Mine truck gantry crane battery replacing device and method

Abstract

The invention relates to the technical field of mine truck battery replacement, in particular to a mine truck gantry crane battery replacement device and method. The mine truck gantry crane battery replacing device comprises a hoisting assembly, a first loading assembly and a second loading assembly, the hoisting assembly comprises a portal frame, a battery replacing robot and a distance sensor, and the portal frame comprises a cross beam and a vertical beam. The battery replacing robot is slidably connected with the cross beam, and the cross beam is used for penetrating between a protection plate of a mine truck and a power battery. The distance sensor is connected with the cross beam and slidably arranged along the cross beam. The first loading assembly is used for bearing a low-power battery box, and the second loading assembly is used for bearing a full-power battery box. The cross beam spans over the first loading assembly and the second loading assembly. According to the invention, the problem of low battery replacement efficiency of the mode of detecting the side posture of the vehicle body and horizontally extending the battery replacement robot from the side surface of the vehicle in the mine truck at present can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine truck battery replacement, in particular to a mine truck portal crane battery replacement device and method. BACKGROUND

[0002] The mine truck, also known as a mine truck, is a heavy-duty dump truck used in open-pit mines to complete rock earthwork stripping and ore transportation tasks. The working environment of the mine truck is harsh, and there are cases of unexpected stone falling. In order to protect the power battery, a protective plate is designed on the mine truck to protect the top of the power battery. At the same time, in order to facilitate battery replacement, a gap is left between the protective plate and the power battery for the operation of the battery replacement robot.

[0003] The existing mine truck battery replacement method is that the mine truck is parked in the battery replacement area, and the sensor detects whether the side of the vehicle body is aligned to adapt to the grabbing position of the battery replacement robot. After detecting the composite battery replacement requirements of the vehicle body, the battery replacement robot enters between the protective plate and the power battery from one side of the vehicle in the horizontal direction to replace the battery. After the battery replacement is completed, the battery replacement robot is retracted, and the mine truck drives forward to leave the battery replacement station.

[0004] However, due to the large size of the mine truck and the poor visibility in the harsh mine environment, the posture of the mine truck parked in the battery replacement area cannot be accurately positioned at one time. The current detection sensor can only detect the posture of the mine truck after the mine truck is parked in the battery replacement area. If the posture of the mine truck cannot be accurately matched with the battery replacement robot, the posture of the vehicle body needs to be adjusted again, and the battery replacement efficiency is low. SUMMARY

[0005] To solve the problem of low battery replacement efficiency of the current mine truck using the method of detecting the posture of the side of the vehicle body and the battery replacement robot horizontally extending from the side of the vehicle to replace the battery, the present application provides a mine truck portal crane battery replacement device and method.

[0006] In a first aspect, the present application provides a mine truck portal crane battery replacement device for replacing the battery of a mine truck; the mine truck includes a vehicle body, a power battery, a vertical plate and a protective plate; the vertical plate is vertically arranged; the protective plate is horizontally arranged; the vertical plate is fixedly connected with the vehicle body; the protective plate is fixedly connected with the top end of the vertical plate; the power battery is fixedly connected with the vehicle body; and the protective plate is located above the power battery. The mine truck portal crane battery replacement device comprises: The hoisting assembly includes a gantry frame, a battery swapping robot, and a distance sensor. The gantry frame includes horizontal beams and vertical beams. The horizontal beams are horizontally positioned. The vertical beams are vertically positioned. There are two vertical beams. The horizontal beam connects the two vertical beams. The battery swapping robot is slidably connected to the horizontal beam. The battery swapping robot passes through the horizontal beam between the protective plate and the power battery. The distance sensor is connected to the horizontal beam and slidably positioned along the horizontal beam. The distance sensor is used to detect the horizontal distance between the horizontal beam and the vertical plate. A first loading assembly includes a first track and a plurality of first carrier vehicles; the first track is laid along a first direction; the first carrier vehicles are slidably connected to the first track along the first direction; the first carrier vehicles are used to carry low-power battery boxes. The second loading assembly includes a second track and a plurality of second carrier vehicles; the second track is laid along the first direction; the second carrier vehicles are slidably connected to the second track along the first direction; the second carrier vehicles are used to carry a fully charged battery box; the crossbeam spans over the first track and the second track.

