchange device described above and the transport vehicle.

[0008] The battery replacement method disclosed herein is a battery replacement method using the above-mentioned battery replacement device to replace the battery in the battery storage section with the battery in the second area, and includes the steps of moving the mounting stand to position the first area opposite the battery storage section, pulling out the battery in the battery storage section onto the first area, moving the mounting stand to position the second area opposite the battery storage section to position the second area, and inserting the battery on the second area into the battery storage section. [Effects of the Invention]

[0009] According to the battery replacement device, battery replacement system, and battery replacement method of the present disclosure, the time required for battery replacement can be reduced. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a perspective view of a battery exchange system according to a first embodiment of the present disclosure. [Figure 2] 1 is a diagram showing a battery exchange system according to a first embodiment of the present disclosure as viewed from above. [Figure 3] 1 is a view of a battery exchange device according to a first embodiment of the present disclosure, viewed from the width direction. [Figure 4] 2 is a functional block diagram showing the configuration of a control unit of the battery exchange device according to the first embodiment of the present disclosure. FIG. [Figure 5] 3 is a flowchart showing the procedure of a battery replacement method according to the first embodiment of the present disclosure. [Figure 6] 10A to 10C are diagrams showing a step of positioning a first region in the battery replacement method according to the first embodiment of the present disclosure. [Figure 7] 10A to 10C are diagrams illustrating a step of gripping a battery in a battery housing portion in the battery replacement method according to the first embodiment of the present disclosure. [Figure 8] 10A to 10C are diagrams illustrating a step of pulling out a battery from a battery housing portion in a battery replacement method according to the first embodiment of the present disclosure. [Figure 9] FIG. 10 is a diagram showing a step of positioning a second area in the battery replacement method according to the first embodiment of the present disclosure. [Figure 10] 10A to 10C are diagrams illustrating a step of inserting a charged battery into a battery housing portion in a battery replacement method according to the first embodiment of the present disclosure. [Figure 11] 10A to 10C are diagrams illustrating a step of separating an actuator from a battery receptacle in the battery replacement method according to the first embodiment of the present disclosure. [Figure 12] FIG. 10 is a diagram illustrating a battery exchange system according to a second embodiment of the present disclosure. [Figure 13] FIG. 10 is a diagram illustrating a battery exchange system according to a third embodiment of the present disclosure. [Figure 14] FIG. 2 is a hardware configuration diagram illustrating the configuration of a computer according to each embodiment of the present disclosure. [Figure 15] 10A and 10B illustrate actuators according to other embodiments of the present disclosure. [Figure 16] 10A and 10B illustrate actuators according to other embodiments of the present disclosure. [Figure 17] 10A and 10B illustrate actuators according to other embodiments of the present disclosure. [Figure 18] 10A and 10B illustrate actuators according to other embodiments of the present disclosure. [Figure 19] 10A and 10B illustrate actuators according to other embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] First Embodiment Hereinafter, a battery exchange device 5, a battery exchange system 1, and a battery exchange method according to a first embodiment of the present disclosure will be described with reference to FIGS.

[0012] (Battery exchange system) 1 and 2, the battery exchange system 1 includes a transport vehicle 2 and a battery exchange device 5. The battery exchange system 1 is a system for exchanging a battery 4 of the transport vehicle 2 that performs loading and unloading work.

[0013] (Transport vehicle) Examples of the transport vehicle 2 include a logistics vehicle, an industrial vehicle, and an electric vehicle. The transport vehicle 2 of this embodiment is an autonomous forklift. The transport vehicle 2 of this embodiment performs cargo handling work in a warehouse. In the warehouse, multiple shelves for storing cargo are installed at intervals. The transport vehicle 2 travels in the aisles between the shelves. The transport vehicle 2 is configured to be able to move forward and backward at least in the forward and backward directions and to be able to turn left and right.

[0014] Hereinafter, the horizontal direction in which the transport vehicle 2 moves forward and backward D1 will be simply referred to as the "advance and backward direction D1," and the horizontal direction perpendicular to the advance and backward direction D1 will be referred to as the "width direction D2." The advance and backward direction D1 and the width direction D2 are perpendicular to the up-down direction D3. The transport vehicle 2 includes a vehicle 10, a loading and unloading device 20, a control device 3, and a battery 4.

[0015] (vehicle) The vehicle 10 is the main body of the transport vehicle 2. The vehicle 10 includes a vehicle body 11, straddle legs 12, and a running mechanism 13.

[0016] (Vehicle body) The vehicle body 11 includes a mast 14, a vehicle body frame 15, and a bracket 19. The mast 14 has an outer mast 17 and an inner mast 18. The outer masts 17 are provided as a pair spaced apart in the width direction D2. The outer masts 17 extend in the up-down direction D3. The inner masts 18 are provided one on the inside of each outer mast 17 in the width direction D2. The inner masts 18 are provided as a pair spaced apart in the width direction D2. The inner masts 18 are provided so as to be able to move up and down in the up-down direction D3 relative to the outer masts 17. The inner masts 18 can be tilted by a tilt mechanism (not shown) between a state in which they extend perpendicular to a horizontal plane along a vertical line and a state inclined relative to the vertical line.

[0017] The body frames 15 are provided as a pair spaced apart in the width direction D2 and extend in the up-down direction D3.

[0018] The brackets 19 are plate-like members that connect the pair of body frames 15 in the width direction D2. A plurality of brackets 19 are provided spaced apart in the up-down direction D3. The rear edge of each bracket 19 is formed in a U-shape that protrudes rearward in the forward / backward direction D1 when viewed from the up-down direction D3.

[0019] (Straddle leg) The straddle legs 12 are provided at the lower end of each body frame 15. A pair of straddle legs 12 are provided, spaced apart in the width direction D2. The straddle legs 12 extend forward from the lower end of the body frame 15. The rear surfaces of the straddle legs 12 curve along the brackets 19 so as to be positioned gradually rearward as they move inward in the width direction D2. An outer mast 17 is attached to each straddle leg 12 so as to be movable relative to the straddle legs 12 in the forward / backward direction D1. Examples of a configuration for attaching the outer mast 17 so as to be movable relative to the straddle legs 12 include a rail (not shown) attached to the straddle leg 12 and extending in the forward / backward direction D1, and a roller (not shown) attached to the outer mast 17 and movable in the forward / backward direction D1 along the rail. In addition, a battery storage section 16 is provided at the rear end of each straddle leg 12.

[0020] (battery compartment) The battery storage section 16 is open to the rear in the front-rear direction. A battery 4, which will be described later, is stored in the battery storage section 16. A plurality of battery storage sections 16 are arranged side by side in the width direction D2 in one transport vehicle 2. In this embodiment, a pair of battery storage sections 16 are provided spaced apart in the width direction D2.

