Safety control method of box-type stacker in formation and capacity grading workshop for lithium battery production

Abstract

The invention relates to the technical field of automatic control of stackers, and provides a safety control method of a box-type stacker in a formation and capacity grading workshop for lithium battery production, and the state of a battery pack is monitored in real time by deploying a smoke sensor and a temperature sensor. When the sensor triggers an alarm, the upper computer generates a fire-fighting task instruction, and the stacking machine executes fire-fighting tasks including fire extinguisher spraying and fire-fighting water tank immersion treatment according to the current task state. According to the method, real-time monitoring and quick response, task dynamic scheduling, thorough fire extinguishing and isolation, accurate motion control and efficient communication and linkage are realized. The safety problem of an existing miniLoad box type stacker is solved, and reliable safety guarantee is provided for lithium battery production.

Description

Technical Field

[0001] The present invention relates to the technical field of automated control of stackers, and in particular to a safety control method for a box-type stacker in a chemical composition workshop of lithium battery production. Background Art

[0002] As lithium battery production scales up, the demand for automated storage equipment in battery pack filling and retrieval workshops is increasing. MiniLoad box-type stackers, due to their high speed and high space utilization, are widely used for battery pack storage and retrieval operations in this scenario. However, existing technologies primarily design these stackers for conventional storage needs and are not optimized for the safety risks unique to the lithium battery filling and retrieval process. Consequently, they suffer from the following significant drawbacks:

[0003] Lack of real-time fire monitoring and linkage response mechanism:

[0004] Existing stackers lack integrated temperature and smoke sensors, making them unable to detect abnormally high temperatures or signs of combustion during battery charging and discharging (for example, the stacker disclosed in CN112193852A is equipped only with a cargo positioning sensor). Even if some equipment is connected to an independent firefighting system, its alarm signals are not linked to the stacker's task scheduling system in a closed-loop manner, resulting in the stacker being unable to automatically trigger the firefighting task in the event of a fire.

[0005] Missing task interruption logic leads to emergency response delays:

[0006] Traditional stacker crane task queues use a fixed priority model (such as the access efficiency-based scheduling algorithm described in JP Patent Publication No. 2019-123456). When a battery pack catches fire, the stacker crane must complete its current access task before handling the abnormality, missing the optimal opportunity to extinguish the fire. Furthermore, determining the battery pack's status and location within the warehouse relies on manual intervention, further increasing response time.

[0007] The fire extinguishing measures are simple and incomplete:

[0008] Existing stacker cargo bays are typically equipped with only dry powder fire extinguishers (e.g., DE102017206231A1). This method of firefighting is ineffective in suppressing the re-ignition of lithium battery thermal runaway, and even after extinguishing the fire, the battery packs still require manual transfer to an isolation area. Due to the lack of a coordinated control interface with the fire water tank, abnormal battery packs cannot be promptly submerged, posing a risk of secondary combustion.

[0009] Motion control and safety protection are not designed in a coordinated manner:

[0010] Conventional stacker crane servo drive systems (such as the dual-closed-loop control scheme disclosed in CN110395556A) prioritize positioning accuracy as their core optimization goal, but fail to consider the timing synchronization required for fork movement and fire extinguisher spraying during firefighting operations. In an emergency, the fork's sudden stop or reset could disrupt the firefighting process and even cause the fire to spread.

[0011] Existing mini-load box stackers are used in lithium battery production plants, but due to issues such as lack of monitoring, delayed response, incomplete fire extinguishing, and asynchronous control, they are unable to meet the safety protection requirements of lithium battery production. This invention addresses these technical pain points and proposes a safety control method that integrates fire monitoring, dynamic task scheduling, multi-device linkage, and precise motion control, representing a substantial improvement over existing technologies. Summary of the Invention

[0012] In response to the above technical problems, the present invention provides a safety control method for a box-type stacker in a lithium battery production filling workshop, which is used to solve the problem that the existing mini-load box-type stacker is unable to meet the safety protection requirements of lithium battery production due to lack of monitoring, delayed response, incomplete fire extinguishing, and asynchronous control in the application of lithium battery filling workshop.

[0013] The present invention provides a method for safely controlling a box-type stacker in a chemical composition workshop of a lithium battery production plant, comprising:

[0014] Smoke sensors and temperature sensors are deployed in the stacker cargo hold, the capacity separation and formation equipment work hold, and the fire water tank to monitor the battery pack status in real time.

[0015] When any sensor triggers an alarm signal, the host computer generates a fire-fighting task instruction and sends it to the stacker;

[0016] After receiving the command, the stacker crane will directly execute the fire-fighting task if there is no current task. If it is currently executing a storage and retrieval task, it will complete or suspend the current task based on the warehouse status and location priority.

[0017] The stacker crane removes the abnormal battery pack with its fork, activates the fire extinguisher spray when the fork retracts into the cargo hold, and then moves the battery pack to a fire water tank for immersion treatment;

[0018] The stacker crane sends a task completion signal to the host computer and closes the fire extinguisher and water tank door.

[0019] Furthermore, in the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production, the smoke sensor and the temperature sensor are connected to the programmable controller of the stacker via the EtherCAT bus, and the programmable controller is configured as follows:

[0020] When the cargo hold temperature exceeds the first preset threshold or the smoke concentration exceeds the second preset threshold, the three-color alarm light is triggered and a firefighting task request is sent to the upper computer;

[0021] The duration of the sprinkler fire extinguishing is positively correlated with the rate of change of the cargo hold temperature.

[0022] Furthermore, in the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production, the "completing or suspending the current task according to the warehouse status and location priority" specifically includes:

[0023] If there is no battery pack in the warehouse, the current access task will be suspended and the task queue will be cleared;

[0024] If there is a battery pack in the cargo hold, the current position is detected by the SSI laser ranging sensor, and the nearest source position or target position is selected to complete the battery pack access. The fire-fighting task is then executed after the fork origin switch is reset.

[0025] Furthermore, in the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production, the immersion treatment of the fire water tank is achieved through the following linkage:

[0026] When the stacker fork extends into the fire water tank placement area, it triggers the infrared positioning sensor to control the opening of the inventory baffle drop actuator;

[0027] After the forks are fully retracted, the gravity sensor detects the submerged state of the battery pack, closes the baffle after confirmation, and feeds back the signal to the programmable controller.

[0028] Furthermore, the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production is characterized in that the motion axis control of the stacker includes:

[0029] The walking axis and lifting axis adopt double closed-loop control of servo motor body encoder and SSI laser ranging sensor, with positioning accuracy ≤±1mm;

[0030] The fork shaft servo drive is equipped with an anti-collision module, which triggers an emergency stop alarm when the fork extension resistance exceeds the set torque.