[0007] In some embodiments, the number of distance sensors is two; the sliding ranges of the two distance sensors do not overlap; the sliding range of each distance sensor is smaller than the horizontal dimension of the upright plate; the maximum distance between the two distance sensors is greater than the horizontal dimension of the upright plate; and the minimum distance between the two distance sensors is less than the horizontal dimension of the upright plate.

[0008] In some embodiments, the hoisting assembly further includes an adjusting rail; the adjusting rail is laid along the first direction; two adjusting rails are provided; the first rail and the second rail are located between the two adjusting rails; the adjusting rails correspond one-to-one with the vertical beams; the vertical beams are slidably connected to the adjusting rails; the height of the vertical beams is adjustable.

[0009] In some embodiments, at least one of the vertical beams is rotatably connected to the horizontal beam; the vertical beam rotatably connected to the horizontal beam and the horizontal beam are slidably disposed relative to each other along the length direction of the horizontal beam.

[0010] In some embodiments, the distance sensor is one in number, and the sliding range of the distance sensor on the crossbeam is greater than the horizontal dimension of the upright plate.

[0011] Secondly, this application provides a method for swapping the power of a mining gantry crane, applied to the mining gantry crane power swapping device described in any embodiment of the first aspect; the method for swapping the power of a mining gantry crane includes: When the mining truck enters the pre-adjustment area, the deflection information is obtained through the mining truck gantry crane battery swapping device, wherein the deflection information represents the degree of deviation between the driving posture of the mining truck and the preset parking posture. Output a deflection signal based on the deflection information; The driving posture of the mining truck is adjusted based on the skew signal until the mining truck enters the battery swapping area, so that when the mining truck stops in the battery swapping area, the parking posture of the mining truck is the preset parking posture. Remove the low-power battery box from the mining card and move the high-power battery box onto the mining card.

[0012] In some embodiments, obtaining skew information through the mining truck gantry crane battery swapping device when the mining truck enters the pre-adjustment area includes: When the mining truck enters the pre-adjustment area, the control distance sensor slides back and forth along the crossbeam; When the distance sensor is in a sliding state, the detection position of the distance sensor in the length direction of the crossbeam is obtained; Control the distance sensor to capture the detection distance at a preset frequency; Establish a mapping relationship between the detection distance and the detection position; The skew information of the mining card is confirmed based on the mapping relationship.

[0013] In some embodiments, adjusting the driving posture of the mining truck based on the skew signal until the mining truck enters the battery swapping area includes: The driving posture of the mining truck is adjusted based on the skew signal; When the same detection location corresponds to multiple detection distances, the mapping relationship is updated with the latest detection distance; When the mapping relationship is updated once, the steps of confirming the deflection information of the mining truck according to the mapping relationship and outputting the deflection signal according to the deflection information are repeated until the mining truck enters the battery swapping area.

[0014] In some embodiments, the number of distance sensors is two; the sliding ranges of the two distance sensors do not overlap; the sliding range of each distance sensor is smaller than the horizontal dimension of the upright plate of the mining truck; the maximum distance between the two distance sensors is greater than the horizontal dimension of the upright plate; the minimum distance between the two distance sensors is less than the horizontal dimension of the upright plate. The step of confirming the skew information of the mining card based on the mapping relationship includes: Based on the mapping relationship, two abrupt change phases were identified in which the rate of change of the detection distance exceeded the rate threshold. Obtain the target distance value in each of the abrupt change phases; the target distance value is the minimum value of the detection distance in the abrupt change phase. The skew information of the mining card is confirmed based on the difference between the two target distance values.

[0015] In some embodiments, the hoisting assembly further includes an adjusting rail; the adjusting rail is laid along a first direction; two adjusting rails are provided; a first rail and a second rail are located between the two adjusting rails; each adjusting rail corresponds to a vertical beam; the vertical beam is slidably connected to the adjusting rail; the height of the vertical beam is adjustable. The step of removing the low-power battery box from the mining truck includes: When the mining truck enters the battery swapping area, the gantry is controlled to move in the same direction as the mining truck until the gantry and the mining truck stop synchronously; when the mining truck enters the battery swapping area, the crossbeam of the gantry is located between the protective plate and the power battery; When the gantry stops moving, control the battery swapping robot to grab the low-battery box on the mining truck and put it onto the first carrier vehicle; The method for swapping the power supply of mining gantry cranes also includes: After the multi-battery box moves onto the mining truck, the gantry frame is controlled to move away from the vertical plate of the mining truck until the crossbeam and the protective plate are vertically misaligned. The vertical beam is raised until the bottom of the horizontal beam is higher than the top surface of the protective plate, and a signal is output that the vehicle has driven out.