[0021] (Traveling mechanism) The traveling mechanism 13 is provided at the bottom of the vehicle body 11. The traveling mechanism 13 includes a first drive wheel 13a and a second drive wheel 13b. The first drive wheel 13a is provided on the lowest bracket 19 among the multiple brackets 19. The second drive wheels 13b are provided on the front end of each straddle leg 12. Each second drive wheel 13b is rotatable about a central axis extending in the width direction D2. The traveling mechanism 13 causes the vehicle body 11 to travel by rotationally driving the first drive wheels 13a.

[0022] (Load handling equipment) The cargo handling device 20 is attached to the inner mast 18. elephantThe cargo handling device 20 is a device for holding cargo and performing loading and unloading operations. The cargo handling device 20 includes a lift bracket 21 and a fork 22. The lift bracket 21 is provided so as to span the pair of inner masts 18. The lift bracket 21 is movable up and down in the vertical direction D3 relative to the inner masts 18 by a lifting mechanism (not shown). The lift bracket 21 is also movable in the forward and backward direction D1 by a forward and backward mechanism (not shown). The lift bracket 21 extends in the vertical direction D3 and the width direction D2, and is formed in a lattice shape when viewed from the forward and backward direction D1. The fork 22 is attached to the lift bracket 21. The fork 22 is movable up and down together with the lift bracket 21 in the vertical direction D3 and is movable in the forward and backward direction D1. The fork 22 is formed in an L shape when viewed from the width direction D2. The fork 22 has a fork base 23 extending in the up-down direction D3 and a fork prong 24 extending forward from the lower end of the fork base 23. The fork prong 24 has a front end provided with a conveying member. elephant The bag is inserted into a pallet (not shown) on which the cargo is placed.

[0023] (Control device) The control device 3 is installed, for example, on a bracket 19 at the middle in the vertical direction D3 among the plurality of brackets 19. The control device 3 controls various devices of the transport vehicle 2 (travel mechanism 13, cargo handling device 20, etc.).

[0024] (battery) The battery 4 is housed in the battery housing 16 of the straddle leg 12. The battery 4 supplies power to various devices of the transport vehicle 2 (the traveling mechanism 13, the loading device 20, the control device 3, etc.). The battery 4 is designed to be smaller and lighter than conventional batteries 4. As a result, the battery 4 has a short lifespan and needs to be replaced frequently. A transport vehicle 2 with a low remaining battery 4 is parked in a parking area P located in front of the battery replacement device 5.

[0025] (battery exchange device) The battery exchange device 5 is a device that exchanges the battery 4 of the transport vehicle 2. The battery exchange device 5 is designed to a size that can fit into the storage space of, for example, an 11-type pallet. The battery exchange device 5 is also designed to a height that can fit into, for example, a general loading rack (not shown). The battery exchange device 5 can be placed in any space in a warehouse as long as it can be supplied with power. As shown in Figures 2 and 3, the battery exchange device 5 includes a casing 6, a detection unit 7, a mounting base 30, a first movement mechanism 40, a second movement mechanism 50, an actuator 60, and a control unit 70.

[0026] (Casing) The casing 6 is disposed behind the parking area P. The casing 6 is, for example, a box-shaped container extending in the vertical direction D3. The casing 6 is formed in a rectangular parallelepiped shape. An opening 6a that opens forward is formed on the front surface of the lower end of the casing 6. A pair of openings 6a are formed on both sides of the casing 6 in the width direction D2. The openings 6a are used to insert and remove the battery 4. The casing 6 houses a detection unit 7, a mounting base 30, a first movement mechanism 40, a second movement mechanism 50, an actuator 60, and a control unit 70.

[0027] (Detection unit) The detection unit 7 is provided on the front surface of the casing 6. The detection unit 7 detects the transport vehicle 2 parked in the parking area P.

[0028] (Placement table) The mounting base 30 is disposed opposite the opening 6a of the casing 6 in the forward / backward direction D1. Therefore, the mounting base 30 is disposed opposite the battery storage unit 16 of the transport vehicle 2 in the forward / backward direction D1 of the transport vehicle 2. The mounting base 30 is arranged so that it can be moved in and out of the casing 6 through the opening 6a by a second movement mechanism 50, which will be described later. A mounting base 30 is provided for each battery storage unit 16. The mounting base 30 has a first region S1 and a second region S2 in which a pair of batteries 4 can be placed side by side in the width direction D2. If the first region S1 and the second region S2 arranged side by side in the width direction D2 are referred to as a region pair SP, this region pair SP is provided for each battery storage unit 16. In this embodiment, a battery 4 with little charge or an empty battery 4 removed from the battery storage unit 16 is placed in the first region S1, and a charged battery 4 is placed in the second region S2.

[0029] The multiple mounting tables 30 of this embodiment include a first mounting table 30a having a first region S1 and a second mounting table 30b having a second region S2. The first mounting table 30a and the second mounting table 30b have the same configuration. The mounting table 30 has a mounting table main body 31, a movable rail 32, and a caster portion 33.

[0030] The table main body 31 is provided at a position spaced above the bottom surface of the casing 6. The table main body 31 is a plate-shaped member extending in the forward / backward direction D1. The front end of the table main body 31 is curved along the rear surface of the transport vehicle 2. The movable rail 32 is provided on the upper surface of the mounting table main body 31. The movable rail 32 guides the movement of the battery 4 in the forward and backward direction D1. The caster parts 33 are provided at the front end of the table main body 31. The caster parts 33 contact the bottom surface of the casing 6. The contact surface 34 of the caster parts 33 is formed in a spherical shape. Therefore, the caster parts 33 are rotatable in the forward / backward direction D1 and the width direction D2.

[0031] (First movement mechanism) The first movement mechanism 40 is provided below the platform 30. The first movement mechanism 40 moves the platform 30 in the width direction D2, thereby selectively positioning the first area S1 and the second area S2 facing the battery storage section 16 of the transport vehicle 2. The first movement mechanism 40 of this embodiment moves the platform 30 together with the second movement mechanism 50, which will be described later, in the width direction D2. A first movement mechanism 40 is provided for each platform 30. That is, 、 The first movement mechanism 40 is provided for each region pair SP of the first region S1 and the second region S2. The first movement mechanism 40 includes a base 41, a first motor (not shown), a first ball screw 42, and a first linear guide unit 43.

[0032] The base 41 is provided on the bottom surface of the casing 6 and is located rearward of the caster portion 33. The base 41 is a rectangular plate-shaped member extending in the forward / backward direction D1.

