Vertical gravity energy storage system and working condition operation control method thereof

Abstract

The invention discloses a vertical gravity energy storage system and a working condition operation control method thereof, and the system comprises a transmission component which is suitable for ascending or descending at a vertical height; the bearing device is suitable for bearing the mass block, and the bearing device is movably connected with the transmission component; the hovering mechanism is connected with the bearing device; the material conveying module comprises an upper conveying module and a lower conveying module; the control module is in communication connection with the hovering mechanism, the bearing device, the upper conveying module and the lower conveying module so as to control the hovering mechanism to hover to the top or the bottom of the transmission component, synchronously control the bearing device to be separated from the transmission component and control the upper conveying module to assemble and disassemble the mass block on the bearing device when the hovering mechanism hovers to the top or the bottom of the transmission component. And when the hovering mechanism hovers at the bottom, the lower transmission module is controlled to load and unload the mass block on the bearing device so as to complete the charging working condition and the discharging working condition. The device does not need to be shut down in case of failure, so that unnecessary loss is reduced.

Description

Technical Field

[0001] This invention belongs to the field of gravity energy storage technology, specifically relating to a vertical gravity energy storage system and its operating control method. Background Technology

[0002] Gravity energy storage is a mechanical energy storage technology based on height difference and gravitational potential energy. Its core principle is to store energy by lifting a heavy object and then releasing the object to drive a generator to produce electricity when needed. Compared to other energy storage methods, gravity energy storage has advantages such as high environmental friendliness, long lifespan, readily available materials, and low maintenance costs.

[0003] In related technologies, if a vertical gravity energy storage system suddenly malfunctions in charging (mass block lifting) mode and discharging (mass block lowering) mode, it needs to be shut down for maintenance, which affects the energy storage efficiency. Especially in scenarios that require a large amount of charging or discharging frequency regulation, losses are often incurred due to the shutdown. Summary of the Invention

[0004] The purpose of this invention is to enable maintenance without shutting down the machine by suspending the load-bearing device in the vertical direction when encountering sudden failures, thereby reducing unnecessary losses caused by downtime.

[0005] To achieve the above objectives, this invention proposes a vertical gravity energy storage system, comprising: a transmission component adapted to rise or fall vertically; a bearing device adapted to bear a mass block, the bearing device being movably connected to the transmission component; a suspension mechanism connected to the bearing device; a material transfer module including an upper transfer module and a lower transfer module; and a control module communicatively connected to the suspension mechanism, the bearing device, the upper transfer module, and the lower transfer module, respectively, to control the bearing device to disengage from the transmission component when the suspension mechanism is suspended at the top or bottom of the transmission component, and to control the upper transfer module to load and unload the mass block onto the bearing device when the suspension mechanism is suspended at the top, and to control the lower transfer module to load and unload the mass block onto the bearing device when the suspension mechanism is suspended at the bottom, thereby completing charging and discharging operations.

[0006] In one optional embodiment, the hovering mechanism includes: a first limiting member; a second limiting member connected to the bearing device; and a first driving unit connected to the second limiting member, wherein when the first driving unit drives the second limiting member to engage and lock with the first limiting member, the second limiting member is hovered; wherein the first driving unit is communicatively connected to the control module.

[0007] In one optional embodiment, the first limiting member includes: two support frames, each having a slot surface, the slot surface including a plurality of slots arranged sequentially along the height direction, the two slot surfaces being arranged opposite to each other; the second limiting member includes: a slider connected to the first driving part; a linkage mechanism connected to the slider, the linkage mechanism being located between the two slot surfaces; wherein, when the first driving part drives the slider to slide downward, the linkage mechanism unfolds to engage with the corresponding slot piece to lock and suspend, and when the first driving part drives the slider to slide upward, the linkage mechanism retracts to disengage from the corresponding slot surface and release the suspension.

[0008] In one optional embodiment, the linkage mechanism includes: two first linkages stacked at one end and rotatably connected to the slider; and two second linkages rotatably connected to the other ends of the two first linkages respectively to form a four-bar linkage, wherein the free end of the second linkage is provided with a locking surface that engages with the slot surface for locking.

[0009] In one optional embodiment, the transmission component includes: an upper sprocket assembly comprising two coaxially arranged upper transmission sprockets; a lower sprocket assembly comprising two coaxially arranged lower transmission sprockets; and two transmission chains, which are connected to the upper and lower transmission sprockets for transmission, enabling upward or downward movement in the vertical direction; wherein the transmission chains are provided with load-bearing rods, and the load-bearing device is movably connected to the two load-bearing rods.