[0031] Furthermore, in the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production, the communication between the stacker body control cabinet and the operation cabinet is achieved by the following method:

[0032] The optical communication sensors of the stacker crane body and the operation cabinet are horizontally aligned, and the full-stroke communication delay is ≤10ms;

[0033] The emergency stop switch signal of the operation cabinet is connected to the servo drive through an independent hard line, forcing the interruption of all axis motion.

[0034] Furthermore, in the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production, the host computer scheduling logic includes:

[0035] Establish a linkage task queue for volumetric forming equipment, stacking cranes, and fire water tanks, with fire tasks taking priority over storage and retrieval tasks.

[0036] When multiple capacity-dividing devices alarm at the same time, the task execution order is dynamically allocated according to the battery pack temperature rise rate.

[0037] Furthermore, in the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production, the fire extinguisher spray control includes:

[0038] The cargo hold fire extinguisher is controlled by dual solenoid valves, and the solenoid valve opening signal is synchronized with the fork retraction action;

[0039] The spraying duration is dynamically adjusted based on the cargo hold temperature sensor data, and the maximum spraying duration does not exceed the preset safety threshold.

[0040] Furthermore, the box-type stacker crane is used for safety control in a chemical composition workshop of lithium battery production. The stacker crane cargo compartment is equipped with the following hardware:

[0041] Fork front / rear limit switch and origin switch for fork travel boundary protection;

[0042] The fire extinguisher solenoid valve is linked to the cargo hold temperature / smoke sensor to form a local emergency control loop independent of the host computer.

[0043] Furthermore, the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production is characterized in that the dynamic allocation of task execution order is achieved by the following algorithm:

[0044] Calculate the temperature change rate ΔT / Δt of each alarm battery pack and generate a task sequence by sorting them from high to low according to ΔT / Δt;

[0045] If ΔT / Δt are the same, the battery pack with the shortest Euclidean distance to the current position of the stacker is processed first.

[0046] Beneficial effects of the present invention:

[0047] First of all, the present invention effectively solves several problems existing in the application of existing miniLoad box stackers in lithium battery component capacity workshops. By deploying smoke sensors and temperature sensors, real-time monitoring of the battery pack status is achieved, solving the problem of missing monitoring. At the same time, through dynamic task scheduling and multi-device linkage control, the emergency response time is significantly reduced, solving the problem of response delay. In addition, combined with the fire extinguisher spraying and fire water tank immersion treatment, the re-ignition of thermal runaway of lithium batteries is effectively prevented, the fire extinguishing effect is improved, and the problem of incomplete fire extinguishing is solved. Finally, through the integrated control method, precise synchronous control is achieved, the risk of fire spread due to asynchronous control is avoided, and the problem of asynchronous control is solved.

[0048] Secondly, this invention significantly improves the safety of the chemical composition workshop in lithium battery production. The real-time monitoring and early warning system can promptly detect and warn of fire risks. The rapid response and fire extinguishing mechanism can quickly contain the spread of fire. The multi-device linkage control enhances the workshop's ability to respond to emergencies, thereby improving the overall safety of the workshop.

[0049] Furthermore, this invention improves work efficiency. A dynamic task scheduling mechanism enables the stacker to flexibly adjust the order of task execution based on warehouse status and location priorities, improving both efficiency and flexibility. Furthermore, precise positioning and control technology ensures the stacker can accurately and quickly transport battery packs, further enhancing work efficiency.

[0050] Finally, this invention enhances system reliability. A local emergency control loop can independently execute emergency control operations in the event of a host computer failure or communication interruption, ensuring stable system operation. Furthermore, multiple protection mechanisms, such as fork front / rear limit switches, a home switch, and an anti-collision module, provide strong safeguards for the system's safe operation.

[0051] In summary, the present invention not only solves the problems existing in the prior art but also significantly improves the safety, efficiency and reliability of the chemical composition workshop of lithium battery production by integrating safety control methods such as fire monitoring, dynamic task scheduling, multi-device linkage and precise motion control. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, for ordinary technicians in this field, other drawings can be obtained based on the drawings without paying any creative labor.

[0053] Figure 1 This is the electrical scheme diagram of the minoLoad box stacker provided by the present invention.

[0054] Figure 2This is the electrical scheme diagram of the working chamber of the capacity-dividing formation equipment provided by the present invention.

[0055] Figure 3 This is the electrical scheme diagram of the miniLoad box stacker warehouse provided by the present invention.

[0056] Figure 4 This is the electrical scheme diagram of the fire water tank provided by the present invention.

[0057] Figure 5 This is a diagram of the host computer-related equipment provided by the present invention.

[0058] Figure 6 This is a flow chart of the miniLoad box stacker scheduling control method provided by the present invention. DETAILED DESCRIPTION

[0059] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention. The technical solutions provided by each embodiment of the present invention are described in detail below in conjunction with the drawings.

[0060] In order to better understand the purpose of the present invention, the present invention is described in further detail below.

[0061] The present invention provides a method for safely controlling a box-type stacker in a chemical composition workshop of a lithium battery production plant, comprising:

[0062] Smoke sensors and temperature sensors are deployed in the stacker cargo hold, the capacity separation and formation equipment work hold, and the fire water tank to monitor the battery pack status in real time.

[0063] When any sensor triggers an alarm signal, the host computer generates a fire-fighting task instruction and sends it to the stacker;

[0064] After receiving the command, the stacker crane will directly execute the fire-fighting task if there is no current task. If it is currently executing a storage and retrieval task, it will complete or suspend the current task based on the warehouse status and location priority.

[0065] The stacker crane removes the abnormal battery pack with its fork, activates the fire extinguisher spray when the fork retracts into the cargo hold, and then moves the battery pack to a fire water tank for immersion treatment;

[0066] The stacker crane sends a task completion signal to the host computer and closes the fire extinguisher and water tank door.

[0067] Deploy sensors: Smoke sensors and temperature sensors are deployed in the stacker's cargo hold, the working compartment of the volume separation and formation equipment, and the fire water tank to monitor the status of the battery pack in real time.

[0068] Alarm and instruction generation: When any sensor triggers an alarm signal, the host computer will immediately generate a fire-fighting task instruction and send the instruction to the stacker.

[0069] Task Execution: After receiving a command, the stacker crane determines how to execute it based on its current task status. If no task is currently active, the stacker crane will directly execute the firefighting task. If the stacker crane is currently executing a storage / retrieval task, it will prioritize the firefighting task by either completing or suspending the current task based on the warehouse status and location priority.