[0033] The first motor (not shown) is provided on the base 41 or on the bottom surface of the casing 6. The first ball screw 42 is provided on the base 41. The first ball screw 42 moves a second movement mechanism 50 (described later) and the mounting table 30 placed on the second movement mechanism 50 in the width direction D2 by the driving force of the first motor.

[0034] The first linear guide portion 43 prevents the second movement mechanism 50 and the mounting table 30 from shifting in the advance / retract direction D1 when the second movement mechanism 50 and the mounting table 30 move in the width direction D2. The first linear guide portion 43 is provided on both sides of the first ball screw 42 in the advance / retract direction D1. The first linear guide portion 43 has a rail 44 and a guide portion 45. The rail 44 is provided on the base 41 and formed in a rod shape extending in the width direction D2. The guide portion 45 is provided below the second movement mechanism 50 and extends in the width direction D2 along the rail 44. A guide groove 46 is formed on the lower surface of the guide portion 45. The guide groove 46 opens downward and is formed in a U-shape that opens downward when viewed from the width direction D2. The rail 44 is disposed in the guide groove 46. When the second moving mechanism 50 and the mounting table 30 are moved in the width direction D2 by the first ball screw 42, the guide portion 45 also moves along the rail 44 in the width direction D2.

[0035] (Second movement mechanism) The second movement mechanism 50 is provided below the mounting table 30 and above the first movement mechanism 40. The second movement mechanism 50 moves the mounting table 30 toward or away from the transport vehicle 2 in the forward / backward direction D1. A second movement mechanism 50 is provided for each mounting table 30. That is, a second movement mechanism 50 is provided for each region pair SP of a first region S1 and a second region S2. The second movement mechanism 50 has a table 51, a second motor 52, a second ball screw 53, and a second linear guide unit (not shown).

[0036] The table 51 is provided above the first moving mechanism 40. One table 51 is provided in the first region S1 and one table 51 is provided in the second region S2. The table 51 is a plate-shaped member extending in the advancing / retreating direction D1. The first ball screw 42 is connected to the underside of the table 51. Furthermore, a guide portion 45 of the first linear guide portion 43 is provided on the underside of the table 51.

[0037] The second motor 52 is provided on the upper surface of the rear end of the table 51 . The second ball screw 53 extends forward from the second motor 52. The second ball screw 53 is connected to the mounting table main body 31. The second ball screw 53 moves the mounting table 30 in the forward / backward direction D1 by the driving force of the second motor 52. The second linear guide portions (not shown) are provided on both outer sides of the second ball screw 53 in the width direction D2 and extend in the forward / backward direction D1. The second linear guide portions prevent the mounting table 30 from shifting in the width direction D2 when the mounting table 30 moves in the forward / backward direction D1. The second linear guide portions have the same configuration as the first linear guide portions 43.

[0038] (actuator) The actuator 60 is provided on the mounting base 30. The actuator 60 is capable of extracting the battery 4 from the battery housing portion 16 into the first region S1 and inserting the battery 4 in the second region S2 into the battery housing portion 16. In this embodiment, one actuator 60 is provided for each of the first region S1 and the second region S2 so as to face each other in the advancing / retreating direction D1. Hereinafter, the actuator 60 facing the first region S1 in the advancing / retreating direction D1 will be referred to as a first actuator 60a, and the actuator 60 facing the second region S2 in the advancing / retreating direction D1 will be referred to as a second actuator 60b. The first actuator 60a and the second actuator 60b have the same configuration.

[0039] The actuator 60 includes an actuator base 61 , a third motor 62 , a third ball screw 63 , a third linear guide unit (not shown), an arm 64 , and a tool changer 65 .

[0040] The actuator base 61 is a block-shaped member provided above the mounting table main body 31. The actuator base 61 is provided at the rear of the mounting table main body 31. For example, the actuator base 61 has an inclined surface at its upper part that gradually slopes downward toward the rear. There are no restrictions on the shape of the actuator base 61, and it is not necessary for the actuator base 61 to have such an inclined surface at its upper part.

[0041] The third motor 62 is provided on the upper surface of the rear end of the stage main body 31 . The third ball screw 63 extends forward from the third motor 62. The third ball screw 63 is connected to the actuator base 61. The third ball screw 63 moves the actuator base 61 in the forward / backward direction D1 by the driving force of the third motor 62. The third linear motion guide portions (not shown) are provided on both outer sides of the third ball screw 63 in the width direction D2 and extend in the advancing / retreating direction D1. The third linear motion guide portions prevent the actuator base 61 from shifting in the width direction D2 when the actuator base 61 moves in the advancing / retreating direction D1. The third linear motion guide portions have a similar configuration to the first linear motion guide portions 43.

[0042] The arm 64 extends forward in the advancing / retracting direction D1 from the front surface of the actuator base 61. The arm 64 is designed to be extendable forward and backward in the advancing / retracting direction D1. The tool changer 65 is provided at the front end of the arm 64. The tool changer 65 is a member that grips the battery 4.

[0043] The actuator 60 can move the battery 4 in the forward / backward direction D1 by driving the third motor 62 while holding the battery 4 with the tool changer 65. The second actuator 60b of the actuator 60 holds the battery 4 on the second region S2 in advance. The actuator 60, the detector 7, the first moving mechanism 40, and the second moving mechanism 50 are controlled by a controller 70.

[0044] (Control unit) As shown in FIG. 4, the control unit 70 has a determination unit 71, a first operation unit 72, a second operation unit 73, and an actuator operation unit 74.

[0045] The determination unit 71 determines whether the entire transport vehicle 2 has arrived at the parking area P. The first operating unit 72 moves the mounting table 30 in the width direction D2 by the first moving mechanism 40. The second operating unit 73 moves the mounting table 30 in the forward / backward direction D1 by the second moving mechanism 50. The actuator operating unit 74 operates the actuator 60. Specifically, the actuator operating unit 74 operates the tool changer 65 to cause the actuator 60 to grip the battery 4 or to release the grip of the battery 4. The actuator operating unit 74 also moves the actuator 60 gripping the battery 4 in the advancing / retracting direction D1, thereby moving the battery 4 in the advancing / retracting direction D1. The actuator operating unit 74 also extends the arm 64 of the actuator 60 in the advancing / retracting direction D1.

[0046] Although not shown in the drawings, the battery exchange device 5 includes a charger for charging the battery 4, an arrangement space for storing the charged battery 4, and a device for placing the battery 4 on the mounting base 30 or removing the battery 4 from the mounting base 30. The charger and the charged battery 4 are arranged, for example, between the two first moving mechanisms 40.