[0010] In one optional embodiment, the bearing device includes: a bearing plate; a hook bracket disposed on the bearing plate; a hook assembly slidably connected to the hook bracket, the hook assembly being adapted to be movably connected to the load-bearing rod; and a second drive unit connected to the hook assembly and the hook bracket to drive the hook assembly to move in a horizontal direction, causing the hook assembly to move closer to or further away from the transmission chain; wherein the second drive unit is communicatively connected to the control module.

[0011] In one optional implementation, the upper transfer module includes an upper robotic arm, an upper conveyor belt, and an upper stacking area, and the lower transfer module includes a lower robotic arm, a lower conveyor belt, and a lower stacking area.

[0012] This invention also provides a method for controlling the operation of a vertical gravity energy storage system, characterized in that it employs any one of the vertical gravity energy storage systems described above. The control method includes: if a charging command is received, controlling the lower transmission module to place a mass block on a supporting device according to the charging command; controlling the supporting device to connect with the transmission component and releasing the suspension mechanism, causing the mass block to move to the top of the transmission component; controlling the suspension mechanism to stop; controlling the upper transmission module to remove the mass block from the supporting device to complete one charging cycle; if a discharging command is received, controlling the upper transmission module to place a mass block on the supporting device according to the discharging command; controlling the supporting device to connect with the transmission component, causing the mass block to move to the bottom of the transmission component; controlling the suspension mechanism to stop; controlling the lower transmission module to remove the mass block from the supporting device to complete one discharging cycle.

[0013] In an optional embodiment, the operating control method of the vertical gravity energy storage system further includes: after completing one charging cycle, controlling the bearing device to connect with the transmission component, so that the bearing device and the suspension mechanism move downward to the bottom of the transmission component; controlling the bearing device to disengage from the transmission component, and controlling the suspension mechanism to hover at the bottom of the transmission component to complete the continuous charging cycle.

[0014] In an optional embodiment, the operating control method of the vertical gravity energy storage system further includes: after completing a discharge condition, controlling the bearing device to connect with the transmission component, so that the bearing device and the suspension mechanism move upward to the top of the transmission component; controlling the bearing device to disengage from the transmission component, and controlling the suspension mechanism to hover at the top of the transmission component to complete the continuous discharge condition.

[0015] The beneficial effects of the present invention are as follows: by setting a suspension mechanism, the present invention enables the bearing device to be suspended in the vertical direction. In the suspended state, the bearing device can be loaded and unloaded with mass blocks. In case of failure, there is no need to stop the machine, thus reducing unnecessary losses. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main structure of a vertical gravity energy storage system according to an embodiment of the present invention;

[0017] Figure 2 This is a three-dimensional structural diagram of a vertical gravity energy storage system provided in an embodiment of the present invention;

[0018] Figure 3 A partial three-dimensional structural schematic diagram of the connection relationship between the suspension mechanism and the supporting device of a vertical gravity energy storage system provided in an embodiment of the present invention;

[0019] Figure 4 A three-dimensional structural schematic diagram of the hovering mechanism of a vertical gravity energy storage system provided in an embodiment of the present invention;

[0020] Figure 5 A three-dimensional structural schematic diagram of the suspension mechanism and load-bearing device combination component of a vertical gravity energy storage system provided in an embodiment of the present invention;

[0021] Figure 6 A three-dimensional structural diagram of the hook assembly of a vertical gravity energy storage system provided in an embodiment of the present invention;

[0022] Figure 7 A cross-sectional view of the hook assembly of a vertical gravity energy storage system according to an embodiment of the present invention;

[0023] Figure 8 This is a cross-sectional structural schematic diagram of the second limiting component of a vertical gravity energy storage system provided in an embodiment of the present invention;

[0024] Figure 9 This is a side view of a vertical gravity energy storage system according to an embodiment of the present invention.

[0025] Figure 10 A flowchart illustrating the operational control method for a vertical gravity energy storage system according to an embodiment of the present invention.