[0070] Firefighting: The stacker crane removes the abnormal battery pack with its forks and activates a fire extinguisher to spray the battery pack as the forks retract into the cargo hold. The stacker crane then transports the battery pack to a fire water tank for immersion to ensure complete fire extinguishing.

[0071] Feedback and closure: After completing the fire-fighting task, the stacker will feedback the task completion signal to the upper computer and close the doors of the fire extinguisher and fire water tank.

[0072] Specifically, the box-type stacker is used in a safety control method for a chemical composition workshop of a lithium battery production plant. The smoke sensor and the temperature sensor are connected to the programmable controller of the stacker via an EtherCAT bus, and the programmable controller is configured as follows:

[0073] When the cargo hold temperature exceeds the first preset threshold or the smoke concentration exceeds the second preset threshold, the three-color alarm light is triggered and a firefighting task request is sent to the upper computer;

[0074] The duration of the sprinkler fire extinguishing is positively correlated with the rate of change of the cargo hold temperature.

[0075] Connection method of smoke sensor and temperature sensor:

[0076] EtherCAT is a high-performance, real-time industrial Ethernet technology that supports a wide range of device types, such as sensors and actuators, through a single physical connection, enabling high-speed data communication. In this invention, smoke and temperature sensors are connected to the stacker crane's programmable controller via EtherCAT. This connection ensures that the sensors can accurately transmit detected smoke concentration and temperature data to the programmable controller in real time, enabling real-time monitoring of the battery pack status.

[0077] Configuration logic of programmable controller:

[0078] A programmable controller (PLC) is a computer specifically designed for industrial control. It processes input signals according to a preset program and outputs control signals to control various industrial equipment. In the present invention, the PLC is configured to perform the following logical judgments when receiving data from sensors:

[0079] If the warehouse temperature exceeds a first preset threshold or the smoke concentration exceeds a second preset threshold, the PLC triggers a three-color alarm light to alert the operator and sends a firefighting task request to the host computer. The three-color alarm light typically includes red, yellow, and green, representing different warning levels, allowing operators to quickly identify the current dangerous situation.

[0080] Positive correlation between the duration of sprinkler fire extinguishing and the rate of change of cargo hold temperature:

[0081] A sprinkler fire extinguishing system is a fire-fighting device that extinguishes fires by spraying water mist or fine water fog. In the present invention, the duration of the sprinkler fire extinguishing is positively correlated with the rate of change of the cargo hold temperature. This means that when the temperature change rate in the cargo hold is faster (i.e., the fire is more intense), the duration of the sprinkler fire extinguishing will be longer to ensure that the fire can be completely extinguished. This design concept is based on the principle of fire dynamics, that is, the larger the fire, the faster and wider the fire will spread, so a longer period of sprinkler fire extinguishing is required to effectively control the fire.

[0082] In summary, the present invention integrates advanced equipment and technologies such as smoke sensors, temperature sensors, programmable controllers, and sprinkler fire extinguishing systems to achieve real-time monitoring and rapid response to the status of battery packs in the lithium battery production capacity composition workshop, effectively improving the safety and reliability of the workshop.

[0083] Specifically, the safety control method of the box stacker in the chemical composition workshop of lithium battery production, wherein the "completion or suspension of the current task according to the warehouse status and location priority" specifically includes:

[0084] If there is no battery pack in the warehouse, the current access task will be suspended and the task queue will be cleared;

[0085] If there is a battery pack in the cargo hold, the current position is detected by the SSI laser ranging sensor, and the nearest source position or target position is selected to complete the battery pack access. The fire-fighting task is then executed after the fork origin switch is reset.

[0086] Warehouse status check and task suspension:

[0087] When a stacker crane receives a firefighting mission command, it first needs to check the status of the cargo hold to see if there are any batteries inside. This step is crucial because it determines the stacker crane's subsequent operational strategy.

[0088] If there are no battery packs in the warehouse: At this point, the stacker crane has no battery packs to handle, so it can choose to suspend its current access task and clear the task queue. This ensures that the stacker crane can immediately respond to the firefighting task without being interrupted by other access tasks. Suspending tasks means that they will be suspended until the firefighting task is completed or the stacker crane is idle again.

[0089] Applications of SSI laser ranging sensors:

[0090] When there are battery packs in the warehouse, the stacker crane needs to decide how to efficiently complete the battery pack access task so that the firefighting mission can be carried out as quickly as possible. At this time, the SSI laser ranging sensor plays a key role.

[0091] SSI laser ranging sensor: This high-precision ranging device can measure the distance between the stacker and surrounding objects (such as battery packs and shelves) in real time. In this invention, it is used to detect the stacker's current position and help the stacker select the nearest source location (i.e., the starting location of the battery pack) or target location (i.e., the location where the battery pack needs to be transported) to complete the battery pack storage and retrieval task.

[0092] Task execution logic:

[0093] Once the nearest source or target location is determined, the stacker crane will perform its tasks according to the following logic:

[0094] Select and complete the task: Based on the data provided by the SSI laser distance sensor, the stacker selects the nearest source or target location and uses its forks to transport the battery pack. During the handling process, the stacker maintains a safe distance from surrounding objects to avoid collisions.

[0095] Triggering the fork home switch to reset: After completing a task, the stacker will trigger the fork home switch to reset. This is to ensure that the fork can accurately return to the starting position and be ready for the next task.

[0096] Execute firefighting tasks: After the fork home switch is reset, the stacker crane will immediately perform firefighting tasks. This may include using a fire extinguisher to spray the fire, or transporting the abnormal battery pack to a fire water tank for immersion to completely extinguish the fire.

[0097] Through the above steps, the present invention achieves real-time monitoring and rapid response to the battery pack status within the lithium battery production and capacity composition workshop, effectively improving the workshop's safety and reliability. Furthermore, the application of SSI laser ranging sensors enables stacking cranes to complete tasks more efficiently, further improving work efficiency.

[0098] Specifically, the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production, and the immersion treatment of the fire water tank are achieved through the following linkage:

[0099] When the stacker fork extends into the fire water tank placement area, it triggers the infrared positioning sensor to control the opening of the inventory baffle drop actuator;

[0100] After the forks are fully retracted, the gravity sensor detects the submerged state of the battery pack, closes the baffle after confirmation, and feeds back the signal to the programmable controller.

[0101] The function of infrared positioning sensor:

[0102] Infrared positioning sensors play a key role in the fire water tank's immersion process. When the stacker crane's forks enter the fire water tank's storage area, the infrared positioning sensors detect the forks' arrival. This signal is then transmitted to the control system, triggering the opening of the stock baffle and box-dropping actuator. This actuator opens the fire water tank's stock baffle, allowing the forks to lower the battery pack into the tank.

