Quick deployment type energy storage battery cabinet based on magnetic attraction positioning and control system thereof

Abstract

The invention relates to the technical field of new energy storage equipment, and discloses a rapid deployment type energy storage battery cabinet based on magnetic attraction positioning and a control system of the rapid deployment type energy storage battery cabinet. A magnetic attraction base is fixedly connected to the upper surface of the supporting cabinet, and a plurality of neodymium iron boron permanent magnets are fixed to the magnetic attraction base; the extension mechanism is mounted on the outer wall of the supporting cabinet; a support self-locking mechanism; the supporting self-locking mechanism comprises a supporting leg shell, and a hydraulic oil cylinder is fixedly connected into the supporting leg shell. And the adjusting mechanism is installed in the supporting cabinet, and a control system is further provided. Comprising; a state sensing and data processing module; a central decision and control logic module; a magnetic attraction anchoring control module; an automatic leveling and locking control module; and a man-machine interaction module. By seamlessly integrating magnetic anchoring, intelligent sensing, self-adaptive leveling and fault safety locking, the problems that existing equipment is low in deployment efficiency, poor in environmental adaptability and insufficient in long-term stability are solved.

Description

Technical Field

[0001] This invention relates to the field of new energy storage equipment technology, specifically to a rapid deployment energy storage battery cabinet based on magnetic positioning and its control system. Background Technology

[0002] Energy storage technology is a key component of the modern energy system. Mobile or rapidly deployable energy storage battery cabinets are increasingly used in scenarios such as emergency power supply, outdoor operations, and temporary infrastructure. These applications typically require energy storage devices to be deployed quickly and maintain stable and reliable operation in various complex terrains.

[0003] In existing technologies, the support and leveling mechanisms for such equipment mostly employ hydraulic cylinders or electric push rods. To maintain the equipment's posture after leveling, some solutions rely on the pressure-holding function of the hydraulic system or the self-locking torque of the motor. This approach places continuous requirements on the sealing of the hydraulic system or the power supply. If hydraulic leakage occurs, pressure fluctuations due to oil temperature changes, or a prolonged power outage occurs, the support mechanism risks slow sinking or failure, failing to guarantee the absolute stability and safety of the equipment during long-term deployment. Other solutions employ mechanical locking devices, but their structure often requires an independent drive motor or complex manual operation to complete the locking, increasing system complexity and potential failure points, and contradicting the requirement for rapid deployment.

[0004] To achieve automatic leveling, some devices integrate tilt sensors and controllers. However, their control logic is relatively basic, typically using a fixed-parameter PID controller for attitude adjustment. This control method works on flat, hard ground, but its shortcomings become apparent when deployed on soft, muddy, or sandy ground prone to settlement. The controller only begins to react after detecting a significant tilt deviation; this "post-compensation" mode leads to a lag in system response. Under continuous ground subsidence, the device frequently makes small adjustments, resulting in a "dynamically unstable" state, making it difficult to achieve precise leveling in one go. The fundamental reason is that these systems lack the ability to sense the mechanical properties of the ground and cannot predict environmental changes. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a rapid deployment energy storage battery cabinet based on magnetic positioning and its control system, which solves the problems of low deployment efficiency, poor leveling accuracy, and insufficient long-term stability of existing rapid deployment energy storage devices under complex operating conditions.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a rapidly deployable energy storage battery cabinet based on magnetic positioning, comprising; A support cabinet, wherein a magnetic base is fixedly connected to the upper surface of the support cabinet, and multiple neodymium iron boron permanent magnets are fixed to the magnetic base; a protective plate is fixedly connected to the lower surface of the support cabinet; and an integrated sensor is installed inside the support cabinet. An extension mechanism, installed on the outer wall of the support cabinet, is used to deploy the support frame; A self-locking support mechanism is installed on one side of the extension mechanism to support the battery cabinet; The self-locking support mechanism includes a leg housing, a hydraulic cylinder fixedly connected inside the leg housing, a support rod fixedly connected to the output end of the hydraulic cylinder, a support foot fixedly connected to one end of the support rod, a self-locking sleeve fixedly connected to the inner wall of the leg housing, a cylinder cover fixedly connected to the outer wall of the hydraulic cylinder, a disc spring provided on the outer wall of the cylinder cover, a thrust bearing provided on the lower surface of the disc spring, a locking nut fixedly connected to the lower surface of the thrust bearing, a connecting sleeve rotatably connected inside the locking nut, the inner wall of the connecting sleeve fixedly connected to the outer wall of the support rod, and the outer wall of the locking nut threadedly connected to the inside of the self-locking sleeve. The adjustment mechanism, installed inside the support cabinet, is used to position the battery cabinet.