[0026] Figure 11 A flowchart of the operating condition control method for a vertical gravity energy storage system provided in another embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 10. Transmission component; 101. Load-bearing rod; 11. Upper sprocket assembly; 12. Lower sprocket assembly; 13. Transmission chain; 20. Bearing device; 21. Bearing plate; 22. Hook bracket; 23. Hook assembly; 231. Hook body; 232. Base; 233. Second drive unit; 2331. Drive motor; 2332. Slide rail; 24. Connecting plate; 30. Suspension mechanism; 31. First limiting component; 311. Slot; 312. Guide groove; 32. Second limiting component; 320. Inclined guide surface; 321. Slider; 322. Linkage mechanism; 3221. First link; 3222. Second link; 40. Horizontal guide rail; 50. Mass block; 61. Upper transmission module; 611. Upper robotic arm; 612. Upper conveyor belt; 62. Lower output module; 621. Lower robotic arm; 622. Lower conveyor belt. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1 and Figure 2 As shown, according to an embodiment of the present invention, a vertical gravity energy storage system is provided, comprising: a transmission member 10 adapted to rise or fall vertically; a bearing device 20 adapted to bear a mass block 50, the bearing device 20 being movably connected to the transmission member 10; a suspension mechanism 30 connected to the bearing device 20; a material transfer module including an upper transfer module 61 and a lower transfer module 62; and a control module communicatively connected to the suspension mechanism 30, the bearing device 20, the upper transfer module 61, and the lower transfer module 62, respectively, to control the suspension mechanism 30 to suspend at the top or bottom of the transmission member 10, simultaneously controlling the bearing device 20 to disengage from the transmission member 10, and when the suspension mechanism 30 is suspended at the top, controlling the upper transfer module 61 to load and unload the mass block 50 onto the bearing device 20, and when the suspension mechanism 30 is suspended at the bottom, controlling the lower transfer module 62 to load and unload the mass block 50 onto the bearing device 20, thereby completing charging and discharging operations.

[0031] In this embodiment, the vertical gravity energy storage system mainly includes a frame, a transmission component 10, a load-bearing device 20, a suspension mechanism 30, a material transfer module, and a control module. The suspension mechanism 30, the transmission component 10, and the material transfer module are all mounted on the frame. Figure 9 As shown, the frame is L-shaped. The support device 20 is used to support and fix the energy storage mass block 50. The support device 20 is connected to the transmission component 10 by a movable connection and can move vertically up or down under the drive of the transmission component 10. The suspension mechanism 30 is connected to the support device 20. Therefore, when switching operating conditions, if the suspension mechanism 30 is suspended at a vertical height, the mass block 50 will be suspended at a vertical height simultaneously, temporarily detached from the vertical movement of the transmission component 10. If a system fault occurs, especially a minor fault, the mass block 50 can be removed and placed without stopping the machine. After the fault is eliminated, charging or discharging can continue, improving work efficiency.

[0032] The control module can automatically determine the current position of the bearing device 20 according to the system's operating requirements and working conditions, and issue corresponding control commands.

[0033] The specific operating condition control process is as follows:

[0034] When charging begins, the hovering mechanism 30 and the carrying device 20 are simultaneously hovered at the bottom of the transmission component 10. The lower transmission module 62 is activated to place the mass block onto the carrying device 20. Then, the hovering mechanism 30 is released, and the carrying device 20 is connected to the transmission component 10. The transmission component 10 drives the mass block 50 to move upward to charge the system. When it is about to reach the top, the carrying device 20 is disengaged from the transmission component 10, and the hovering mechanism 30 is simultaneously controlled to hover. At this time, the transmission component 10 continues to move up and down, while the carrying device 20 is hovered. Then, the upper transmission module 61 is controlled to unload the mass block 50 from the carrying device 20. Once the mass block is unloaded, the system's charging requirement for one cycle is completed.

[0035] For the initial discharge condition, the hovering mechanism 30 and the carrying device 20 are synchronously hovered on the top of the transmission component 10. The upper transmission module 61 is activated to place the mass block onto the carrying device 20. Then, the hovering mechanism 30 is released, and the carrying device 20 is connected to the transmission component 10. The transmission component 10 drives the mass block 50 to move downwards to discharge the system. When it is about to reach the bottom, the carrying device 20 is disengaged from the transmission component 10, and the hovering mechanism 30 is simultaneously controlled to hover. At this time, the transmission component 10 continues to move up and down, while the carrying device 20 is hovered. At this time, the lower transmission module 62 is controlled to unload the mass block 50 from the carrying device 20. The unloading of the mass block 50 is completed, and the system discharge is completed.

[0036] Furthermore, such as Figure 2 As shown, the transmission components include: an upper sprocket assembly 11, including two upper transmission sprockets coaxially arranged; a lower sprocket assembly 12, including two lower transmission sprockets coaxially arranged; and two transmission chains 13, which are connected to the upper and lower transmission sprockets for transmission, enabling upward or downward movement in the vertical direction; wherein, the transmission chains 13 are provided with load-bearing rods, and the load-bearing device is movably connected to the two load-bearing rods.

[0037] The upper sprocket assembly 11 includes two coaxially arranged upper drive sprockets, and the lower sprocket assembly 12 includes two coaxially arranged lower drive sprockets. This sprocket assembly design ensures the stability and synchronization of the drive chain 13 during operation, improving the reliability of the entire transmission system. With two drive chains 13, the load-bearing device is movably connected to both chains 13. This double-chain design not only increases the system's load-bearing capacity but also improves operational stability, making the vertical lifting and lowering of the load-bearing device smoother and more reliable.