[0047] (Battery replacement procedure) The procedure of the battery exchange method of this embodiment will be described below with reference to the flowchart of Fig. 5 and Fig. 6 to Fig. 11. In Fig. 6 to Fig. 11, the configuration of the battery exchange system 1 is simplified and some components are omitted. In the battery replacement method of this embodiment, the first movement mechanisms 40, the second movement mechanisms 50, and the mounting tables 30 on both the left and right sides all operate simultaneously.

[0048] First, the detection unit 7 detects the transport vehicle 2 (step S1). After step S1, the determination unit 71 determines whether the entire transport vehicle 2 has arrived at the parking area P (step S2). If the entire transport vehicle 2 has not arrived at the parking area P (step S2; NO), the process returns to detecting the transport vehicle 2 (step S1). If the entire transport vehicle 2 has arrived at the parking area P (step S2; YES), the battery exchange device 5 positions the first area S1 as shown in FIG. 6 (step S3).

[0049] In step S3, the battery exchange device 5 moves the first table 30a to position the first region S1 facing the battery holding section 16. First, the first operating unit 72 moves the first table 30a and the second table 30b in the width direction D2 using the first movement mechanism 40. This positions the first region S1 in the width direction D2, and the first region S1 is positioned opposite the battery holding section 16 in the advancing / retracting direction D1. Next, the second operating unit 73 moves the first table 30a forward in the advancing / retracting direction D1 using the second movement mechanism 50. This positions the first region S1 in the advancing / retracting direction D1, and the first region S1 approaches the battery holding section 16 in the advancing / retracting direction D1. Step S3 takes, for example, about 5 seconds. Also, in step S3, the arm 64 of the first actuator 60a is extended to its upper limit. After step S3, as shown in FIG. 7, the first actuator 60a grips the battery 4 in the battery holding section 16 (step S4).

[0050] In step S4, the actuator operating unit 74 activates the first actuator 60a, inserting the arm 64 of the first actuator 60a into the battery housing portion 16. Thereafter, the transport vehicle 2 switches the battery 4 in the battery housing portion 16 to a removable state, and the first actuator 60a grasps the battery 4 with the tool changer 65. Once the battery 4 is grasped, the lock on the battery 4 is released. Step S4 takes, for example, about 3 seconds. After step S4, as shown in FIG. 8, the actuator 60 pulls out the battery 4 from the battery housing portion 16 onto the first area S1 (step S5).

[0051] In step S5, the actuator operating unit 74 activates the actuator 60, causing the actuator 60, while gripping the battery 4, to move rearward in the advancing / retracting direction D1. In this way, the battery 4 is extracted from the battery holder 16. Thereafter, the first operating unit 72 causes the second moving mechanism 50 to move the first mounting table 30a rearward in the advancing / retracting direction D1. This separates the first region S1 from the battery holder 16 in the advancing / retracting direction D1. Step S5 takes, for example, about 3 seconds. After step S5, as shown in FIG. 9, the battery exchange apparatus 5 positions the second region S2 (step S6).

[0052] In step S6, the battery exchange device 5 moves the second mount 30b to position the second region S2 facing the battery holder 16. First, the first operating unit 72 moves the second mount 30b and the first mount 30a in the width direction D2 using the first movement mechanism 40. This positions the second region S2 in the width direction D2, and the second region S2 is positioned opposite the battery holder 16 in the advancing / retracting direction D1. Next, the second operating unit 73 moves the second mount 30b forward in the advancing / retracting direction D1 using the second movement mechanism 50. This positions the second region S2 in the advancing / retracting direction D1, and the second region S2 approaches the battery holder 16 in the advancing / retracting direction D1. Step S6 takes, for example, about 3 seconds. After step S6, as shown in FIG. 10, the second actuator 60b inserts the charged battery 4 on the second region S2 into the battery holder 16 (step S7).

[0053] In step S7, the actuator operating unit 74 activates the second actuator 60b to insert the arm 64 of the second actuator 60b into the battery housing 16. The tool changer 65 of the second actuator 60b holds a pre-charged battery 4. Therefore, in step S7, the charged battery 4 is inserted into the battery housing 16. Once the battery 4 is inserted into the battery housing 16, the arm 64 pushes the battery 4 in and attaches it to the transport vehicle 2. Once the battery 4 is attached to the transport vehicle 2, the battery 4 is locked in the battery housing 16. Step S7 takes, for example, about 5 seconds. After step S7, the actuator operating unit 74 moves the actuator 60 rearward in the forward / backward direction D1, separating the actuator 60 rearward from the battery housing 16 in the forward / backward direction D1 (step S8). At this point, the transport vehicle 2 switches the battery 4 in the battery housing 16 to a state in which it can supply power. This switching of the battery 4 takes, for example, about 1 second. At this point, the transport vehicle 2 starts moving and leaves the parking area P. It takes, for example, about 20 seconds from the arrival of the transport vehicle 2 until the transport vehicle 2 starts moving. After step S8, the second operating unit 73 causes the second moving mechanism 50 to move the second table 30b rearward in the forward / backward direction D1.

[0054] After that, the battery 4 is removed from the battery storage section 16 on the first mounting table 30a and inserted into a charger (not shown), and the charged battery 4 is placed on the second area S2 in preparation for the next battery replacement.

[0055] (Action and effect) According to the battery exchange device 5 of this embodiment, the following effects are achieved.

[0056] In this embodiment, the battery exchange device 5 includes a mounting table 30, a first movement mechanism 40, a second movement mechanism 50, and an actuator 60. The mounting table 30 is disposed opposite the battery storage unit 16 in the forward / backward direction D1 of the transport vehicle 2, and has a first region S1 and a second region S2 in which a pair of batteries 4 can be placed side by side in a width direction D2 of the transport vehicle 2 that intersects with the forward / backward direction D1. The first movement mechanism 40 moves the mounting table 30 in the width direction D2, selectively positioning the first region S1 or the second region S2 opposite the battery storage unit 16 of the transport vehicle 2. The second movement mechanism 50 moves the mounting table 30 toward or away from the transport vehicle 2 in the forward / backward direction D1. The actuator 60 is capable of extracting the battery 4 from the battery storage unit 16 of the transport vehicle 2 to the first region S1 and inserting the battery 4 in the second region S2 into the battery storage unit 16.