[0007] Preferably, a limiting rod is fixedly connected to the upper surface of the support leg, and the outer wall of the limiting rod is slidably connected to the inside of the support leg housing.

[0008] Preferably, the extension mechanism includes a connecting frame, the outer wall of which is fixedly connected to the outer wall of the leg housing, and an electric push rod is fixedly connected inside the connecting frame, with a connecting block fixedly connected to the output end of the electric push rod.

[0009] Preferably, the adjustment mechanism includes a sliding frame and a motor. The outer wall of the sliding frame is slidably connected to the inside of the support cabinet. A second support rod is fixedly connected to the outer surface of the sliding frame. A support plate is fixedly connected to one end of the second support rod. A threaded rod is threadedly connected to the inside of the sliding frame. A fixing block is threadedly connected to the inside of the threaded rod. The upper surface of the fixing block is fixedly connected to the inner top of the support cabinet. A worm gear is fixedly connected to the outer wall of the threaded rod. The outer wall of the motor is fixedly connected to the inner wall of the support cabinet. A worm is fixedly connected to the output end of the motor. The outer wall of the worm is meshed with the worm gear.

[0010] Preferably, the support plate is rotatably connected to a gear, and the outer wall of the gear is meshed with two racks. The two racks are respectively fixedly connected to a positioning rod one and a positioning rod two. A return spring is provided between the outer wall of the positioning rod two and the inner wall of the support plate.

[0011] A control system for a rapidly deployable energy storage battery cabinet based on magnetic positioning, including; The state perception and data processing module is used to collect and process the attitude of the energy storage battery cabinet and the state information of each actuator in real time. The central decision-making and control logic module is communicatively connected to the state perception and data processing module and is used to generate control commands based on the attitude and state information. A magnetic anchoring control module, which is connected to the central decision and control logic module, is used to control the adsorption and release of the magnetic base according to the control command; An automatic leveling and locking control module, which is connected to the central decision and control logic module, is used to drive the self-locking support mechanism to perform leveling and self-locking according to the control command. The human-computer interaction module, which is connected to the central decision-making and control logic module, is used to receive external commands and display the system status.

[0012] Preferably, the state perception and data processing module acquires the attitude information of the support cabinet through the tilt sensor in the integrated sensor, and acquires the pressure information through the pressure sensor set on the support foot.

[0013] Preferably, the central decision and control logic module has a built-in fuzzy adaptive PID control algorithm, which is used to perform online self-tuning of the PID controller parameters based on the tilt angle deviation and deviation change rate in the attitude information, so as to generate leveling control commands.

[0014] Preferably, the control logic of the automatic leveling and locking control module driving the self-locking mechanism to perform self-locking is as follows: after leveling is completed, the hydraulic cylinder is controlled to perform pre-tightening loading, and then the hydraulic cylinder is controlled to depressurize, so as to drive the locking nut to engage and lock with the self-locking sleeve through the rebound force of the disc spring.

[0015] Preferably, the central decision-making and control logic module uses the pressure information obtained by the state perception and data processing module to comprehensively judge the soft and hard characteristics of the ground, and optimizes and adjusts the parameters of the fuzzy adaptive PID control algorithm according to the judgment result.

[0016] This invention provides a rapidly deployable energy storage battery cabinet based on magnetic positioning and its control system. It offers the following advantages: 1. This invention releases pressure in the hydraulic system after leveling, and the spring force of the disc spring is released at the moment of pressure release, which pushes the thrust bearing to move so that the sawtooth inclined surface of the locking nut is tightly fitted with the sawtooth inclined surface of the self-locking sleeve. Since the design angle of the sawtooth is greater than the friction angle, a self-locking effect is generated.

[0017] 2. This invention employs a fuzzy adaptive PID control algorithm and innovatively fuses tilt sensor information with pressure sensor information from each outrigger. This allows for a comprehensive assessment of the ground's hardness and softness based on the pressure change rate, and prediction of ground subsidence trends. This enables the control system to self-tune PID parameters online and perform compensation in advance, significantly improving the leveling speed, stability, and environmental adaptability of the energy storage battery cabinet in complex ground environments such as soft foundations and uneven surfaces.