[0038] Continue to combine Figure 4 and Figure 5As shown, the bearing device 20 includes: a bearing plate 21; a hook bracket 22 disposed on the bearing plate 21; a hook assembly 23 slidably connected to the hook bracket 22, with the load-bearing rod 101 of the hook assembly 23 movably connected; and a second drive unit 233 connected to the hook assembly 23 to drive the hook assembly 23 to move in the horizontal direction, so that the hook assembly 23 moves closer to or away from the transmission chain 13; wherein the drive structure is communicatively connected to the control module.

[0039] In this embodiment, the four sprockets can rotate synchronously. One sprocket from each sprocket group forms a drive sprocket, which is driven by a drive chain 13. Each drive chain 13 has a rising side 11 and a falling side 12 on both sides of the corresponding sprocket. A horizontal guide rail 40 is located between two drive chains 13 to ensure smooth operation.

[0040] like Figure 3 As shown, the load-bearing rod 101 is mounted on the transmission chain 13 perpendicular to the running plane of the transmission chain 13. The bearing plate 21 has sliding grooves on opposite sides, which slide and connect with the corresponding side rails. Figure 3 As shown, the bearing plate 21 has a connecting plate 24 on the end face where the slide groove is set. A hook bracket 22 is provided on the surface of the connecting plate 24. The hook bracket 22 is arranged in an inverted U-shape, and a hook assembly 23 is provided on the top of the hook bracket 22. For example... Figure 6 and Figure 7 As shown, the hook assembly 23 includes a base 232 and a hook body 231. The top of the base 232 is connected to the hook body 231 by a pin. The base 232 has a cavity for accommodating the second drive unit 233. The second drive unit 233 includes a drive motor 2331 and a slide rail 2332. The drive motor 2331 is connected to the hook bracket 22, and the slide rail 2332 is connected to the base 232. The output shaft of the motor passes through the slide rail 2332 to convert the rotational motion of the output shaft into the linear motion of the slide rail 2332. The extension direction of the slide rail 2332 is horizontal and perpendicular to the hook assembly 23. During use, the movement direction of the hook assembly 23 is towards or away from the transmission member 10 and is consistent with the extension direction of the load-bearing rod 101, so that the hook assembly 23 can be connected to the load-bearing rod 101 or disengaged from the load-bearing rod 101.

[0041] Furthermore, the upper transfer module 61 includes an upper robotic arm 611, an upper conveyor belt 612, and an upper stacking area, while the lower transfer module 62 includes a lower robotic arm 621, a lower conveyor belt 622, and a lower stacking area.

[0042] The upper robotic arm 611 possesses multi-degree-of-freedom motion capabilities, enabling flexible movement within three-dimensional space. An upper robotic arm 611 is positioned on each side of the upper conveyor belt 612, near the upper sprocket assembly 11. During charging, when the supporting device is suspended above the transmission component, the upper robotic arm 611, following instructions from the control module, precisely extends towards the supporting device and grasps the mass block from it. The grasping device of the upper robotic arm 611 typically employs sensor technology, a current technology, capable of real-time sensing of the mass block's position and status, ensuring the accuracy and reliability of the grasping operation. After grasping, the upper robotic arm 611 transfers the mass block to the upper conveyor belt 612. The upper conveyor belt 612 smoothly transports the mass block from the grasping position of the upper robotic arm 611 to the upper stacking area. The upper stacking area is the storage area for the mass blocks, typically employing a multi-layer rack structure, capable of accommodating a large number of mass blocks. After the upper conveyor belt 612 transports the mass blocks to the upper stacking area, the automated stacking equipment in the upper stacking area will neatly stack the mass blocks on the shelves according to the pre-set storage strategy, preparing them for the next discharge operation. The entire upper transmission module 61 is designed with full consideration of the requirements of automation, intelligence and efficiency, and can quickly and accurately complete the unloading and storage operations of the mass blocks, improving the operating efficiency of the entire energy storage system.

[0043] The lower robotic arm 621 also possesses multi-degree-of-freedom motion capabilities, enabling flexible movement within three-dimensional space. During discharge operations, when the supporting device is suspended at the bottom of the transmission component, the lower robotic arm 621, according to commands from the control module, precisely extends towards the supporting device and grasps the mass block from it. The grasping device of the lower robotic arm 621 also employs advanced sensor technology, capable of real-time sensing of the mass block's position and status, ensuring the accuracy and reliability of the grasping operation. After grasping, the lower robotic arm 621 transfers the mass block to the lower conveyor belt 622. The lower conveyor belt 622 is a continuously moving transmission device that smoothly transports the mass block from the grasping position of the lower robotic arm 621 to the lower stacking area. The running speed and direction of the lower conveyor belt 622 can be precisely controlled according to actual working conditions to ensure the stability and safety of the mass block during transmission. The lower stacking area is the storage area for the mass blocks; it typically employs a multi-layer rack structure and can accommodate a large number of mass blocks. After the lower conveyor belt 622 transports the mass blocks to the lower stacking area, the automated stacking equipment in the lower stacking area will neatly stack the mass blocks on the shelves according to a pre-set storage strategy, preparing them for the next discharge operation. The entire lower transmission module 62 is designed with full consideration of the requirements of automation, intelligence, and efficiency, and can quickly and accurately complete the unloading and storage operations of the mass blocks, improving the operating efficiency of the entire energy storage system.