[0016] In some embodiments, at least one of the vertical beams is rotatably connected to the horizontal beam; the vertical beam rotatably connected to the horizontal beam and the horizontal beam are slidably disposed relative to each other along the length direction of the horizontal beam; When the mining truck enters the battery swapping area, controlling the gantry to move in the same direction as the mining truck until the gantry and the mining truck stop synchronously includes: When the mining truck enters the battery swapping area, the gantry is controlled to move in the same direction as the mining truck. At the same time, the two vertical beams of the gantry are controlled to move at different speeds according to the skew information, so as to adjust the crossbeam to be parallel to the vertical plate, until the gantry and the mining truck stop synchronously.

[0017] In some embodiments, the number of distance sensors is one, and the sliding range of the distance sensor on the crossbeam is greater than the horizontal dimension of the upright plate of the mining truck; The step of confirming the skew information of the mining card based on the mapping relationship includes: The data curve where the detection distance is less than a first threshold is obtained according to the mapping relationship; the first threshold is the distance between the pre-adjustment area and the crossbeam; Calculate the rate of change of the detection distance based on the data curve; The deflection information of the mining card is confirmed based on the rate of change.

[0018] To address the low battery swapping efficiency of current methods for mining trucks, which involve detecting the side posture of the vehicle and having a battery swapping robot extend horizontally from the side of the vehicle, this invention offers the following advantages: 1. By mounting a battery-swapping robot on a gantry, the gantry's crossbeam can enter the space between the protective plate and the power battery from the front of the vehicle, rather than the side, to facilitate battery swapping. Furthermore, distance sensors are mounted on the crossbeam. Since the crossbeam's height is between the power battery and the protective plate, the sensor's sliding motion allows for the acquisition of detection distances at multiple detection positions, accurately determining the tilt of the upright plate and thus reflecting the power battery's skew information. This application changes the previous method of detecting the tilt of the vehicle's side. The sensor on the crossbeam can detect the vehicle's skew information before it enters the battery-swapping area and send a tilt signal for the mining truck to adaptively adjust in advance. This significantly improves the accuracy of the mining truck's parking in the battery-swapping area, thereby increasing battery-swapping efficiency.

[0019] 2. When two distance sensors are set, the sliding range of each distance sensor can be shortened, and the distance deviation value of the two ends of the vertical plate of the mining truck in the horizontal direction can be accurately captured, thereby reflecting the vehicle's tilt information to the greatest extent.

[0020] 3. By designing the gantry as a horizontally movable and height-adjustable structure, the gantry can be positioned between the protective plate and the power battery before the mining truck stops for battery swapping, moving synchronously with the truck. This allows for immediate battery swapping after the vehicle stops, saving time for the battery swapping robot to grab the low-power battery box from the truck. Furthermore, after battery swapping is complete, the crossbeam can be adjusted above the protective plate, allowing the truck to move forward and exit the swapping area without the inconvenience of reversing. Attached Figure Description

[0021] Figure 1 A schematic diagram of the structure of a mining truck battery swapping device is shown in the relevant technology. Figure 2 A schematic diagram of the power swapping device for a mining gantry crane in Embodiment 1 is shown. Figure 3 A schematic diagram of the structure of the mining card used in Embodiment 1 is shown; Figure 4 A top view showing the positional relationship between the distance sensor, the crossbeam, and the mining truck in a mining truck gantry crane power swapping device according to another embodiment; Figure 5 A flowchart illustrating the power swapping method for a mining gantry crane according to Embodiment 2 is shown. Figure 6 It shows Figure 5 A flowchart illustrating step S10 of the power swapping method for gantry cranes in Zhongkuang. Figure 7 It shows Figure 5 A flowchart illustrating steps S30 of the power swapping method for gantry cranes in Zhongkuang. Figure 8 A flowchart illustrating step S15 of a power swapping method for mining gantry cranes according to another embodiment is shown; Figure 9 A flowchart illustrating step S15 of a mining gantry crane power swapping method according to yet another embodiment is shown; Figure 10 It shows Figure 6 A flowchart illustrating steps S40 of the power swapping method for gantry cranes in Zhongkuang. Figure 11 A flowchart illustrating steps S60 to S80 of the power swapping method for a mining gantry crane in Embodiment 2 is shown. Figure 12 It shows Figure 10 A flowchart illustrating step S41 of the power swapping method for gantry cranes in Zhongkuang. Figure 13 It shows Figure 10 A flowchart illustrating step S42 of the power swapping method for gantry cranes in Zhongkuang. Figure 14 It shows Figure 5 A flowchart illustrating steps S50 of the power swapping method for gantry cranes in Zhongkuang.