[0018] 3. This invention combines the rapid anchoring function of the magnetic base with a highly automated intelligent leveling and self-locking system. Operators only need to place the equipment in place, and the subsequent anchoring, precise leveling and reliable locking process can be completed automatically. This significantly simplifies the operation process, shortens the on-site deployment time, reduces the dependence on operator skills, and greatly improves the overall deployment efficiency of energy storage equipment. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the extension mechanism of the present invention; Figure 3 This is a cross-sectional view of the support leg housing of the present invention; Figure 4 This is an exploded view of the locking nut of the present invention; Figure 5 This is a cross-sectional view of the sliding frame of the present invention; Figure 6 This is a cross-sectional view of the support plate of the present invention; Figure 7 This is a schematic diagram of the system framework of the present invention; Figure 8 This is a flowchart illustrating the central decision-making and control logic module of the present invention; Figure 9 This is a schematic diagram of the automatic leveling and locking control module of the present invention; Figure 10 This is a flowchart illustrating the device installation process of the present invention.

[0020] The components include: 1. Support cabinet; 2. Magnetic base; 3. Neodymium iron boron permanent magnet; 4. Integrated sensor; 5. Protective plate; 6. Support self-locking mechanism; 601. Leg shell; 602. Limiting rod; 603. Support foot; 604. Hydraulic cylinder; 605. Support rod one; 606. Cylinder cover; 607. Disc spring; 608. Thrust bearing; 609. Connecting sleeve; 6010. Locking nut; 6011. Self-locking sleeve. 7. Extension mechanism; 701. Connecting frame; 702. Connecting block; 703. Electric push rod; 8. Adjustment mechanism; 801. Support rod two; 802. Support plate; 803. Fixing block; 804. Sliding frame; 805. Motor; 806. Worm gear; 807. Worm wheel; 808. Positioning rod one; 809. Return spring; 8010. Gear; 8011. Rack; 8012. Positioning rod two; 8013. Threaded rod. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see the appendix Figure 1 -Appendix Figure 6 This invention provides a rapidly deployable energy storage battery cabinet based on magnetic positioning, comprising: Support cabinet 1, with a magnetic base 2 fixedly connected to the upper surface of support cabinet 1, and multiple neodymium iron boron permanent magnets 3 fixed to the magnetic base 2, a protective plate 5 fixedly connected to the lower surface of support cabinet 1, and an integrated sensor 4 installed inside support cabinet 1. Specifically, the battery cabinet is placed on the magnetic base 2 and the neodymium iron boron permanent magnet 3 is activated to attract the battery cabinet. The attitude information of the support cabinet 1 is collected by the integrated sensor 4 and the support cabinet 1 is protected by the protective plate 5.

[0023] Extension mechanism 7 is installed on the outer wall of support cabinet 1 for unfolding the bracket. Extension mechanism 7 includes connecting frame 701. The outer wall of connecting frame 701 is fixedly connected to the outer wall of support leg housing 601. Electric push rod 703 is fixedly connected inside connecting frame 701. Connecting block 702 is fixedly connected to the output end of electric push rod 703.

[0024] Specifically, by activating the electric push rod 703, the connecting block 702 is moved, causing the connecting frame 701 to extend the outward outer shell 601, thereby expanding the outward outer leg and increasing the grounding area.