[0044] Furthermore, such as Figure 4 and Figure 5 As shown, the hovering mechanism 30 includes: a first limiting member 31; a second limiting member 32; and a first driving unit connected to the second limiting member 32. When the first driving unit drives the second limiting member 32 to engage and lock with the first limiting member 31, the second limiting member 32 is hovered. The first driving unit is communicatively connected to the control module.

[0045] In this embodiment, the first limiting member 31 serves to fix and limit the movement, providing a precise and stable limiting reference point for the hovering operation. The structural design of the first limiting member 31 ensures that it can cooperate with the second limiting member 32 at any position in the height direction, allowing the hovering mechanism 30 to hover at a vertical height. The structural design of the first limiting member 31 may include a limiting groove, a limiting block, or other shaped limiting structures for cooperating with the second limiting member 32.

[0046] The second limiting member 32 is connected to the supporting device 20, so that after the second limiting member 32 engages with the first limiting member 31 to achieve a hovering position, the supporting device 20 can simultaneously initiate a hovering action. The shape and structural design of the second limiting member 32 match that of the first limiting member 31, and may include a movable limiting part, such as a retractable limiting pin, a limiting claw, or other structure that can engage with the first limiting member 31.

[0047] When hovering is required, the second limiting member 32, under the action of the first driving part, can tightly engage with and lock the first limiting member 31. This locking state fixes the bearing device 20 in the vertical height, thereby achieving hovering.

[0048] The first drive unit is the power source of the hovering mechanism 30 and is directly connected to the second limiting member 32, responsible for driving the movement of the second limiting member 32. The first drive unit may include a linear motor, hydraulic cylinder, pneumatic cylinder or other drive device, and can accurately control the position and movement state of the second limiting member 32 according to the instructions issued by the control module.

[0049] Upon receiving a hovering command, the first drive unit begins operation, driving the second limiting member 32 to move towards the first limiting member 31. When the second limiting member 32 contacts and locks with the first limiting member 31, the supporting device 20 is fixed in its current position, achieving hovering. During hovering, the first drive unit maintains a constant driving force to ensure a tight fit between the second limiting member 32 and the first limiting member 31, preventing displacement of the supporting device 20 due to external forces. When it is necessary to resume movement, the control module issues a release hovering command, and the first drive unit drives the second limiting member 32 to disengage from the first limiting member 31, allowing the supporting device 20 to resume free movement in the vertical direction.

[0050] Specifically, the first limiting member 31 includes two support frames, each having a slot 311 surface. The slot 311 surface includes a plurality of slots 311 arranged sequentially along the height direction, and the two slot 311 surfaces are arranged opposite to each other. The second limiting member 32 includes a slider 321 connected to the first driving part and a linkage mechanism 322 connected to the slider 321, with the linkage mechanism 322 located between the two slot 311 surfaces. When the first driving part drives the slider 321 to slide downward, the linkage mechanism 322 unfolds to engage with the corresponding slot 311 piece and lock to stop. When the first driving part drives the slider 321 to slide upward, the linkage mechanism 322 retracts to disengage from the corresponding slot 311 surface and release the suspension.

[0051] In this embodiment, the overall structure of the support frame can be a rectangular prism structure to improve the structural stability and reliability of the support frame during use. Each support frame is provided with a slot 311 surface for cooperating with the linkage mechanism 322 of the second limiting member 32. The slot 311 can be a ratchet, which includes a bottom and two inclined surfaces. The two inclined surfaces are arranged opposite each other and naturally transition to the bottom of the slot. The inclined surfaces are inclined upward, so that the wall thickness between two adjacent ratchets is triangular, and the thickness gradually increases from the slot 311 surface inward. Thus, when the linkage mechanism 322 is engaged and locked with the slot 311, the lower side wall of the ratchet, due to its upward inclination, can provide support for the linkage structure, making the linkage mechanism 322 more stably locked in the ratchet. Multiple slots 311 are arranged sequentially along the height direction. The spacing between two adjacent slots 311 is set according to the movement requirements and hovering position requirements of the bearing device 20, so that the bearing device 20 can hover at different height positions, increasing the flexibility of the system.