[0022] Attached reference numerals: 10', mining truck; 12', power battery; 22', battery swapping robot; 25, detection sensor; 50, battery swapping area; 10. Mining truck; 11. Vehicle body; 12. Power battery; 13. Vertical plate; 14. Protective plate; 20. Lifting assembly; 21. Gantry frame; 211. Crossbeam; 212. Vertical beam; 22. Battery swapping robot; 23. Distance sensor; 24. Adjustable track; 30. First loading assembly; 31. First track; 32. First carrier vehicle; 40. Second loading assembly; 41. Second track; 42. Second carrier vehicle. Detailed Implementation

[0023] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, and are not intended to imply any limitation on the scope of the disclosure.

[0024] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the terms "installed", "set up", "equipped with", "connected", and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0025] like Figure 1 As shown, during the current battery swapping process, due to the large size of the mining truck 10' and the harsh environment and obstructed visibility in the mining area, the parking posture of the mining truck 10' in the battery swapping area 50 cannot be accurately positioned in one go. Currently, the detection sensor 25 is located on one side of the battery swapping area 50, and the posture of the mining truck 10' can only be detected after the mining truck has parked in the battery swapping area 50. If the posture of the mining truck 10' cannot be accurately matched with that of the battery swapping robot 22', the vehicle posture needs to be readjusted before the power battery 12' on the mining truck 10' can be replaced, resulting in low battery swapping efficiency.

[0026] To address the low battery swapping efficiency of current methods for mining trucks, which involve detecting the side posture of the vehicle and having a battery swapping robot extend horizontally from the side of the vehicle, this application provides a battery swapping device and method for mining truck gantry cranes. Example 1:

[0027] Reference Figure 2 This embodiment provides a power swapping device for mining truck gantry cranes, used for swapping the power of mining truck 10.

[0028] Reference Figure 3 The mining truck 10 includes a body 11, a power battery 12, a vertical plate 13, and a protective plate 14. The vertical plate 13 is vertically arranged, and the protective plate 14 is horizontally arranged. The vertical plate 13 is fixedly connected to the cargo box of the body 11, and the protective plate 14 is fixedly connected to the top of the vertical plate 13. The power battery 12 is fixedly connected to the body 11, and the protective plate 14 is located above the power battery 12. The power battery 12 is located between the vertical plate 13 and the cab of the body 11. The length direction of the power battery 12 is parallel to the width direction of the body 11, and the width direction of the power battery 12 is parallel to the length direction of the body 11, i.e., the direction of travel. The length direction of the power battery 12 is parallel to the vertical plate 13, and the width direction is perpendicular to the vertical plate 13. The horizontal dimension of the protective plate 14 can cover the cab of the body 11 to jointly protect the power battery 12 and the cab, improving the safety of mining operations. In this embodiment, the power battery 12 includes a low-charge battery box and a fully charged battery box.