[0025] A self-locking support mechanism 6 is installed on one side of the extension mechanism 7 to support the battery cabinet. The self-locking support mechanism 6 includes a leg housing 601, a hydraulic cylinder 604 fixedly connected inside the leg housing 601, a support rod 605 fixedly connected to the output end of the hydraulic cylinder 604, a support foot 603 fixedly connected to one end of the support rod 605, a self-locking sleeve 6011 fixedly connected to the inner wall of the leg housing 601, and a cylinder cover 606 fixedly connected to the outer wall of the hydraulic cylinder 604. The outer wall of the cylinder cover 606 is provided with a disc-shaped spring. Spring 607, the lower surface of disc spring 607 is provided with thrust bearing 608, the lower surface of thrust bearing 608 is fixedly connected with locking nut 6010, the inside of locking nut 6010 is rotatably connected with connecting sleeve 609, the inner wall of connecting sleeve 609 is fixedly connected to the outer wall of support rod 605, the outer wall of locking nut 6010 is threadedly connected to the inside of self-locking sleeve 6011, the upper surface of support leg 603 is fixedly connected with limit rod 602, the outer wall of limit rod 602 is slidably connected to the inside of support leg housing 601; Specifically, the support legs 603 contact the ground and are supported by hydraulic cylinders 604 and support rods 605. Activating the four hydraulic cylinders 604 moves the support rods 605, thereby adjusting the pitch angle of the support cabinet 1 to achieve leveling. The hydraulic cylinders 604 also push the support rods 605, raising the outrigger housing 601 and causing it to slide on the limit rod 602. The limit rod 602 restricts the movement of the outrigger housing 601. As the support rods 605 move, they drive... The locking nut 6010 moves and inserts into the self-locking sleeve 6011. During the movement, the locking nut 6010 rotates under the action of the thread, and the thrust bearing 608 pushes the locking nut 6010 to rotate in the connecting sleeve 609. After leveling is completed, the hydraulic system is depressurized. At the moment of depressurization, the elastic force of the disc spring 607 is released, and it pushes the thrust bearing 608 to move so that the sawtooth inclined surface of the locking nut 6010 is tightly fitted with the sawtooth inclined surface of the self-locking sleeve 6011. Since the design angle of the sawtooth is greater than the friction angle, a self-locking effect is generated.

[0026] Adjustment mechanism 8, installed inside support cabinet 1, is used to position the battery cabinet. Adjustment mechanism 8 includes a sliding frame 804 and a motor 805. The outer wall of the sliding frame 804 is slidably connected to the inside of support cabinet 1. A second support rod 801 is fixedly connected to the outer surface of the sliding frame 804. A support plate 802 is fixedly connected to one end of the second support rod 801. A threaded rod 8013 is threadedly connected to the inside of the sliding frame 804. A fixing block 803 is threadedly connected to the inside of the threaded rod 8013. The upper surface of the fixing block 803 is fixedly connected to the inner top of support cabinet 1. A worm gear 807 is fixedly connected to the outer wall of 013. The outer wall of the motor 805 is fixedly connected to the inner wall of the support cabinet 1. A worm 806 is fixedly connected to the output end of the motor 805. The outer wall of the worm 806 is meshed with the worm gear 807. A gear 8010 is rotatably connected inside the support plate 802. Two racks 8011 are meshed with the outer wall of the gear 8010. Positioning rod 1 808 and positioning rod 2 8012 are fixedly connected to the two racks 8011 respectively. A return spring 809 is provided between the outer wall of positioning rod 2 8012 and the inner wall of the support plate 802.

[0027] Specifically, by pulling the second positioning rod 8012, the rack 8011 is moved, which in turn drives the gear 8010 to rotate. The gear 8010 then drives the two racks 8011 to move, and the other positioning rod 808 moves, placing the battery cabinet on the two positioning rods 808. The return spring 809 then pushes the second positioning rod 8012 to move, causing the first positioning rod 808 to contact the outer wall of the battery cabinet. The position of the battery cabinet is adjusted so that both positioning rods 808 are in contact with the outer wall of the battery cabinet. The starting motor 805 drives the worm gear 806 to rotate, which in turn drives the worm wheel 807 to rotate, thereby driving the threaded rod 8013 to rotate. Through the thread, the sliding frame 804 moves inside the support cabinet 1, and drives the second support rod 801 to push the battery cabinet to move, so that the battery cabinet moves on the magnetic base 2, thus achieving the effect of keeping the battery cabinet in the center position.

[0028] The control system device for the magnetically positioned rapid deployment energy storage battery cabinet described below can be referred to in correspondence with the magnetically positioned rapid deployment energy storage battery cabinet described above.

[0029] Please see the appendix Figure 7 -Appendix Figure 10 The present invention also provides a control system for a rapidly deployable energy storage battery cabinet based on magnetic positioning, including: The state perception and data processing module is used to collect and process the attitude of the energy storage battery cabinet and the state information of each actuator in real time. Specifically, in this embodiment, the state perception and data processing module acquires raw data through the integrated sensor 4 installed inside the support cabinet 1. This raw data forms the basis for the system's intelligent decision-making. Specifically: Attitude Information Acquisition Unit: The state perception and data processing module acquires the dynamic tilt angle deviation of the support cabinet 1 along the X and Y axes in real time through the high-precision MEMS tilt sensor inside the integrated sensor 4 (represented as...). and These angular deviation data can reflect the current overall level status of the energy storage battery cabinet, and their sampling frequency and accuracy can meet the system's requirements for rapid response and fine leveling.