[0103] The use of infrared positioning sensors ensures that the fork can accurately and safely place the battery pack into the fire water tank, avoiding operational errors or safety accidents caused by inaccurate positioning.

[0104] The function of gravity sensor:

[0105] After the forks are fully retracted, the gravity sensor comes into play. It detects whether the battery pack is completely submerged in water. The gravity sensor uses the fact that water is much denser than air. When the battery pack is fully submerged, the sensor is subjected to a greater gravity force, thereby determining the battery pack's condition.

[0106] Once the gravity sensor confirms that the battery pack is submerged, it sends a signal to the control system, which controls the inventory baffle actuator to close the baffle, preventing water from overflowing or the battery pack from accidentally being removed. Simultaneously, the gravity sensor also sends a confirmation signal back to the programmable controller (PLC), notifying the control system that the fire water tank has been submerged.

[0107] Linkage implementation process and security:

[0108] The entire linkage implementation process includes the following steps:

[0109] Fork in place detection: The fork extends into the fire water tank placement area, triggering the infrared positioning sensor.

[0110] Inventory baffle opening: After the control system receives the signal from the infrared positioning sensor, it controls the inventory baffle box drop actuator to open.

[0111] Battery Pack Immersion: The forks lower the battery pack into the fire water tank and are fully retracted.

[0112] Submersion status confirmation: The gravity sensor detects whether the battery pack is submerged and sends a confirmation signal.

[0113] Baffle closing and signal feedback: The inventory baffle drop box actuator closes the baffle, and the gravity sensor feeds back the confirmation signal to the PLC.

[0114] This coordinated implementation process not only ensures the effectiveness and accuracy of fire water tank immersion, but also improves operational safety through the dual detection mechanism of infrared positioning sensors and gravity sensors. Furthermore, the inclusion of PLC makes the entire system more intelligent and automated, enabling rapid response and decision-making based on real-time data.

[0115] In summary, the present invention realizes the immersion treatment of the fire water tank through an ingenious linkage design, effectively improving the safety and reliability of the chemical composition workshop of lithium battery production.

[0116] Specifically, the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production is characterized in that the motion axis control of the stacker includes:

[0117] The walking axis and lifting axis adopt double closed-loop control of servo motor body encoder and SSI laser ranging sensor, with positioning accuracy ≤±1mm;

[0118] The fork shaft servo drive is equipped with an anti-collision module, which triggers an emergency stop alarm when the fork extension resistance exceeds the set torque.

[0119] Double closed-loop control of the walking axis and lifting axis:

[0120] In the motion control of stacking cranes, the motion accuracy of the travel axis and the lifting axis is crucial. In order to achieve high-precision positioning, the present invention adopts a dual closed-loop control mechanism of a servo motor body encoder and an SSI laser ranging sensor.

[0121] Servo motor encoder: The servo motor's built-in encoder monitors the motor's rotation angle and speed in real time, providing precise position feedback to the control system. This feedback mechanism forms an internal closed-loop control loop, ensuring the motor moves along the desired trajectory.

[0122] SSI Laser Distance Sensor: To further improve positioning accuracy, this invention also incorporates an SSI laser distance sensor. SSI (Synchronous Serial Interface) is a synchronous serial interface that allows the laser distance sensor to transmit highly accurate distance data at a high rate. By emitting laser light and receiving reflected light signals, the sensor measures the distance between the stacker crane and a reference point, providing external position feedback to the control system. This external feedback mechanism forms an external closed-loop control mechanism that complements the internal closed-loop control to ensure the motion accuracy of the travel and lift axes.

[0123] By combining these two control mechanisms, the stacker crane of the present invention can achieve high-precision movement with a positioning accuracy of ≤±1mm, meeting the demand for precise positioning in the lithium battery production and component capacity workshop.

[0124] Anti-collision module for fork shaft:

[0125] During the movement of the stacker, the safety control of the fork shaft is also crucial. In order to prevent the fork from colliding with surrounding objects during the extension process, the present invention configures an anti-collision module on the fork shaft servo driver.

[0126] Anti-collision module: This module determines whether a collision has occurred by monitoring the resistance of the forks as they extend in real time. If the resistance exceeds a preset torque threshold, the anti-collision module immediately triggers an emergency stop alarm, halting the forks' extension and preventing a collision.

[0127] This design not only improves the stacker's adaptability in complex environments but also enhances its safety and reliability. In lithium battery production workshops, battery packs vary in shape and size depending on the model, making it easy for forks to collide with surrounding objects during handling. By introducing an anti-collision module, this invention effectively addresses this issue, ensuring the safe operation of the stacker during handling.

[0128] In summary, this invention, by incorporating advanced technologies such as dual closed-loop control and a collision avoidance module, achieves high-precision and high-safety operation of a stacker crane in the chemical and capacity-forming workshop of lithium battery production. These technical features collectively constitute the core competitiveness of this invention's technical solution, providing a strong guarantee for the safety and efficiency of lithium battery production.

[0129] Specifically, the box-type stacker crane safety control method in the lithium battery production chemical composition workshop, the communication between the stacker crane body control cabinet and the operation cabinet is achieved by the following method:

[0130] The optical communication sensors of the stacker crane body and the operation cabinet are horizontally aligned, and the full-stroke communication delay is ≤10ms;

[0131] The emergency stop switch signal of the operation cabinet is connected to the servo drive through an independent hard line, forcing the interruption of all axis motion.

[0132] Horizontal alignment and communication delay of optical communication sensors:

[0133] In the control system of the stacker crane, the real-time and accuracy of communication are of great importance. To achieve this goal, the present invention adopts an optical communication sensor to realize the communication between the control cabinet and the operation cabinet of the stacker crane.

[0134] Horizontal alignment of optical communication sensors: Optical communication sensors transmit and receive light signals to transmit data. To ensure reliable and stable communication, the optical communication sensors on the stacker crane and the control cabinet must be horizontally aligned. This alignment prevents optical signal attenuation or loss due to angular deviation during transmission, thus ensuring continuous communication.

[0135] Full-stroke communication latency ≤ 10ms: By horizontally aligning the optical communication sensors, this invention achieves excellent full-stroke communication latency of ≤ 10ms. This means that throughout the entire motion of the stacker crane, control signals and data can be transmitted from the operating cabinet to the stacker crane control cabinet and back again in a very short time, ensuring real-time control of the stacker crane. This low-latency communication method is of great significance for improving the operational efficiency and safety of the stacker crane.