[0029] Reference Figure 2 , Figure 3 and Figure 4 The battery swapping device for mining truck gantry cranes includes a hoisting assembly 20, a first loading assembly 30, and a second loading assembly 40. The hoisting assembly 20 includes a gantry frame 21, a battery swapping robot 22, and a distance sensor 23. The gantry frame 21 includes a horizontal beam 211 and two vertical beams 212. The horizontal beam 211 is horizontally positioned, and the vertical beams 212 are vertically positioned. Two vertical beams 212 are provided, and the horizontal beam 211 connects between the two vertical beams 212. The battery swapping robot 22 is slidably connected to the horizontal beam 211, meaning it can slide back and forth along the length of the horizontal beam 211. The battery swapping robot 22 passes through the horizontal beam 211 between the protective plate 14 and the power battery 12, allowing it to reach the area between the protective plate 14 and the power battery 12 for disassembly and hoisting of the power battery 12. A crossbeam 211 spans above the first loading assembly 30 and the second loading assembly 40, which are positioned opposite each other at their ends. A distance sensor 23 is connected to the crossbeam 211, with its transmitter facing horizontally, used to detect the horizontal distance between the object to be measured and the sensor. The distance sensor 23 slides along the crossbeam 211. As the mining truck 10 moves toward the battery swapping area 50, the distance sensor 23 can detect the horizontal distance between the crossbeam 211 and the vertical plate 13.

[0030] Reference Figure 2The first loading component 30 includes a first track 31 and multiple first carrier vehicles 32. The first track 31 is laid along a first direction, and the first carrier vehicles 32 are slidably connected to the first track 31 along the first direction. The first carrier vehicles 32 are used to carry low-power battery boxes. When the mining truck 10 is swapped, it moves into the swapping area 50 along the first direction to perform the swapping. During the swapping process, the swapping robot 22 can grab the low-power battery boxes on the mining truck 10 and place them on the first carrier vehicles 32 for storage. By controlling the movement of multiple first carrier vehicles 32 along the first direction, it is possible to ensure that there is always an empty first carrier vehicle 32 waiting under the crossbeam 211.

[0031] Reference Figure 2 The second loading assembly 40 includes a second track 41 and multiple second carrier vehicles 42. The second track 41 is laid along a first direction, and the second carrier vehicles 42 are slidably connected to the second track 41 along the first direction. The second carrier vehicles 42 are used to carry fully charged battery boxes. A crossbeam 211 spans above the first track 31 and the second track 41. The battery swapping robot 22 can grab the fully charged battery boxes from the second carrier vehicles 42 and lift them onto the mining truck 10 for installation. By controlling the movement of multiple second carrier vehicles 42 along the first direction, a fully loaded second carrier vehicle 42 can always be waiting under the crossbeam 211.

[0032] In this embodiment, the battery swapping robot 22 is mounted on the gantry 21. The crossbeam 211 of the gantry 21 can enter the space between the protective plate 14 and the power battery 12 from the front of the vehicle rather than the side, thus enabling battery swapping. For normal battery swapping to proceed, the angle between the length direction of the power battery 12 on the mining truck 10 and the length direction of the crossbeam 211 must be less than a preset threshold. Since the height of the crossbeam 211 is between the power battery 12 and the protective plate 14, a distance sensor 23 is placed on the crossbeam 211. By sliding the sensor, the detection distance at multiple detection positions can be obtained, thereby accurately determining the degree of inclination of the upright plate 13 relative to the length direction of the crossbeam 211. This reflects the tilt information of the length direction of the power battery 12 relative to the length direction of the crossbeam 211, and the angle between the length direction of the power battery 12 and the length direction of the crossbeam 211 is calculated. This angle provides a precise reference for whether the gripping position of the battery swapping robot 22 matches the position of the power battery 12. When the angle is less than the preset threshold, the vehicle's parking posture meets the battery swapping requirements, and battery swapping can proceed normally. This application uses sensors on the crossbeam 211 to detect the deflection information of the vehicle's front end before the vehicle enters the battery swapping area 50. Compared with the prior art, which detects the deflection information of the vehicle's side, this application can predict whether the vehicle's parking posture meets the battery swapping requirements based on the deflection information of the front end before the vehicle enters the battery swapping area 50. Based on the detection data, the application can pre-adjust the vehicle's driving direction before the vehicle enters the area. This can significantly increase the probability that the parking posture of the mining truck 10 meets the battery swapping requirements when it is parked in the battery swapping area 50, and avoid the situation where the mining truck 10 needs to exit the battery swapping area 50 and readjust its parking posture after entering the area, thereby greatly improving the battery swapping efficiency.

[0033] In some embodiments, the power swapping device for mining truck gantry cranes may also include two warning lights, which are detachably connected to the crossbeam 211. The width of the two warning lights is adapted to the width of the mining truck 10. When the horizontal distances from the two ends of the upright plate 13 to the gantry 21 are unequal, the warning light on the side farther away illuminates to provide a warning, or the warning light on the side closer away illuminates to provide a warning. The driver or the driver assistance system can adjust the vehicle's driving direction based on the signal from the warning lights.