[0030] Status Information Acquisition Unit: The status perception and data processing module acquires the real-time grounding pressure value (expressed as) of each support self-locking mechanism 6 in real time through pressure sensors installed inside each support foot 603. , , , These pressure data reflect the forces exerted by each outrigger on the ground and are key parameters for determining the ground's bearing capacity and the stress conditions on the outriggers.

[0031] Displacement State Information Acquisition Unit: The state perception and data processing module acquires the extension and retraction length (expressed as...) of each support rod 605 in real time through displacement encoders installed on the hydraulic cylinders 604 of each support self-locking mechanism 6. , , , These displacement data are used to precisely monitor the extension and retraction stroke of each outrigger, ensuring that it operates within mechanical limits and providing accurate execution feedback for the leveling algorithm.

[0032] The state perception and data processing module performs real-time fusion and preprocessing of the multi-source data collected above. Its core innovation lies in realizing the functions of data coupling judgment and settlement prediction.

[0033] The status awareness and data processing module continuously monitors the real-time grounding pressure values ​​of each outrigger. rate of change And compared it with the cabinet tilt angle change detected by integrated sensor 4 during the same period ( The correlation analysis was performed. The status awareness and data processing module detected the pressure value of a certain support foot. In a short time interval A significant decrease occurred within (i.e.) threshold Meanwhile, the overall tilt angle of the cabinet changes. or When the relative lag or the magnitude of the change does not reach the preset tilt angle change threshold, the state perception and data processing module will identify early signs of ground subsidence on that side. Based on this judgment, the state perception and data processing module will not wait for the tilt angle value to reach the preset leveling trigger point, but will immediately issue a ground subsidence warning and suggest initiating the leveling command in advance. Through this predictive mechanism, the system can intervene in the early stages of ground subsidence, effectively avoiding equipment tilting or attitude deviation caused by sudden ground instability, thereby significantly improving the deployment stability and safety of energy storage battery cabinets in complex terrain environments.

[0034] The central decision-making and control logic module is communicatively connected to the state perception and data processing module and is used to generate control commands based on the attitude and state information. Specifically, in this embodiment, the central decision-making and control logic module is communicatively connected to the state perception and data processing module, and is responsible for generating the optimal control strategy and issuing instructions based on the real-time data provided by the state perception and data processing module.

[0035] The core of the central decision-making and control logic module is the fuzzy adaptive PID control algorithm, which can dynamically adjust the control parameters according to real-time operating conditions to achieve fast, accurate and stable control of the energy storage battery cabinet's attitude.

[0036] The fuzzy adaptive PID control algorithm receives the tilt angle deviation processed by the state perception and data processing module. and its deviation change rate As input. Among them, For the target tilt angle (usually 0) and the real-time tilt angle ( or The difference between ) for The derivative with respect to time, i.e. .

[0037] The central decision-making and control logic module has a pre-set fuzzy rule base. This fuzzy rule base will accept the input... and Fuzzification is performed, and fuzzy inference is conducted according to the IF-THEN rule. The final output is the proportional gain of the three core parameters of the PID controller. Integral gain Differential gain The adjustment amounts are denoted as follows: After defuzzification, the controller parameters are self-tuned online, and the update rules are as follows; ; ; ; In the formula, These are the PID parameter values ​​at the current moment. This is the updated parameter value.

[0038] The central decision-making and control logic module utilizes the updated parameters The final control output signal is calculated using the following formula. ; ; In the formula, Indicates time The controller output quantity, Indicates error. The integral term representing the error. A function representing error over time. change, The differential element represents the integral variable. Represents a constant term. This represents the amount of change in error over a very small time interval. This represents the rate of change of the error.