[0136] Separate hard-wire connection for emergency stop switch signal:

[0137] Safety is crucial in the lithium battery production and composing workshop. To ensure that the stacker can be stopped quickly in an emergency, the present invention uses an independent hard-wired connection to achieve communication between the emergency stop switch signal of the operating cabinet and the servo drive.

[0138] Independent hard-wire connection: Unlike optical communication, the emergency stop switch signal is directly connected to the servo drive via an independent hard-wire connection. This connection method has higher reliability and anti-interference ability, and can ensure the effective transmission of the emergency stop signal even in the event of optical communication failure.

[0139] Forced interruption of all axis motion: When the emergency stop switch on the control panel is triggered, the emergency stop signal is immediately transmitted to the servo drive via an independent hardline. Upon receiving the emergency stop signal, the servo drive immediately stops all axis motion, ensuring that the stacker crane stops operating safely. This design effectively prevents accidents caused by operator errors or equipment failures.

[0140] In summary, this invention achieves efficient and secure communication between the stacker's control cabinet and operating cabinet by employing advanced technologies such as horizontal alignment of optical communication sensors and independent hard-wired connections. These technical features collectively ensure the safe and efficient operation of the stacker in the chemical composition and sizing workshop of lithium battery production.

[0141] Specifically, the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production, the upper computer scheduling logic includes:

[0142] Establish a linkage task queue for volumetric forming equipment, stacking cranes, and fire water tanks, with fire tasks taking priority over storage and retrieval tasks.

[0143] When multiple capacity-dividing devices alarm at the same time, the task execution order is dynamically allocated according to the battery pack temperature rise rate.

[0144] Establishment of linkage task queue:

[0145] The primary task of the host computer's scheduling logic is to establish a coordinated task queue between the capacity-based forming equipment, the stacker crane, and the fire water tank. This means the host computer dynamically generates a series of tasks based on production demand and equipment status, and arranges these tasks in a specific order within the task queue. These tasks might include accessing battery packs, equipment maintenance, and emergency firefighting.

[0146] The establishment of a linkage task queue ensures that the volume-forming equipment, stacker cranes and fire water tanks can work together, improving production efficiency while ensuring the safety and stability of the production line.

[0147] Task priority setting:

[0148] In the linkage task queue, firefighting tasks are prioritized over access tasks. This is because fire safety is paramount in the chemical composition workshop of lithium battery production. In the event of a fire or other emergency, firefighting tasks must be immediately activated to ensure the safety of personnel and equipment.

[0149] By setting a high priority for firefighting tasks, the host computer can ensure that in an emergency, the stacker crane can respond quickly and perform firefighting tasks, thereby reducing potential losses and risks.

[0150] Dynamic task allocation mechanism

[0151] When multiple capacity-based devices alarm simultaneously, the host computer dynamically allocates the execution order of tasks based on the battery pack temperature rise rate. The battery pack temperature rise rate is an important safety indicator that reflects the degree of thermal runaway within the battery pack.

[0152] The host computer monitors the status of each capacity-based device in real time, particularly the temperature of the battery pack. If multiple devices simultaneously trigger alarms, the host computer prioritizes tasks based on the rate of temperature rise of the battery packs. Devices with faster temperature rises receive higher priority for firefighting or other processing tasks.

[0153] This dynamic task allocation mechanism ensures that the host computer can make the best decision based on real-time conditions, thereby maximizing the safety and stability of the production line.

[0154] In summary, this invention achieves efficient and safe control of box-type stackers in the lithium battery production process by establishing a linked task queue, setting task priorities, and employing a dynamic task allocation mechanism. These technical features collectively constitute the core competitiveness of this invention's technical solution, providing a strong guarantee for the safety and efficiency of lithium battery production.

[0155] Specifically, the safety control method of the box-type stacker in the chemical composition workshop of lithium battery production, the fire extinguisher spray control includes:

[0156] The cargo hold fire extinguisher is controlled by dual solenoid valves, and the solenoid valve opening signal is synchronized with the fork retraction action;

[0157] The spraying duration is dynamically adjusted based on the cargo hold temperature sensor data, and the maximum spraying duration does not exceed the preset safety threshold.

[0158] Dual solenoid valve control mechanism:

[0159] This invention utilizes a dual solenoid valve design to control the cargo hold fire extinguisher. This design provides enhanced safety and reliability. Each solenoid valve operates independently, ensuring that if one valve fails, the other remains operational, ensuring timely discharge of the fire extinguisher. Furthermore, the dual solenoid valve design increases system redundancy and improves overall system stability.

[0160] Synchronization of the solenoid valve opening signal and the fork retraction action:

[0161] To achieve precise control of the fire extinguisher's spraying, the present invention synchronizes the solenoid valve's activation signal with the fork's retraction. When the fork fully retracts after placing the battery pack in the cargo hold, a signal is triggered that simultaneously activates both solenoid valves, causing the fire extinguisher to begin spraying. This synchronized control mechanism ensures that the fire extinguisher begins spraying immediately after the battery pack is fully positioned, improving firefighting efficiency and safety.

[0162] Dynamically adjust the spray duration:

[0163] Controlling the spraying duration is crucial to the fire extinguishing effect. In order to optimize the spraying effect, the present invention adopts a strategy of dynamically adjusting the spraying duration based on the data from the cargo hold temperature sensor. The cargo hold temperature sensor will monitor the temperature inside the cargo hold in real time and transmit the data to the control system. The control system will judge the size and spread speed of the fire based on the temperature data, and dynamically adjust the spraying duration. When the temperature inside the cargo hold is high or the fire is large, the control system will extend the spraying duration to completely extinguish the flames; when the temperature inside the cargo hold is low or the fire is small, the spraying duration will be appropriately shortened to save water resources and reduce the impact on the environment. At the same time, in order to ensure the safety of the spraying process, the present invention also sets a preset safety threshold as the upper limit of the spraying duration to avoid potential safety hazards caused by excessive spraying.

[0164] In summary, this invention achieves precise control of fire extinguisher spraying by employing advanced technologies such as dual solenoid valve control, synchronized control of the solenoid valve opening signal with the fork retraction, and dynamic adjustment of the spray duration based on data from the cargo hold temperature sensor. These technical features collectively constitute the core competitiveness of this technical solution, providing safer, more efficient, and more reliable fire extinguishing protection for chemical filling workshops in lithium battery production.

[0165] Specifically, the box-type stacker crane is used for safety control in a chemical composition workshop of a lithium battery production plant. The stacker crane cargo compartment is equipped with the following hardware:

[0166] Fork front / rear limit switch and origin switch for fork travel boundary protection;

[0167] The fire extinguisher solenoid valve is linked to the cargo hold temperature / smoke sensor to form a local emergency control loop independent of the host computer.