[0057] To replace the battery 4 in the battery holder 16 with a charged battery 4, the battery exchange apparatus 5 of this embodiment operates as follows. A pre-charged battery 4 is placed in the second region S2. First, the battery exchange apparatus 5 uses the first movement mechanism 40 and the second movement mechanism 50 to move the mounting base 30 in the width direction D2 and the forward / backward direction D1, thereby positioning the first region S1 so that the first region S1 faces the battery holder 16. Next, the battery exchange apparatus 5 uses the actuator 60 to pull the battery 4 out of the battery holder 16 onto the first region S1. Next, the battery exchange apparatus 5 uses the first movement mechanism 40 and the second movement mechanism 50 to move the mounting base 30 in the width direction D2 and the forward / backward direction D1, thereby positioning the second region S2 so that the second region S2 faces the battery holder 16. Then, the battery exchange apparatus 5 uses the actuator 60 to insert the battery 4 in the second region S2 into the battery holder 16. In this manner, the battery 4 exchange is completed. As described above, according to this embodiment, the battery exchange device 5 can smoothly exchange the battery 4 in the battery storage section 16 with a charged battery 4 that has been placed in advance on the second area S2, thereby reducing the time required for battery exchange.

[0058] In this embodiment, multiple actuators 60 are provided, and the multiple actuators 60 include a first actuator 60a arranged opposite the first region S1 in the advancing / retreating direction D1, and a second actuator 60b arranged opposite the second region S2 in the advancing / retreating direction D1.

[0059] In this embodiment, the second actuator 60b can hold a charged battery 4 in advance. This allows the battery exchange device 5 to insert the battery 4 into the battery holder 16 using the second actuator 60b immediately after arranging the second area S2 and the battery holder 16 opposite each other in the forward / backward direction D1. This further reduces the time required for battery exchange.

[0060] In this embodiment, multiple battery storage sections 16 are arranged side by side in the width direction D2 of the transport vehicle 2, and a region pair SP of a first region S1 and a second region S2 arranged side by side in the width direction D2 is provided for each battery storage section 16.

[0061] This allows the battery exchange device 5 to exchange the batteries 4 in the multiple battery storage sections 16 with charged batteries 4 almost simultaneously. Therefore, even if the transport vehicle 2 is equipped with multiple batteries 4, the time required for battery exchange can be further reduced.

[0062] In this embodiment, the first moving mechanism 40 is provided for each region pair SP.

[0063] This allows the battery exchange apparatus 5 to control the movement of the mounting table 30 in the width direction D2 for each region pair SP, thereby improving the exchange accuracy of the battery exchange apparatus 5.

[0064] In the first embodiment, the battery exchange device 5 is applied to a transport vehicle 2 having a pair of battery storage units 16 spaced apart in the width direction D2, but the present invention is not limited to this. For example, the battery exchange device 5 of this embodiment may be applied to a transport vehicle 2 having only one battery storage unit 16, or to a transport vehicle 2 having three or more battery storage units 16 spaced apart in the width direction D2.

[0065] Second Embodiment A battery exchange system 201 and a battery exchange device 205 according to a second embodiment of the present disclosure will be described below with reference to Fig. 12. Configurations similar to those in the first embodiment described above will be given the same names and reference numerals, and descriptions thereof will be omitted as appropriate. In Fig. 12, the configuration of the battery exchange system 201 is simplified, and some components are omitted.

[0066] 12 , in this embodiment, only one actuator 260 is provided for each battery holding section 16. The battery exchange device 205 moves the mounting base 30 in the width direction D2 to select whether to arrange the actuator 260 and the first region S1 opposite each other in the advancing / retracting direction D1 or to arrange the actuator 260 and the second region S2 opposite each other in the advancing / retracting direction D1. When the actuator 260 and the first region S1 are arranged opposite each other in the advancing / retracting direction D1, the actuator 260 operates to pull the battery 4 in the battery holding section 16 out onto the first region S1. On the other hand, when the actuator 260 and the second region S2 are arranged opposite each other in the advancing / retracting direction D1, the actuator 260 operates to insert the battery 4 in the second region S2 into the battery holding section 16.

[0067] (Action and effect) According to the battery exchange device 205 of this embodiment, the following effects are achieved.

[0068] In this embodiment, only one actuator 260 is provided for each battery receptacle 16.

[0069] This minimizes the number of actuators 260. Therefore, compared to when a plurality of actuators 260 are provided for one battery housing 16, the cost of the battery exchange device 205 can be reduced.

[0070] Third Embodiment A battery exchange system 301 and a battery exchange device 305 according to a third embodiment of the present disclosure will be described below with reference to Fig. 13. Configurations similar to those in the first embodiment described above will be given the same names and reference numerals, and descriptions thereof will be omitted as appropriate. In Fig. 13, the configuration of the battery exchange system 301 is simplified, and some components are omitted.

[0071] 13, in this embodiment, the first moving mechanism 340 is configured to uniformly move all pairs of the first and second stages 30a and 30b arranged side by side in the width direction D2 in the width direction D2. That is, the first moving mechanism 340 is configured to uniformly move all region pairs SP of the first region S1 and the second region S2 in the width direction D2. Furthermore, for all region pairs SP that are uniformly moved by the first moving mechanism 340, the positional relationship between the first region S1 and the second region S2 in the width direction D2 is the same. For example, from the viewpoint of the transport vehicle 2, the first region S1 is located on the right side in the width direction D2, and the second region S2 is located on the left side in the width direction D2.

[0072] (Action and effect) According to the battery exchange device 305 of this embodiment, the following effects are achieved.

[0073] In this embodiment, the first moving mechanism 340 is configured to operate all area pairs SP uniformly in the width direction D2, and for all area pairs SP operated uniformly by the first moving mechanism 340, the positional relationship between the first area S1 and the second area S2 in the width direction D2 is the same.

[0074] This allows the battery exchange apparatus 305 to move all of the region pairs SP using one first movement mechanism 340. This simplifies the control of the battery exchange apparatus 305, and therefore the cost of the battery exchange apparatus 305 can be further reduced.

[0075] In the third embodiment, all the region pairs SP are arranged so as to be uniformly movable in the width direction D2 by one first moving mechanism 340, but this is not limited to this. For example, when there are three or more region pairs SP, only some of the multiple region pairs SP may be arranged so as to be uniformly movable in the width direction D2 by one first moving mechanism 340.

[0076] In the third embodiment, the first region S1 is disposed on the right side in the width direction D2, and the second region S2 is disposed on the left side in the width direction D2, but this is not limited to this. The first region S1 may be disposed on the left side in the width direction D2, and the second region S2 may be disposed on the right side in the width direction D2.

[0077] (Hardware configuration) The control unit 70 in each of the above-described embodiments is implemented in a computer 1100 shown in Fig. 14. The computer 1100 includes a processor 1110, a main memory 1120, a storage 1130, and an interface 1140.