[0039] The central decision-making and control logic module also features an environmental adaptation mechanism. This module can utilize stress information acquired by the state awareness and data processing module. , , , The fuzzy rules and their rate of change, combined with the operating current of the oil pump driving the hydraulic cylinder 604, are used to comprehensively determine the hardness or softness of the ground where the energy storage battery cabinet is located. When the ground is determined to be hard (such as concrete, characterized by a rapid and stable increase in pressure and a large oil pump current), the central decision-making and control logic module will automatically optimize the fuzzy rules and increase the differential gain. The weights are adjusted to suppress overshoot and oscillations in the system under rigid support. When the ground is judged to be soft (such as mud or sand, characterized by a slow rise in pressure or fluctuating decreases, and low pump current), the module will increase the proportional gain. Weights are adjusted to achieve a faster response while reducing or limiting the integral gain. The weights are adjusted to prevent integral saturation caused by continuous and slow ground subsidence, thereby ensuring the optimal performance of the controller under different ground conditions.

[0040] A magnetic anchoring control module, which is connected to the central decision and control logic module, is used to control the adsorption and release of the magnetic base 2 according to the control command; Specifically, in this embodiment, the magnetic anchoring control module is connected to the central decision-making and control logic module. Its main function is to precisely control the adsorption and release actions of the magnetic base according to the control commands issued by the central decision-making and control logic module.

[0041] The magnetic anchoring control module integrates a drive circuit and a control logic unit. The control logic unit is responsible for converting the abstract control commands generated by the central decision-making and control logic module into electrical signals that can directly drive the magnetic base 2. The magnetic base 2 is equipped with multiple neodymium iron boron permanent magnets 3, which together constitute an electrically controlled permanent magnet adsorption unit.

[0042] Adsorption Control Logic: When the magnetic anchoring control module receives an adsorption command from the central decision-making and control logic module, the control logic unit applies a brief current pulse in a specific direction to the electro-magnetic adsorption unit. This current pulse activates and locks the magnetic field of the neodymium iron boron permanent magnet 3, thereby generating a strong magnetic force between the magnetic base 2 and the ground. This magnetic force firmly anchors the energy storage battery cabinet to the ground at the deployment location. The attraction force of a single permanent magnet is no less than 50 kg, ensuring the stability of the equipment after leveling and locking.

[0043] Release Control Logic: When the magnetic anchoring control module receives a release or demagnetization command from the central decision and control logic module, the control logic unit applies a current pulse in the opposite direction to the adsorption direction to the electro-magnetic permanent magnet adsorption unit. This reverse current pulse reverses the magnetic field of the neodymium iron boron permanent magnet 3, causing its magnetism to weaken or disappear rapidly, thereby releasing the magnetic attraction between the magnetic base 2 and the ground. The electromagnetic demagnetization process takes less than 0.5 seconds, ensuring quick and convenient detachment of the equipment during relocation.

[0044] The magnetic anchoring control module, through the above control logic, enables the rapid and reliable adsorption and release of the magnetic base 2, providing a key physical anchoring method for the rapid deployment and efficient relocation of energy storage battery cabinets.

[0045] An automatic leveling and locking control module, which is connected to the central decision and control logic module, is used to drive the self-locking support mechanism 6 to perform leveling and self-locking according to the control command. Specifically, in this embodiment, the automatic leveling and locking control module is connected to the central decision-making and control logic module. Its main function is to execute leveling commands and control the mechanical self-locking process of the supporting self-locking mechanism 6 to ensure the stability and safety of the energy storage battery cabinet after deployment.

[0046] The automatic leveling and locking control module receives leveling control commands from the central decision-making and control logic module. These commands include requirements for the extension direction and precise extension amount of each support self-locking mechanism 6. The leveling execution unit precisely controls the extension and retraction of the support rod 605 by driving the hydraulic cylinders 604 inside each support self-locking mechanism 6. This control process is performed in parallel and asynchronously. The extension and retraction of the hydraulic cylinders 604 are controlled by high-precision hydraulic servo valves or proportional valves to ensure that each support leg independently and precisely adjusts its extension and retraction length according to the commands, so as to quickly eliminate the tilt deviation of the cabinet and make the energy storage battery cabinet reach the target level posture.

[0047] Mechanical self-locking control logic unit: After the energy storage battery cabinet completes leveling and reaches the preset horizontal accuracy, the automatic leveling and locking control module starts the mechanical self-locking program.

[0048] After the preload is completed, the automatic leveling and locking control module issues a pressure relief command, controlling the hydraulic circuit of hydraulic cylinder 604 to quickly release pressure. The rapid release of hydraulic pressure causes the compressed disc spring 607 to quickly rebound. The rebound force of disc spring 607 pushes upward through thrust bearing 608, pushing the locking nut 6010, which is fixedly connected to the lower surface of thrust bearing 608.