[0168] Fork travel limit protection:

[0169] In order to ensure the safety of the fork during movement, the stacker crane cargo compartment is equipped with fork front / rear limit switches and origin switches.

[0170] Front and rear limit switches: These switches, installed at the front and rear ends of the fork's motion path, detect when the fork has reached the extremes of its range of motion. When the fork touches these switches, a signal is triggered, informing the control system that the fork has reached its limit, preventing further movement and potential damage or accidents.

[0171] Origin switch: This switch is typically installed at the fork's starting or reference position. Before each fork movement, the control system requires the fork to return to its home position and triggers the switch to confirm the fork's exact position. This helps ensure the fork starts from a known, fixed position before each movement, improving motion control accuracy and reliability.

[0172] By configuring the fork front / rear limit switch and the origin switch, the present invention effectively implements boundary protection of the fork travel and ensures that the fork moves within a safe range.

[0173] Local emergency control circuit:

[0174] In order to enhance the emergency response capability of the stacker crane in emergency situations, the present invention is also configured with a linkage mechanism between the fire extinguisher solenoid valve and the warehouse temperature / smoke sensor, forming a local emergency control loop independent of the host computer.

[0175] Fire extinguisher solenoid valve: The solenoid valve is a key component in controlling the spraying of fire extinguishers. When the solenoid valve receives the open signal, it quickly opens the fire extinguishing channel, allowing the fire extinguishing agent to be quickly sprayed and covered on the fire source, thereby extinguishing the flames.

[0176] Warehouse temperature / smoke sensors: These sensors monitor the temperature and smoke concentration inside the warehouse in real time. If an abnormality occurs inside the warehouse (such as increased temperature or smoke concentration), the sensor immediately detects it and transmits the signal to the control system.

[0177] Interlocking Mechanism: Under normal circumstances, the warehouse's temperature and smoke sensors are monitored and managed by the host computer. However, in an emergency, such as a fire or excessive smoke concentration within the warehouse, the sensors directly trigger the opening signal of the fire extinguisher's solenoid valve, forming a local emergency control loop independent of the host computer. This design ensures that even if the host computer fails or is unable to respond in a timely manner, the stacker crane can quickly initiate emergency measures to protect the safety of equipment and personnel.

[0178] In summary, by configuring the fork's forward / rear limit switches and origin switch, as well as the linkage mechanism between the fire extinguisher solenoid valve and the cargo compartment temperature / smoke sensor, this invention effectively improves the safety and emergency response capabilities of the box-type stacker crane in the chemical filling workshop of lithium battery production. These hardware configurations together constitute a key component of the stacker crane's safety control, providing a strong guarantee for the safety and efficiency of lithium battery production.

[0179] Specifically, the safety control method for a box-type stacker in a lithium battery production chemical composition workshop is characterized in that the dynamic allocation of task execution order is achieved through the following algorithm:

[0180] Calculate the temperature change rate ΔT / Δt of each alarm battery pack and generate a task sequence by sorting them from high to low according to ΔT / Δt;

[0181] If ΔT / Δt are the same, the battery pack with the shortest Euclidean distance to the current position of the stacker is processed first.

[0182] Temperature change rate calculation and sorting:

[0183] When dynamically assigning task execution sequences, the temperature change rate of each alarm battery pack must first be calculated. The temperature change rate, ΔT / Δt, represents the change in battery pack temperature per unit time, where ΔT represents the temperature change and Δt represents the time change.

[0184] Calculation of ΔT: By comparing the temperature values of the battery pack at two adjacent time points (such as time t1 and time t2), the temperature change ΔT = T2 - T1 can be obtained, where T1 and T2 represent the temperature values of the battery pack at time t1 and time t2, respectively.

[0185] Calculation of Δt: Δt is the time interval between two time points and can be set according to actual conditions.

[0186] After calculating the temperature change rate of each alarm battery pack, the system sorts them from highest to lowest according to the ΔT / Δt value to generate a task sequence. This prioritizes the battery packs with the fastest temperature increases, ensuring a rapid response and fire control in an emergency.

[0187] Distance priority processing:

[0188] When multiple battery packs have the same temperature change rate ΔT / Δt, meaning their temperatures rise at similar rates, another priority processing mechanism is needed to determine the order in which tasks are executed. The method employed by the present invention prioritizes the battery pack with the shortest Euclidean distance from the stacker's current position.

[0189] Calculation of Euclidean distance: Euclidean distance is a measure of the straight-line distance between two points. The calculation formula is d = √[(x2-x1)2+(y2-y1)2], where (x1, y1) and (x2, y2) represent the coordinates of the stacker's current position and the battery pack's position on the two-dimensional plane, respectively.

[0190] The role of distance priority: By calculating the Euclidean distance and prioritizing the battery pack with the shortest distance, it can ensure that the stacker consumes the least time and energy during the movement process, thereby improving the overall processing efficiency.

[0191] In summary, this invention achieves rapid response and efficient handling of emergencies in lithium battery production and compositing workshops by calculating the temperature change rate of each alarming battery pack and sorting them from highest to lowest to generate a task sequence. Furthermore, when the temperature change rate is the same, the battery pack with the shortest Euclidean distance from the stacker's current position is prioritized. This algorithm not only improves processing efficiency but also ensures the safety and stability of the production line.

[0192] The specific embodiments of the present invention are as follows: Figure 1As shown in the electrical schematic diagram of the mini-Load box-type stacker crane, the stacker crane has two control cabinets: the main control cabinet for the stacker crane, which moves with the main crane, and the operator's cabinet for operating the stacker crane alongside it. The programmable controller in the main control cabinet receives input signals for the travel axis front limit switch, travel axis rear limit switch, travel axis origin switch, lift axis upper limit switch, lift axis lower limit switch, lift axis origin switch, fork front limit switch, fork rear limit switch, fork origin switch, cargo compartment temperature sensor, and cargo compartment smoke sensor. The programmable controller in the main control cabinet outputs signals for the three-color alarm light, cargo compartment fire extinguisher 1 solenoid valve, and cargo compartment fire extinguisher 2 solenoid valve. The stacker crane has three motion axes, connected to the programmable controller via the EtherCAT bus. The lift axis consists of a lift axis servo driver, an SSI laser ranging sensor, and a lift axis servo motor. The travel axis consists of a travel axis servo driver, an SSI laser ranging sensor, and a travel axis servo motor. The fork axis consists of a fork axis servo driver and a fork axis servo motor. The servo drives for the lift and travel axes utilize a servo motor encoder and SSI laser ranging sensor for dual closed-loop control. The network port of the programmable controller in the stacker crane's control cabinet is connected to an optical communication sensor. The optical communication sensor in the stacker crane's control cabinet and the optical communication sensor in the stacker crane's operating cabinet are installed on the same horizontal line and aligned, enabling communication between the two cabinets. The input signals to the programmable controller in the stacker crane's operating cabinet primarily include the manual-automatic switch, start button, stop button, reset button, and emergency stop switch. The output signals from the programmable controller in the stacker crane's operating cabinet include a three-color alarm light. The network port of the programmable controller in the stacker crane's operating cabinet is connected to an optical communication sensor.