[0078] The operations of the above-mentioned functional units of the control unit 70 are stored in the form of a program in the storage 1130. The processor 1110 reads the program from the storage 1130, loads it into the main memory 1120, and executes the above-mentioned processing in accordance with the program. The processor 1110 also allocates storage areas in the main memory 1120 corresponding to the above-mentioned storage units in accordance with the program.

[0079] The program may be for realizing some of the functions to be performed by the computer 1100. For example, the program may be combined with other programs already stored in the storage 1130 or other programs implemented in other devices to perform the functions. Furthermore, the computer 1100 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions to be performed by the processor 1110 may be realized by the integrated circuit.

[0080] Examples of storage 1130 include a magnetic disk, a magneto-optical disk, and a semiconductor memory. Storage 1130 may be an internal medium directly connected to the bus of computer 1100, or an external medium connected to computer 1100 via interface 1140 or a communication line. Furthermore, when this program is distributed to computer 1100 via a communication line, computer 1100 that receives the program may load the program into main memory 1120 and execute the above-mentioned processing. Storage 1130 may also be a non-transitory tangible storage medium.

[0081] The program may also be a program for realizing part of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that realizes the above-described functions in combination with another program already stored in storage 1130.

[0082] (Other embodiments) The above describes in detail the embodiments of the present disclosure with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes and the like are also included within the scope that does not deviate from the gist of the present disclosure.

[0083] In the above embodiment, the mast 14 is described as a two-tiered mast having an outer mast 17 and an inner mast 18, but the present invention is not limited to this. This is merely one example of the configuration of a forklift. The mast 14 may also be a multi-tiered mast, for example, three or more tiers.

[0084] In the above embodiment, the battery exchange apparatus 5 is designed to have a size that can fit into the storage space of an 11-inch pallet, for example, but is not limited to this. The size of the battery exchange apparatus 5 can be changed as appropriate.

[0085] 15, the battery exchange device 5 may include an actuator 460 that uses magnetic force to grip the battery 4. The actuator 460 includes an actuator base 461, an arm 462, a magnetic catch 463, and a flexible joint 464.

[0086] The actuator base 461 is attached to be movable in the forward / backward direction D1 on the mounting table 30. For example, similar to the actuator base 61 of the first embodiment described above, the actuator base 461 may be provided with a third motor 62 and a third ball screw 63, and the third ball screw 63 may move the actuator base 461 in the forward / backward direction D1 by the driving force of the third motor 62. The arm 462 extends forward in the advancing / retracting direction D1 (toward the opening 6a) from the actuator base 461. The arm 462 is provided so as to be extendable and contractible in the advancing / retracting direction D1. The magnetic catch 463 is provided at the front end of the arm 462. The magnetic catch 463 attracts the metal part of the battery 4 by magnetic force. In this embodiment, the battery 4 has, for example, an iron plate 8 at its rear end. The magnetic catch 463 grips the battery 4 by magnetically attracting this iron plate 8. The flexible joint 464 connects the arm 462 and the magnetic catch 463. The flexible joint 464 is a member that is easily deformed in the forward / backward direction D1, the width direction D2, and the up / down direction D3. Even if the battery 4 is slightly tilted relative to the arm 462, the flexible joint 464 can deform to bring the magnetic catch 463 into contact with the rear surface of the battery 4 from the front in the forward / backward direction D1. This allows the magnetic catch 463 to grip the battery 4 regardless of the tilt of the battery 4.

[0087] In this embodiment, the actuator 460 has a magnetic catch 463 that attracts the battery 4 by magnetic force.

[0088] The actuator 460 magnetically attracts and grips the iron plate 8 of the battery 4. This allows the actuator 460 to firmly grip the battery 4. This allows for stable battery replacement.

[0089] 16, the actuator 560 may grip the battery 4 by air pressure. The actuator 560 has a suction cup 561 instead of the magnetic catch 463 of the actuator 460 described above. The suction cup 561 is connected to the arm 462 by a flexible joint 464. The suction cup 561 is formed in a cylindrical (bowl-shaped) shape with a bottom that opens toward the front side in the advancing / retracting direction D1. The actuator 560 adsorbs the battery 4 by air pressure by creating a negative pressure inside the suction cup 561 with the opening of the suction cup 561 in close contact with the battery 4 from the rear side in the advancing / retracting direction D1. An acrylic plate 8A is provided at the end of the battery 4 on the rear side in the advancing / retracting direction D1. The acrylic plate 8A is formed in a flat plate shape. This acrylic plate 8A allows the suction cup 561 to closely contact the battery 4 without any gaps.

[0090] In this way, in this embodiment, the actuator 560 can grip the battery 4 by air pressure. Therefore, the actuator 560 can grip the battery 4 regardless of the material of the exterior of the battery 4.

[0091] 17 to 19, the actuator 560 may grip the battery 4 by using a hook structure that engages with the battery 4.

[0092] In this embodiment, the battery 4 has, for example, an engagement portion 8B at its rear end. The engagement portion 8B has an engagement base 35 and a protrusion 36. The engagement base 35 is provided at the rear end of the battery 4 in the advancing / retracting direction D1. The protrusion 36 protrudes rearward from the engagement base 35 in the advancing / retracting direction D1. The protrusion 36 has an engagement groove 37 formed therein, which penetrates the protrusion 36 in the up-down direction D3.

[0093] The actuator 660 has an actuator base 461, an arm 462, a sub-actuator 671, and a hook 672. The hook 672 is a member that can engage with the engagement groove 37 of the battery 4. The sub-actuator 671 changes the state of the hook 672 between an engaged state with the engagement groove 37 of the battery 4 and a disengaged state with the engagement groove 37. The configuration of the actuator 660 will be described in detail below.

[0094] The sub-actuator 671 is placed on the actuator base 461. The sub-actuator 671 has a base 673 and an expandable portion 674. The base 673 is fixed to the actuator base 461. The expandable portion 674 extends forward in the advancing / retracting direction D1 from the base 673. The expandable portion 674 is provided so as to be expandable and contractible in the advancing / retracting direction D1.

[0095] The hook 672 is formed in a V-shape that protrudes upward when viewed from the width direction D2. The rear end of the hook 672 is attached to the front end of the actuator base 461 via a shaft 675. The shaft 675 extends in the fourth direction D4. The hook 672 is provided so as to be rotatable around the shaft 675. A bent portion 672a of the hook 672 is attached to the front end of the expandable portion 674 of the sub-actuator 671.