[0049] The locking nut 6010 has threads on its outer wall, which precisely match the threads inside the self-locking sleeve 6011, which is fixedly connected to the inner wall of the support leg housing 601. Driven by the rebound force of the disc spring 607, the threads of the locking nut 6010 and the self-locking sleeve 6011 are tightly engaged, forming a wedge-shaped self-lock. Relying on purely mechanical force to maintain the fixed position of the support rod 605, the locked state can be reliably maintained even if the hydraulic system or electricity fails completely, effectively preventing the support rod 605 from accidentally retracting, thus ensuring the stability and fault safety of the energy storage battery cabinet during long-term deployment.

[0050] Unlocking Control Logic Unit: When it is necessary to unlock and retract the outriggers, the automatic leveling and locking control module receives an unlocking command from the central decision and control logic module. The automatic leveling and locking control module controls the hydraulic cylinder 604 to repressurize. This hydraulic pressure overcomes the restoring force of the disc spring 607, causing the threads of the locking nut 6010 to separate from the threads of the self-locking sleeve 6011, thus releasing the mechanical lock. Subsequently, the hydraulic cylinder 604 retracts in a controlled manner, and the support rod 605 returns to the preset position.

[0051] The human-computer interaction module, which is connected to the central decision-making and control logic module, is used to receive external commands and display the system status.

[0052] Specifically, in this embodiment, the human-machine interaction module is communicatively connected to the central decision-making and control logic module, serving as an interface for operators to interact with the energy storage battery cabinet control system.

[0053] The human-machine interface (HMI) module is a control panel consisting of a touchscreen display and physical buttons. Operators can input operating commands to the central decision-making and control logic module via the graphical user interface (GUI) on the HMI module's touchscreen display or the physical buttons. Commands include, but are not limited to, one-click deployment commands, system recovery commands, and manual leveling commands for diagnostics or special operating conditions.

[0054] The human-machine interface module receives system status information from the central decision-making and control logic module and displays it in real-time on the touch screen, providing operators with comprehensive equipment status monitoring. The displayed content includes: Real-time attitude information of the energy storage battery cabinet, such as the X-axis and Y-axis tilt angle deviation displayed in the form of a graphical level. ); The independent states of each supporting self-locking mechanism 6, including its extension length ( and real-time grounding pressure value ; The system's current operating mode, such as leveling in progress, leveling complete, locked, or fault alarm; It also provides specific fault diagnosis information, making it easier for operators to quickly locate and handle problems.

Claims

1. A rapidly deployable energy storage battery cabinet based on magnetic positioning, characterized in that, include; Support cabinet (1), the upper surface of the support cabinet (1) is fixedly connected to a magnetic base (2), the magnetic base (2) is fixed with multiple neodymium iron boron permanent magnets (3), the lower surface of the support cabinet (1) is fixedly connected to a protective plate (5), and an integrated sensor (4) is installed inside the support cabinet (1). Extension mechanism (7), which is installed on the outer wall of support cabinet (1) for unfolding the bracket; A self-locking support mechanism (6) is installed on one side of the extension mechanism (7) to support the battery cabinet; The self-locking support mechanism (6) includes a leg housing (601), a hydraulic cylinder (604) is fixedly connected inside the leg housing (601), a support rod (605) is fixedly connected to the output end of the hydraulic cylinder (604), a support foot (603) is fixedly connected to one end of the support rod (605), a self-locking sleeve (6011) is fixedly connected to the inner wall of the leg housing (601), and a cylinder cover (606) is fixedly connected to the outer wall of the hydraulic cylinder (604). A disc spring (607) is provided on the outer wall of the disc spring (607), a thrust bearing (608) is provided on the lower surface of the disc spring (607), a locking nut (6010) is fixedly connected to the lower surface of the thrust bearing (608), a connecting sleeve (609) is rotatably connected inside the locking nut (6010), the inner wall of the connecting sleeve (609) is fixedly connected to the outer wall of the support rod (605), and the outer wall of the locking nut (6010) is threadedly connected to the inside of the self-locking sleeve (6011). Adjustment mechanism (8), which is installed inside support cabinet (1), is used to position the battery cabinet.