[0034] In some embodiments, the distance sensor 23 is a single sensor, and the sliding range of the distance sensor 23 on the crossbeam 211 is greater than the horizontal dimension of the upright plate 13. This allows a single distance sensor 23 to detect the detection distance from multiple detection points on the upright plate 13 to the crossbeam 211 in the horizontal direction, accurately determining the tilt of the upright plate 13, i.e., the angle between the upright plate 13 and the crossbeam 211. In some embodiments, the driving speed of the mining truck 10 can be controlled to be lower than the target speed, ensuring low-speed driving of the mining truck 10. This allows the distance sensor 23 to quickly reflect the tilt information of the mining truck 10 after scanning the upright plate 13 once in the horizontal direction, enabling the driver to quickly fine-tune the driving direction of the mining truck 10.

[0035] In some embodiments, the number of distance sensors 23 is two, such as... Figure 4 As shown, the sliding ranges of the two distance sensors 23 do not overlap. The sliding range of each distance sensor 23 is smaller than the horizontal dimension of the upright plate 13. The maximum distance between the two distance sensors 23 is greater than the horizontal dimension of the upright plate 13, and the minimum distance between the two distance sensors 23 is smaller than the horizontal dimension of the upright plate 13. The advantage of using multiple distance sensors is that it can shorten the sliding range of each distance sensor 23 and accurately capture the distance deviation values ​​of the two ends of the upright plate 13 in the horizontal direction of the mining truck 10, thereby reflecting the vehicle's tilt information to the greatest extent. At the same time, using multiple distance sensors can save the sliding time of the distance sensors on the crossbeam 211, obtain the vehicle's tilt information more quickly, and thus promptly notify the vehicle to adjust its driving direction, ensuring that the vehicle's parking posture meets the battery swapping requirements when entering the battery swapping area 50.

[0036] Reference Figure 2 Furthermore, the hoisting assembly 20 in this embodiment also includes an adjusting track 24. The adjusting track 24 is laid along a first direction, and two adjusting tracks 24 are provided. The first track 31 and the second track 41 are located between the two adjusting tracks 24. The adjusting track 24 corresponds one-to-one with the vertical beam 212, and the vertical beam 212 is slidably connected to the adjusting track 24. The height of the vertical beam 212 is adjustable. By adjusting the height of the vertical beam 212, the height of the crossbeam 211 from the ground can be adjusted. When the mining truck 10 is parked in the battery swapping area 50 in the correct parking posture, adjusting the height of the crossbeam 211 allows the crossbeam 211 to be accurately placed between the protective plate 14 and the power battery 12, so that the battery swapping robot 22 can pass through the crossbeam 211 between the protective plate 14 and the power battery 12.

[0037] Reference Figure 2Furthermore, in this embodiment, at least one vertical beam 212 is rotatably connected to a horizontal beam 211. The vertical beam 212 rotatably connected to the horizontal beam 211 and the horizontal beam 211 are slidably arranged relative to each other along the length direction of the horizontal beam 211. Thus, by controlling the differential movement of the two vertical beams 212, the angle of the horizontal beam 211 can be finely adjusted, so that the length direction of the horizontal beam 211 is parallel to the upright plate 13 in the actual docking state of the mining truck 10. This facilitates the battery swapping robot 22 to accurately grab the low-charge battery box on the mining truck 10 and to hoist the fully charged battery box onto the mining truck 10. Example 2:

[0038] Reference Figure 5 This embodiment provides a method for swapping the power of a mining gantry crane, applied to the power swapping device of the mining gantry crane in Embodiment 1. The method for swapping the power of a mining gantry crane includes steps S10 to S50.

[0039] Step S10: When the mining truck 10 enters the pre-adjustment area, the deflection information is obtained through the mining truck gantry crane battery swapping device. The deflection information represents the degree of deviation between the driving posture of the mining truck 10 and the preset parking posture.