[0096] When the actuator 660 grips the battery 4, first, as shown in FIG. 18, the expandable portion 674 of the sub-actuator 671 contracts, pulling the hook 672 rearward in the advance / retract direction D1. Then, as shown in FIG. 22, the expandable portion 674 of the sub-actuator 671 extends, and the hook 672 is inserted into the engagement groove 37 of the battery 4 from above. In this way, the actuator 660 engages with the battery 4. In this state, the battery 4 can be removed from the battery receptacle 16 by moving the actuator 660 rearward in the advance / retract direction D1.

[0097] As described above, in this embodiment, the actuator 660 can grip the battery 4 by the engagement of the hook 672 with the engagement groove 37 of the battery 4. This allows the actuator 660 to grip the battery 4 with a simple configuration, regardless of the material of the exterior of the battery 4.

[0098] Although the actuators 460, 560, and 660 have been described using the battery exchange apparatus 5 of the first embodiment as an example, the present invention is not limited to this. The actuators 460, 560, and 660 may also be used in the battery exchange apparatus 205 of the second embodiment and the battery exchange apparatus 305 of the third embodiment.

[0099] <Additional Notes> The battery exchange device 5, 205, 305, the battery exchange system 1, 201, 301, and the battery exchange method described in each embodiment can be understood, for example, as follows.

[0100] (1) A battery exchange device 5, 205, 305 according to a first aspect is a battery exchange device 5, 205, 305 for a transport vehicle 2 having a battery storage section 16, and includes a mounting table 30 that is disposed opposite the battery storage section 16 in a forward / backward direction D1 of the transport vehicle 2 and has a first area S1 and a second area S2 on which a pair of batteries 4 can be placed side by side in a width direction D2 of the transport vehicle 2 that intersects with the forward / backward direction D1, and by moving the mounting table 30 in the width direction D2, the first area S1 and the second area S2 can be placed side by side. The battery storage device includes a first moving mechanism 40, 340 that selectively moves the two areas S2 toward the battery storage section 16 of the transport vehicle 2, a second moving mechanism 50 that moves the stand 30 toward or away from the transport vehicle 2 in the forward / backward direction D1, and actuators 60, 260, 460, 560, 660 that can pull out the battery 4 from the battery storage section 16 of the transport vehicle 2 to the first area S1 and can insert the battery 4 on the second area S2 into the battery storage section 16. Examples of the transport vehicle 2 include the self-driving forklift of this embodiment, a logistics vehicle, an industrial vehicle, an electric vehicle, and the like.

[0101] To replace the battery 4 in the battery holding section 16 with a charged battery 4, the battery exchange device 5, 205, 305 of this embodiment operates as follows. A pre-charged battery 4 is placed on the second section S2. First, the battery exchange device 5, 205, 305 uses the first movement mechanism 40, 340 and the second movement mechanism 50 to move the mounting base 30 in the width direction D2 and the forward / backward direction D1, thereby positioning the first section S1 so that it faces the battery holding section 16. Next, the battery exchange device 5, 205, 305 uses the actuators 60, 260, 460, 560, 660 to pull the battery 4 from the battery holding section 16 onto the first section S1. Next, the battery exchange device 5, 205, 305 uses the first movement mechanism 40, 340 and the second movement mechanism 50 to move the mounting table 30 in the width direction D2 and the forward / backward direction D1 to position the second region S2 so that it faces the battery holding section 16. Thereafter, the battery exchange device 5, 205, 305 uses the actuators 60, 260, 460, 560, 660 to insert the battery 4 on the second region S2 into the battery holding section 16. In this manner, the exchange of the battery 4 is completed.

[0102] (2) The battery exchange device 5,305 according to the second aspect is the battery exchange device 5,305 of (1), wherein a plurality of the actuators 60 are provided, and the plurality of actuators 60 may include a first actuator 60a arranged opposite the first region S1 in the advancing / retreating direction D1, and a second actuator 60b arranged opposite the second region S2 in the advancing / retreating direction D1.

[0103] In this embodiment, the second actuator 60b can be made to grip a charged battery 4 in advance. This allows the battery exchange device 5, 305 to insert the battery 4 into the battery holding portion 16 using the second actuator 60b immediately after arranging the second area S2 and the battery holding portion 16 opposite each other in the forward / backward direction D1.

[0104] (3) A battery exchange device 205 according to a third aspect is the battery exchange device 205 of (1), in which only one actuator 260 may be provided for one battery receptacle 16.

[0105] This allows the number of actuators 260 to be kept to a minimum.

[0106] (4) A battery exchange device 5, 205, 305 according to a fourth aspect is any one of the battery exchange devices 5, 205, 305 of (1) to (3), and the battery storage sections 16 are arranged in parallel in the width direction D2 on the transport vehicle 2, and a region pair SP of the first region S1 and the second region S2 arranged in parallel in the width direction D2 may be provided for each battery storage section 16.

[0107] This allows the battery exchange device 5, 205, 305 to exchange the batteries 4 in the plurality of battery receptacles 16 with charged batteries 4 almost simultaneously.

[0108] (5) The battery exchange apparatus 5, 205 according to a fifth aspect is the battery exchange apparatus 5, 205 of (4), in which the first movement mechanism 40 may be provided for each of the region pairs SP.

[0109] This allows the battery exchange apparatus 5, 205 to control the movement of the mounting table 30 in the width direction D2 for each region pair SP.

[0110] (6) The battery exchange device 305 according to the sixth aspect is the battery exchange device 305 of (4), wherein the first moving mechanism 340 is configured to be able to operate the plurality of area pairs SP uniformly in the width direction D2, and the positional relationship between the first area S1 and the second area S2 in the width direction D2 for the plurality of area pairs SP operated uniformly by the first moving mechanism 340 may all be the same.

[0111] This allows the battery exchange apparatus 305 to move a plurality of region pairs SP using one first movement mechanism 340.

[0112] (7) A seventh aspect of the battery exchange device 5, 205, 305 is the battery exchange device 5, 205, 305 of any one of (1) to (6), and the actuator 460 may have a magnetic catch 463 that attracts the battery 4 by magnetic force.

[0113] In this embodiment, the actuator 460 can magnetically grip the battery 4. Therefore, for example, if the exterior of the battery 4 is made of metal, the actuator 460 can grip the battery 4 strongly.

[0114] (8) The battery exchange device 5, 205, 305 of the eighth aspect is any one of the battery exchange devices 5, 205, 305 of (1) to (6), and the actuator 560 may have a suction cup 561 that opens to the front side in the forward / backward direction D1 and creates a negative pressure inside while in close contact with the battery 4, thereby adsorbing the battery 4 by air pressure.