[0193] like Figure 2 As shown in the electrical scheme diagram of the working chamber of the capacity separation and formation equipment, the working chamber of the capacity separation and formation equipment is equipped with a smoke sensor and a temperature sensor.

[0194] like Figure 3 As shown in the electrical scheme diagram of the min i Load box stacker crane's cargo hold, the min i Load box stacker crane's cargo hold is equipped with a smoke sensor, temperature sensor and fire extinguisher.

[0195] like Figure 4 As shown in the electrical scheme diagram of the fire water tank, the fire water tank is equipped with a smoke sensor, a temperature sensor and an inventory baffle drop actuator.

[0196] like Figure 5 As shown in the diagram of the upper computer-related equipment, the upper computer is associated with the mini-load box stacker, fire water tank, and volume separation and formation equipment. When the fire signal of the volume separation and formation equipment is generated, the upper computer controls the three devices to work in conjunction.

[0197] like Figure 6 As shown in the flow chart of the Mini-Load box stacker scheduling control method, scheduling control begins with initialization, including initialization of the capacity separation equipment, stacker, and fire water tank. Once all initializations are complete, the temperature and smoke sensors of the capacity separation equipment are checked for alarms. If not, the host computer issues a storage and retrieval task. The stacker goes to the task source location to retrieve a box. The stacker fork extends from the cargo hold to remove the battery pack, then retracts back into the hold. The stacker then goes to the target location to deposit the box. The stacker fork extends from the cargo hold to lower the battery pack, then retracts back into the hold. The stacker then reports to the host computer that the task is complete, and Mini-Load box stacker scheduling concludes.

[0198] If the temperature and smoke sensors of the chemical storage equipment sound an alarm, the host computer sends a firefighting task. It determines whether the stacker is currently performing a storage and retrieval task. If the stacker is not currently performing a task, it goes to the location of the battery pack that triggered the fire alarm to retrieve the box. The stacker's fork extends and removes the abnormal battery pack. As the fork retracts the abnormal battery pack and returns to the cargo hold, the stacker's cargo hold fire extinguisher activates, spraying the battery pack. The fire water tank equipment door then opens. The stacker carries the abnormal battery pack to the fire water tank equipment and places it in the fire water tank battery storage area. The storage baffle at the fire water tank battery storage area drops, causing the abnormal battery to fall into the water. After the stacker's fork retracts, the cargo hold fire extinguisher deactivates, the fire water tank equipment door closes, and the stacker reports to the host computer that the firefighting task has been completed.

[0199] If the stacker has an ongoing access task, it determines whether there are boxes in the stacker's cargo hold. If not, the stacker reports to the host computer to suspend the task, and then the stacker enters the current no-task state. If there are boxes in the stacker's cargo hold, it determines whether the stacker's current location is closer to the source box or the target location. If it is closer to the source box, the stacker puts the battery pack back to the source box. If it is closer to the target location, the stacker puts the battery pack to the target location. After there are no batteries in the cargo hold, the stacker enters the current no-task state. If the stacker currently has no tasks, the stacker goes to the location of the battery pack indicated by the fire alarm to retrieve a box. The stacker's fork extends to remove the abnormal battery pack. While the stacker's fork retracts the abnormal battery pack back into the cargo hold, the fire extinguisher in the stacker's cargo hold opens, spraying the battery pack, and then the fire water tank equipment compartment door opens. The stacker moves the abnormal battery pack to the fire water tank equipment, and places the abnormal battery in the fire water tank battery placement area. The inventory baffle at the fire water tank battery placement area falls, and the abnormal battery falls into the water. After the stacker fork retracts, the cargo hold fire extinguisher is turned off, the fire water tank equipment door is closed, and the stacker reports to the host computer that the firefighting task is completed.

[0200] To address the problems of existing mini-load box-type stackers in lithium battery cell production plants, such as lack of monitoring, delayed response, incomplete fire extinguishing, and asynchronous control, this invention provides an innovative safety control method. The following are specific solutions to this technical solution:

[0201] Solution to the monitoring deficiency problem:

[0202] Deploy sensors: Deploy smoke sensors and temperature sensors in the stacker crane warehouse, the volume separation and formation equipment working compartment, and the fire water tank. These sensors can monitor the status of the battery pack in real time to ensure that any abnormal situation can be discovered in time.

[0203] Real-time data transmission: Smoke sensors and temperature sensors are connected to the stacker crane’s programmable controller (PLC) via the EtherCAT bus, ensuring that data can be accurately transmitted to the control system in real time.

[0204] Solution to the response hysteresis problem:

[0205] Dynamic task scheduling: When any sensor triggers an alarm signal, the host computer immediately generates a firefighting task instruction and sends it to the stacker crane. The stacker crane flexibly selects to execute or suspend the current task based on the current task status, warehouse status, and location priority, to respond to the alarm as quickly as possible.

[0206] Linkage task queue: The host computer establishes a linkage task queue for the capacity forming equipment, stacker and fire water tank to ensure that the fire-fighting task has a higher priority than the access task to avoid response delays.

[0207] Dynamic task allocation: When multiple devices alarm at the same time, the task execution order is dynamically allocated according to the battery pack temperature rise rate, giving priority to the battery pack with the fastest temperature rise, ensuring a rapid response in emergency situations.

[0208] Solution to the problem of incomplete fire extinguishing:

[0209] Combining fire extinguisher spraying and immersion: After the stacker crane removes the abnormal battery pack with its forks, it activates a fire extinguisher spraying system as the forks retract into the cargo hold for initial firefighting. The battery pack is then transferred to a fire water tank for immersion, ensuring complete extinguishment and preventing re-ignition.

[0210] Precise immersion control: The immersion of the fire water tank is achieved through the linkage of infrared positioning sensors and gravity sensors, ensuring that the battery pack can be accurately placed in place and fully immersed in water.