2. The rapid deployment energy storage battery cabinet based on magnetic positioning according to claim 1, characterized in that, The upper surface of the support leg (603) is fixedly connected to a limiting rod (602), and the outer wall of the limiting rod (602) is slidably connected to the inside of the support leg housing (601).

3. The rapid deployment energy storage battery cabinet based on magnetic positioning according to claim 1, characterized in that, The extension mechanism (7) includes a connecting frame (701), the outer wall of which is fixedly connected to the outer wall of the leg housing (601), and an electric push rod (703) is fixedly connected inside the connecting frame (701). A connecting block (702) is fixedly connected to the output end of the electric push rod (703).

4. The rapid deployment energy storage battery cabinet based on magnetic positioning according to claim 1, characterized in that, The adjustment mechanism (8) includes a sliding frame (804) and a motor (805). The outer wall of the sliding frame (804) is slidably connected to the inside of the support cabinet (1). A second support rod (801) is fixedly connected to the outer surface of the sliding frame (804). A support plate (802) is fixedly connected to one end of the second support rod (801). A threaded rod (8013) is threadedly connected to the inside of the sliding frame (804). A fixing block (803) is threadedly connected to the inside of the threaded rod (8013). The upper surface of the fixing block (803) is fixedly connected to the inner top of the support cabinet (1). A worm gear (807) is fixedly connected to the outer wall of the threaded rod (8013). The outer wall of the motor (805) is fixedly connected to the inner wall of the support cabinet (1). A worm (806) is fixedly connected to the output end of the motor (805). The outer wall of the worm (806) is meshed with the worm gear (807).

5. The rapid deployment energy storage battery cabinet based on magnetic positioning according to claim 4, characterized in that, The support plate (802) is rotatably connected to a gear (8010), and the outer wall of the gear (8010) is meshed with two racks (8011). The two racks (8011) are respectively fixedly connected to a positioning rod one (808) and a positioning rod two (8012). A return spring (809) is provided between the outer wall of the positioning rod two (8012) and the inner wall of the support plate (802).

6. A control system for a rapidly deployable energy storage battery cabinet based on magnetic positioning, applied to the rapidly deployable energy storage battery cabinet based on magnetic positioning as described in any one of claims 1-5, characterized in that, include; The state perception and data processing module is used to collect and process the attitude of the energy storage battery cabinet and the state information of each actuator in real time. The central decision-making and control logic module is communicatively connected to the state perception and data processing module and is used to generate control commands based on the attitude and state information. A magnetic anchoring control module, which is connected to the central decision and control logic module, is used to control the adsorption and release of the magnetic base (2) according to the control command; An automatic leveling and locking control module, which is connected to the central decision and control logic module, is used to drive the self-locking support mechanism (6) to perform leveling and self-locking according to the control command. The human-computer interaction module, which is connected to the central decision-making and control logic module, is used to receive external commands and display the system status.

7. The control system for the rapidly deployable energy storage battery cabinet based on magnetic positioning according to claim 6, characterized in that, The state perception and data processing module obtains the attitude information of the support cabinet (1) through the tilt sensor in the integrated sensor (4) and obtains the pressure information through the pressure sensor set on the support foot (603).

8. The control system for the rapidly deployable energy storage battery cabinet based on magnetic positioning according to claim 6, characterized in that, The central decision-making and control logic module has a built-in fuzzy adaptive PID control algorithm, which is used to perform online self-tuning of the PID controller parameters based on the tilt angle deviation and deviation change rate in the attitude information, so as to generate leveling control commands.

9. The control system for the rapidly deployable energy storage battery cabinet based on magnetic positioning according to claim 6, characterized in that, The control logic of the automatic leveling and locking control module driving the self-locking mechanism (6) to perform self-locking is as follows: after leveling is completed, the hydraulic cylinder (604) is pre-loaded, and then the hydraulic cylinder (604) is depressurized so that the locking nut (6010) and the self-locking sleeve (6011) are engaged and locked by the rebound force of the disc spring (607).

10. The control system for the rapidly deployable energy storage battery cabinet based on magnetic positioning according to claim 6, characterized in that, The central decision-making and control logic module uses the pressure information obtained by the state perception and data processing module to comprehensively judge the soft and hard characteristics of the ground, and optimizes and adjusts the parameters of the fuzzy adaptive PID control algorithm based on the judgment results.

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