[0052] The slider 321 moves vertically and is controlled by the first drive unit to slide up and down.

[0053] Deployed state: When the first drive unit drives the slider 321 to slide downward, the linkage mechanism 322 deploys, and its end engages with the slot 311 in the slot 311 surface to lock. This locking state fixes the bearing device 20 in the vertical direction, achieving suspension.

[0054] Retracted state: When the first drive unit drives the slider 321 to slide upward, the linkage mechanism 322 retracts and disengages from the slot 311. At this time, the bearing device 20 resumes its free movement in the vertical direction and releases its suspension.

[0055] Among them, such as Figure 8As shown, the linkage mechanism 322 includes: two first linkages 3221, which are stacked at one end and rotatably connected to the slider 321; two second linkages 3222, which are rotatably connected to the other ends of the two first linkages 3221 respectively, to form a four-bar linkage 322. The free end of the second linkage 3222 is provided with a locking surface that engages with the slot 311 surface for locking.

[0056] For ease of description, assume one end of the first connecting rod 3221 is the first end and the other end is the second end. The first ends of the two first connecting rods intersect each other and are rotatably connected to the slider 321 via pins. The second end of the first connecting rod 3221 is hinged to one end of one of the second connecting rods 3222, and the second end of the other first connecting rod 3221 is hinged to one end of the other second connecting rod 3222, thus forming a four-bar linkage 322. The first connecting rod 3221 is plate-shaped, and the second connecting rod 3222 includes two connecting plates 24, each L-shaped, consisting of a short plate and a long plate. The short plate has a hole, and the second end of the first connecting rod also has a hole, clamping between the two short plates. A pin passes through the hole in the short plate and the hole in the second end, allowing the first connecting rod 3221 and the second connecting rod 3222 to be hinged. The free end of the second connecting rod 3222 has an inclined guide surface 320 to engage with the slot 311 for locking. The inclined direction of the inclined guide surface 320 is towards the free end.

[0057] Furthermore, the support frame is provided with a guide groove 312 that extends in height. The system also includes: a horizontal guide rail 40, which is located between the two support frames, with the end of the horizontal guide rail 40 located in the guide groove 312 on the corresponding side; a drive structure, which is connected to the bearing device 20 to drive the bearing device 20 to slide along the extension direction of the horizontal guide rail 40; and a brake structure, which is located at the end of the horizontal guide rail 40. The drive structure is communicatively connected to the control module.

[0058] In this embodiment, the horizontal guide rail 40 includes two rails, which are plate-shaped. The bearing device 20 is located between the two rails. The bearing device 20 has grooves on its opposite sides, and the rails pass through the grooves on the corresponding sides, so that the bearing device 20 forms a semi-enclosing structure on the rails, which improves the structural stability of the sliding cooperation between the bearing device 20 and the horizontal guide rail 40.

[0059] The drive structure is connected to the support device 20, and the drive structure can be a linear motor. Through the power output of the drive structure, the support device 20 slides along the extension direction of the horizontal guide rail 40. The drive structure is communicatively connected to the control module and can receive commands from the control module to achieve precise speed and position control. The control module can adjust the output force and movement speed of the drive structure in real time according to the system's operating status and working conditions, ensuring that the support device 20 moves smoothly and accurately in the horizontal direction.

[0060] like Figure 4 As shown, one side of the support frame with the slot 311 has a through guide groove 312 extending in the height direction. Two guide grooves 312 are also provided, allowing the horizontal guide rail 40 to slide up and down along the guide grooves 312. The guide groove 312 provides a movement path and a limiting function for the end of the horizontal guide rail 40. The guide groove 312 is rectangular in shape, and its dimensions match the end of the horizontal guide rail 40, ensuring that the horizontal guide rail 40 can slide smoothly within the guide groove 312, thus improving the structural stability and reliability of the horizontal guide rail 40 during movement.

[0061] A braking structure is installed at the end of the horizontal guide rail 40, located within the guide groove 312 of the support frame. This secures the horizontal guide rail 40 in its current position when needed, preventing accidental vertical slippage. It also ensures that the bearing device 20 remains suspended even after the limiting linkage disengages from the ratchet frame. When the horizontal guide rail 40 needs to be fixed, the braking structure makes tight contact with the inner wall of the guide groove 312, generating sufficient friction to stop the horizontal guide rail 40 from moving. The braking structure can be a drum brake, which is existing technology and will not be described further. The braking structure is communicatively connected to the control module, which issues commands to control its operation.

[0062] This invention also proposes a method for controlling the operating conditions of a vertical gravity energy storage system. Using any vertical gravity energy storage system, the control method includes the following steps:

[0063] Step S101: If a charging command is obtained, the transmission module 62 is controlled to place the mass block on the carrier device according to the charging command.