[0211] Solution to the control asynchrony problem:

[0212] Precise motion control: The stacker's travel and lift axes use dual closed-loop control using a servo motor encoder and an SSI laser ranging sensor, with a positioning accuracy of up to ±1mm, ensuring the stacker can perform storage and retrieval tasks accurately and stably.

[0213] Anti-collision protection: The fork shaft servo drive is equipped with an anti-collision module. When the fork extension resistance exceeds the set torque, an emergency stop alarm is immediately triggered to avoid equipment damage and personal injury.

[0214] Communication synchronization: The stacker crane control cabinet and the operation cabinet achieve synchronous control with a full-stroke communication delay of ≤10ms through optical communication sensors, ensuring that instructions can be transmitted and executed quickly and accurately.

[0215] Other key technical details:

[0216] Fire extinguisher spray control: The cargo hold fire extinguisher is controlled by dual solenoid valves, and the spraying time is dynamically adjusted according to the cargo hold temperature sensor data to ensure the fire extinguishing effect while avoiding waste caused by excessive spraying.

[0217] Hardware protection: The stacker crane cargo compartment is equipped with hardware protection measures such as fork front / rear limit switches and origin switches to ensure that the equipment will not exceed the safety range or cause accidents such as collisions during operation.

[0218] Local emergency control circuit: The fire extinguisher solenoid valve and the cargo hold temperature / smoke sensor are linked to form a local emergency control circuit independent of the host computer, which can automatically start the fire extinguishing device for preliminary treatment in an emergency.

[0219] In summary, the present invention comprehensively solves the problems of missing monitoring, delayed response, incomplete fire extinguishing, and asynchronous control existing in the application of miniLoad box-type stacker cranes in lithium battery chemical component capacity workshops through a series of innovative technical means such as deploying sensors, establishing a linkage task queue, and adopting precise motion control and hardware protection measures, thereby significantly improving the safety and reliability of the system.

Claims

1. A safety control method for a box-type stacker in a lithium battery production chemical composition workshop, characterized in that: include: Smoke sensors and temperature sensors are deployed in the stacker cargo hold, the capacity separation and formation equipment work hold, and the fire water tank to monitor the battery pack status in real time. When any sensor triggers an alarm signal, the host computer generates a fire-fighting task instruction and sends it to the stacker; After receiving the command, the stacker crane will directly execute the fire-fighting task if there is no current task. If it is currently executing a storage and retrieval task, it will complete or suspend the current task based on the warehouse status and location priority. The stacker crane removes the abnormal battery pack with its fork, activates the fire extinguisher spray when the fork retracts into the cargo hold, and then moves the battery pack to a fire water tank for immersion treatment; The stacker crane sends a task completion signal to the host computer and closes the fire extinguisher and water tank door.

2. The method for safety control of a box-type stacker in a lithium battery production chemical composition workshop according to claim 1, characterized in that: The smoke sensor and the temperature sensor are connected to the programmable controller of the stacker via a bus, and the programmable controller is configured as follows: When the warehouse temperature exceeds the first preset threshold or the smoke concentration exceeds the second preset threshold, the three-color alarm light is triggered and a firefighting task request is sent to the host computer; The duration of the sprinkler fire extinguishing is positively correlated with the rate of change of the cargo hold temperature.

3. The safety control method for a box-type stacker in a lithium battery production chemical composition workshop according to claim 1 is characterized in that: The completion or suspension of the current task according to the warehouse status and location priority specifically includes: If there is no battery pack in the warehouse, the current access task will be suspended and the task queue will be cleared; If there is a battery pack in the cargo hold, the laser ranging sensor will detect the current position, select the nearest source position or target position to complete the battery pack access, and trigger the fork origin switch to reset and then perform the firefighting task.

4. The method for safety control of a box-type stacker in a lithium battery production chemical composition workshop according to claim 1, characterized in that: The immersion treatment of the fire water tank is achieved through the following linkage: When the stacker fork extends into the fire water tank placement area, it triggers the infrared positioning sensor to control the opening of the inventory baffle drop actuator; After the forks are fully retracted, the gravity sensor detects the submerged state of the battery pack, closes the baffle after confirmation, and feeds back the signal to the programmable controller.

5. The method for safety control of a box-type stacker in a lithium battery production chemical composition workshop according to claim 1, characterized in that: The motion axis control of the stacker includes: The walking axis and lifting axis adopt double closed-loop control of servo motor body encoder and laser ranging sensor, with positioning accuracy ≤±1mm; The fork shaft servo drive is equipped with an anti-collision module, which triggers an emergency stop alarm when the fork extension resistance exceeds the set torque.

6. The method for safety control of a box-type stacker in a lithium battery production chemical composition workshop according to claim 1, characterized in that: The communication between the stacker crane control cabinet and the operation cabinet is achieved in the following ways: The optical communication sensors of the stacker crane body and the operation cabinet are horizontally aligned, and the full-stroke communication delay is ≤10ms; The emergency stop switch signal of the operation cabinet is connected to the servo drive through an independent hard line, forcing the interruption of all axis motion.

7. The method for safety control of a box-type stacker in a lithium battery production chemical composition workshop according to claim 1, characterized in that: The host computer scheduling logic includes: Establish a linkage task queue for volumetric forming equipment, stacking cranes, and fire water tanks, with fire tasks taking priority over storage and retrieval tasks. When multiple capacity-dividing devices alarm at the same time, the task execution order is dynamically allocated according to the battery pack temperature rise rate.

8. The method for safety control of a box-type stacker in a lithium battery production chemical composition workshop according to claim 1, characterized in that: The fire extinguisher spray control includes: The cargo hold fire extinguisher is controlled by dual solenoid valves, and the solenoid valve opening signal is synchronized with the fork retraction action; The spraying duration is dynamically adjusted based on the cargo hold temperature sensor data, and the maximum spraying duration does not exceed the preset safety threshold.

9. The method for safety control of a box-type stacker in a lithium battery production chemical composition workshop according to claim 1, characterized in that: The stacker crane warehouse is equipped with the following hardware: Fork front or rear limit switch and origin switch for fork travel boundary protection; The fire extinguisher solenoid valve is linked with the cargo hold temperature or smoke sensor to form a local emergency control loop independent of the host computer.

10. The method for safety control of a box-type stacker in a chemical composition workshop of lithium battery production according to claim 7, characterized in that: The dynamic allocation of task execution order is achieved through the following algorithm: Calculate the temperature change rate ΔT / Δt of each alarm battery pack and sort the task sequence from high to low according to ΔT / Δt; If ΔT / Δt are the same, the battery pack with the shortest Euclidean distance to the current position of the stacker is processed first.

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