[0115] In this embodiment, the actuator 560 grips the battery 4 by air pressure. Therefore, the actuator 560 can grip the battery 4 regardless of the material of the exterior of the battery 4.

[0116] (9) A ninth aspect of the battery exchange device 5, 205, 305 is any one of the battery exchange devices 5, 205, 305 of (1) to (6), wherein the battery 4 has an engagement groove 37 formed on the rear side in the forward / backward direction D1, and the actuator 660 may have a hook 672 that can engage with the engagement groove 37 of the battery 4, and a sub-actuator 671 that changes the hook 672 between a state in which it engages with the engagement groove 37 and a state in which it is disengaged from the engagement groove 37.

[0117] In this embodiment, the actuator 660 can grip the battery 4 by engaging the hook 672 with the engagement groove 37 of the battery 4. This allows the actuator 660 to grip the battery 4 with a simple configuration, regardless of the material of the exterior of the battery 4.

[0118] (10) A battery exchange system 1, 201, 301 according to a tenth aspect includes the battery exchange device 5, 205, 305 according to any one of (1) to (9) and the transport vehicle 2.

[0119] (11) A battery replacement method according to an eleventh aspect is a battery replacement method for replacing the battery 4 in the battery storage section 16 with the battery 4 on the second region S2 using any one of the battery replacement devices 5, 205, 305 of (1) to (9), and includes the steps of: moving the stand 30 to position the first region S1 opposite the battery storage section 16, pulling out the battery 4 in the battery storage section 16 onto the first region S1, moving the stand 30 to position the second region S2 opposite the battery storage section 16, and positioning the second region S2, and inserting the battery 4 on the second region S2 into the battery storage section 16. [Industrial Applicability]

[0120] According to the battery replacement device, battery replacement system, and battery replacement method of the present disclosure, the time required for battery replacement can be reduced. [Explanation of symbols]

[0121] 1...Battery exchange system 2...Transport vehicle 3...Control device 4...Battery 5...Battery exchange device 6...Casing 6a...Opening 7...Detection unit 10...Vehicle 11...Vehicle body 12...Straddle leg 13...Travel mechanism 13a...First drive wheel 13b...Second drive wheel 14...Mast 15...Vehicle frame 16...Battery storage section 17...Outer mast 18...Inner mast 19...Bracket 20...Load handling device 21...Lift bracket 22...Fork 23...Fork base 24...Fork claw section 30...Placement platform 30a...First placement platform 30b...Second placement platform 31...Placement platform main body 32...Moveable rail 33...Caster section 34...Contact surface 40...First movement mechanism 41...Base 42...First ball screw 43...First linear guide section 44...Rail 45...Guide section 46...Guide groove 50...Second movement mechanism 51...Table 52...Second motor 53...Second ball screw 60...Actuator 60a...First actuator 60b...Second actuator 61...Actuator base 62...Third motor 63...Third ball screw 64...Arm 65...Tool changer 70...Control unit 71...Determination unit 72...First operation unit 73...Second operation unit 74...Actuator operation unit 201...Battery exchange system 205...Battery exchange device 260...Actuator 301...Battery exchange system 305...Battery exchange device 340...First movement mechanism 1100...Computer 1110...Processor 1120...Main memory 1130...Storage 1140...Interface D1...Advance / retreat direction D2...Width direction D3...Up / down direction P...Parking area S1...First area S2...Second area SP...Area pair 460...Actuator 461...Actuator base 462...Arm 463...Magnetic catch 464...Flexible joint 8...Iron plate 560...Actuator 561...Suction cup 8A...Acrylic plate 660... Actuator 671... Sub-actuator 672... Hook 672a... Bending portion 673... Base portion 674... Expandable portion 675... Shaft portion 8B... Engagement portion 35... Engagement base portion 36... Protrusion portion 37... Engagement groove

Claims

1. A battery exchange device for a transport vehicle having a battery storage section, a mounting base having a first region and a second region, the mounting base being disposed opposite the battery storage unit in a forward / backward direction of the transport vehicle, and capable of mounting a pair of batteries side by side in a width direction of the transport vehicle that intersects with the forward / backward direction; a first moving mechanism that moves the mounting base in the width direction to selectively make the first area and the second area face the battery housing portion of the transport vehicle; a second movement mechanism that moves the platform toward and away from the transport vehicle in the forward and backward direction; an actuator capable of extracting the battery from the battery storage unit of the transport vehicle into the first region and inserting the battery in the second region into the battery storage unit; A battery exchange device comprising:

2. The actuator is provided in plurality, The plurality of actuators include: a first actuator disposed opposite the first region in the advancing / retreating direction; a second actuator disposed opposite the second region in the advancing / retreating direction; The battery exchange device of claim 1 , comprising:

3. The battery exchange device according to claim 1 , wherein only one actuator is provided for each battery receptacle.

4. a plurality of the battery storage units are arranged side by side in the width direction of the transport vehicle; a region pair of the first region and the second region arranged side by side in the width direction is provided for each battery housing portion; The battery exchange device according to any one of claims 1 to 3.

5. the first moving mechanism is provided for each of the region pairs; 5. The battery exchange device according to claim 4.

6. the first moving mechanism is provided to be able to uniformly move the plurality of region pairs in the width direction, For the plurality of region pairs that are uniformly operated by the first moving mechanism, the arrangement relationship between the first region and the second region in the width direction is the same.

5. The battery exchange device according to claim 4.

7. 4. The battery exchange device according to claim 1, wherein the actuator has a magnetic catch that attracts the battery by magnetic force.

8. The battery replacement device according to any one of claims 1 to 3, wherein the actuator has a suction cup that opens to the front side in the forward / backward direction and that adsorbs the battery by air pressure by creating a negative pressure inside while the actuator is in close contact with the battery.

9. the battery has an engagement groove formed on a rear side in the forward / backward direction, The actuator is a hook engageable with the engagement groove of the battery; a sub-actuator that changes the hook between a state in which the hook is engaged with the engagement groove and a state in which the hook is disengaged from the engagement groove; The battery exchange device according to any one of claims 1 to 3, further comprising:

10. The battery exchange device according to any one of claims 1 to 3; The transport vehicle; A battery exchange system comprising:

11. 4. A battery replacement method for replacing the battery in the battery storage portion with the battery on the second area by using the battery replacement device according to claim 1, moving the mounting base to position the first area so that the first area faces the battery housing; Pulling out the battery from the battery accommodating portion onto the first area; moving the mounting base to position the second area so that the second area faces the battery housing; inserting the battery on the second region into the battery accommodating portion; Battery replacement instructions included.

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