[0064] Step S102: Control the connection between the load-bearing device and the transmission component, and release the suspension mechanism to allow the mass block to move to the top of the transmission component.

[0065] Step S103: Control the hovering mechanism to hover.

[0066] Step S104: Control the upper transmission module 61 to remove the mass block from the carrier device to complete one charging cycle.

[0067] The control module parses the charging command, determines the number of mass blocks to be placed and the charging duration, and sends a signal to the lower transmission module 62 according to the charging command, instructing it to place the preset number of mass blocks on the carrier device.

[0068] Step S105: If a discharge command is obtained, the transmission module 61 is controlled to place the mass block on the carrier device according to the discharge command.

[0069] Step S106: Control the connection between the load-bearing device and the transmission component, so that the mass block moves to the bottom of the transmission component.

[0070] Step S107: Control the hovering mechanism to hover.

[0071] Step S108: Control the transmission module 62 to remove the mass block from the carrier device and complete one discharge.

[0072] The control module parses the discharge command, determines the number of mass blocks to be placed and the duration of the discharge, and sends a signal to the upper transmission module 61 according to the discharge command, instructing it to place the preset number of mass blocks on the carrier device.

[0073] Furthermore, such as Figure 10 As shown, the operating control method for a vertical gravity energy storage system also includes the following steps:

[0074] Step S201: After completing one charging cycle, control the connection between the bearing device and the transmission component, so that the bearing device and the suspension mechanism move downward to the bottom of the transmission component;

[0075] Step S201: Control the load-bearing device to disengage from the transmission component, and control the hovering mechanism to hover at the bottom of the transmission component to complete the continuous charging condition.

[0076] Furthermore, such as Figure 11 As shown, the operating control method for a vertical gravity energy storage system also includes the following steps:

[0077] Step S301: After completing one discharge condition, control the connection between the bearing device and the transmission component, so that the bearing device and the suspension mechanism move upward to the top of the transmission component;

[0078] Step S302: Control the load-bearing device to disengage from the transmission component, and control the hovering mechanism to hover at the top of the transmission component to complete the continuous discharge condition.

[0079] In this embodiment, during the charging process, the mass block 50 is conveyed from the bottom conveyor belt to the vicinity of the lower robotic arm 621. At this time, the supporting device and the suspension mechanism are suspended above the lower sprocket set 12. After the robotic arm starts and places the mass block on the supporting device, the drive motor is turned on, and the slider moves upward, causing the suspension device to leave the slot. Then, the mass block is driven upward by the transmission chain 13 to charge the system. When it is about to reach the top, the drive motors of the supporting device and the suspension mechanism start simultaneously. The suspension mechanism is suspended, and after the hook assembly is disengaged from the supporting device and the transmission chain 13, the load-bearing rod 101 continues to move synchronously with the conventional chain. The mass block, the supporting device, and the suspension device are suspended together near the upper connecting wheel set. At this time, the upper robotic arm starts and unloads the mass block to the upper stack area. After the mass block is unloaded, the supporting device and the suspension mechanism return to the lower sprocket set 12 under the drive of the track brake motor. The drive motor starts and the suspension mechanism is suspended. Thereafter, this process is repeated to complete the charging needs of the system.

[0080] For the discharge operation, the mass block is transported from the top conveyor belt to the vicinity of the upper robotic arm 611. At this time, the bearing device and the suspension mechanism are suspended below the upper sprocket set 11. The upper robotic arm 611 is started, and after the mass block is placed on the bearing device, the drive motor is turned on, the slider moves upward, the suspension device leaves the slot, and the mass block moves downward through the transmission chain 13. When it is about to reach the bottom, the drive motors of the bearing device and the suspension device start simultaneously. After the hook assembly disengages from the bearing device from the transmission chain 13, the load-bearing rod continues to move with the sprocket. The mass block, the bearing device, and the suspension mechanism are suspended together near the lower sprocket set 12. At this time, the lower robotic arm 621 is started to unload the mass block to the lower stack area. After the mass block is unloaded, the bearing device and the suspension mechanism return to the vicinity of the upper sprocket set 11 under the drive of the track brake motor. The drive motor starts to make the suspension mechanism suspend. After that, this process is repeated to complete the system's discharge requirements.

[0081] The above embodiments are merely illustrative examples and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A vertical gravity energy storage system, characterized in that, include: Transmission components, adapted to rise or fall vertically; A load-bearing device, adapted to bear a mass block, wherein the load-bearing device is movably connected to the transmission component; A hovering mechanism is connected to the supporting device; The material transfer module includes an upper transfer module and a lower transfer module; The control module is communicatively connected to the hovering mechanism, the bearing device, the upper transmission module, and the lower transmission module, respectively, to control the hovering mechanism to simultaneously disengage the bearing device from the transmission component when the hovering mechanism hovers at the top or bottom of the transmission component, and to control the upper transmission module to load and unload the mass block onto the bearing device when the hovering mechanism hovers at the top, and to control the lower transmission module to load and unload the mass block onto the bearing device when the hovering mechanism hovers at the bottom, thereby completing the charging and discharging operations.

2. The vertical gravity energy storage system according to claim 1, characterized in that, The hovering mechanism includes: First limiting component; The second limiting component is connected to the bearing device; A first driving unit is connected to the second limiting member. When the first driving unit drives the second limiting member to cooperate and lock with the first limiting member, the second limiting member is suspended. The first drive unit is communicatively connected to the control module.

3. The vertical gravity energy storage system according to claim 2, characterized in that, The first limiting component includes: Two support frames are provided with a slot surface, each slot surface including a plurality of slots arranged sequentially along the height direction, and the two slot surfaces are arranged opposite to each other; The second limiting member includes: The slider is connected to the first driving unit; A linkage mechanism is connected to the slider, and the linkage mechanism is located between the two slot surfaces; When the first driving unit drives the slider to slide downward, the linkage mechanism unfolds to engage with the corresponding slot piece and lock in place, thus suspending the slider. When the first driving unit drives the slider to slide upward, the linkage mechanism retracts to disengage from the corresponding slot surface and release the suspension.

4. The vertical gravity energy storage system according to claim 3, characterized in that, The linkage mechanism includes: Two first connecting rods are stacked at one end and rotatably connected to the slider; Two second links are rotatably connected to the other ends of two first links to form a four-bar linkage. The free ends of the second links are provided with locking surfaces that engage with the slot surfaces for locking.

5. The vertical gravity energy storage system according to any one of claims 1 to 4, characterized in that, The transmission component includes: The upper sprocket assembly includes two upper drive sprockets arranged coaxially. The lower sprocket assembly includes two coaxially arranged lower drive sprockets; The transmission chain is configured as two chains, which are connected to the upper transmission sprocket and the lower transmission sprocket, and can realize upward or downward movement in the vertical direction; The transmission chain is equipped with load-bearing rods, and the load-bearing device is movably connected to two of the load-bearing rods.

6. The vertical gravity energy storage system according to claim 5, characterized in that, The supporting device includes: Carrier plate; A hook bracket is provided on the support plate; A hook assembly is slidably connected to the hook bracket, and the hook assembly is adapted to be movably connected to the load-bearing rod; The second drive unit is connected to the hook assembly and the hook bracket to drive the hook assembly to move in the horizontal direction, so that the hook assembly moves closer to or away from the transmission chain; The second drive unit is communicatively connected to the control module.

7. The vertical gravity energy storage system according to any one of claims 1 to 4, characterized in that, The upper transmission module includes an upper robotic arm, an upper conveyor belt, and an upper stacking area, and the lower transmission module includes a lower robotic arm, a lower conveyor belt, and a lower stacking area.

8. A method for controlling the operation of a vertical gravity energy storage system, characterized in that, The control method, employing the vertical gravity energy storage system as described in any one of claims 1 to 7, includes: If a charging command is received, the transmission module is controlled to place the mass block on the carrier device according to the charging command. Control the connection between the bearing device and the transmission component, and release the suspension mechanism to allow the mass block to move to the top of the transmission component; Control the hovering mechanism to hover; The upper transmission module is controlled to remove the mass block from the carrier device to complete one charging cycle. If a discharge command is received, the transmission module is controlled to place the mass block onto the carrier device according to the discharge command. Control the connection between the bearing device and the transmission component, so that the mass block moves to the bottom of the transmission component; Control the hovering mechanism to hover; The lower transmission module is controlled to remove the mass block from the carrier device, completing one discharge.

9. The operating condition control method for a vertical gravity energy storage system according to claim 8, characterized in that, Also includes: After completing one charging cycle, the load-bearing device is connected to the transmission component, causing the load-bearing device and the suspension mechanism to move downwards to the bottom of the transmission component; The load-bearing device is controlled to disengage from the transmission component, and the hovering mechanism is controlled to hover at the bottom of the transmission component to complete the continuous charging operation.

10. The operating condition control method for a vertical gravity energy storage system according to claim 8, characterized in that, Also includes: After completing one discharge cycle, the load-bearing device is connected to the transmission component, causing the load-bearing device and the suspension mechanism to move upward to the top of the transmission component. The load-bearing device is controlled to disengage from the transmission component, and the hovering mechanism is controlled to hover at the top of the transmission component to complete the continuous discharge condition.

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