[0040] Step S20: Output a deflection signal based on the deflection information. The deflection signal can be the illumination signal of two warning lights. The width of the two warning lights is adapted to the width of the mining truck 10. When the horizontal ends of the upright plate 13 are not equal to the distance from the gantry 21, the warning light on the side with the greater distance will illuminate to provide a warning, or the warning light on the side with the closer distance will illuminate to provide a warning. The driver or the driving assistance system can adjust the driving direction of the mining truck 10 according to the signal from the warning lights.

[0041] Step S30: Adjust the driving posture of mining truck 10 based on the skew signal until mining truck 10 enters the battery swapping area 50, so that when mining truck 10 stops in the battery swapping area 50, the parking posture of mining truck 10 is the preset parking posture. Step S40: Remove the low-power battery box from the mining card 10.

[0042] Step S50: Move the multi-battery box onto the mining card 10.

[0043] In some embodiments, such as Figure 6 As shown, step S10 includes steps S11 to S15.

[0044] In step S11, when the mining truck 10 enters the pre-adjustment area, the distance sensor 23 is controlled to slide back and forth along the crossbeam 211; thus, before the mining truck 10 reaches the battery swapping area 50, the driving posture of the mining truck 10 can be detected in advance by the distance sensor 23. In some embodiments, a vehicle shape sensor can be set in the pre-adjustment area, or the detection distance detected by the distance sensor 23 can be used to determine whether the mining truck 10 has arrived at the pre-adjustment area.

[0045] Step S12: When the distance sensor 23 is in a sliding state, acquire the detection position of the distance sensor 23 along the length direction of the crossbeam 211. The distance between adjacent detection positions is equal to the product of the detection period of the distance sensor 23 and the sliding speed.

[0046] Step S13: Control the distance sensor 23 to capture the detection distance at a preset frequency. In some embodiments, step S13 includes steps S131 and S132, where step S131 is to obtain the speed of the mining truck 10; and step S132 is to control the distance sensor 23 to capture the detection distance at a preset frequency; wherein the preset frequency is positively correlated with the vehicle speed.

[0047] Step S14: Establish a mapping relationship between detection distance and detection position. This mapping relationship reflects the change of detection distance along the horizontal direction.

[0048] Step S15: Confirm the skew information of mining truck 10 based on the mapping relationship. When the change in the detection distance along the horizontal direction is within a sufficiently small range, it indicates that the vehicle driving posture of mining truck 10 meets the requirements. When the change in the detection distance along the horizontal direction fluctuates significantly, it indicates that the vehicle driving posture has skewed and needs adjustment.

[0049] In some embodiments, such as Figure 7 As shown, step S30 includes steps S31 to S33.

[0050] Step S31: Adjust the driving posture of the mining truck 10 based on the skew signal.

[0051] Step S32: When multiple detection distances correspond to the same detection position, the mapping relationship is updated with the latest detection distance. Preferably, the distance sensor 23 performs detection at multiple fixed detection positions on the crossbeam 211 during its reciprocating movement, thereby timely covering previous detection distances and reflecting the current driving posture of the mining truck 10.

[0052] Step S33: When the mapping relationship is updated once, the steps of confirming the skew information of the mining truck 10 according to the mapping relationship and outputting the skew signal according to the skew information are repeated until the mining truck 10 enters the battery swapping area 50. The battery swapping area 50 has a gap with the pre-adjustment area.

[0053] In this embodiment, steps S10 to S50 enable the mining truck 10 to perform attitude detection upon reaching the pre-adjustment area. This allows for attitude pre-adjustment of the mining truck 10 before entering the battery swapping area 50, ensuring its driving posture is as upright as possible. This facilitates the precise grasping and hoisting of the power battery 12 by the battery swapping robot 22. The distribution of detection distance along the detection position allows for timely determination of the driving posture of the mining truck 10. Since distance detection is performed at multiple detection points on the upright plate 13, it enables the detection and timely correction of the length direction of the power battery 12 on the mining truck 10. This ensures precise matching between the position of the power battery 12 on the mining truck 10 and the grasping position of the battery swapping robot 22, avoiding multiple adjustments to the vehicle position and improving battery swapping efficiency.

[0054] like Figure 8 As shown, in some embodiments, the number of distance sensors 23 is one, and the sliding range of the distance sensor 23 on the crossbeam 211 is greater than the horizontal dimension of the upright plate 13 of the mining truck 10. Step S15 includes steps S151 to S153.

[0055] Step S151: Obtain the data curve where the detection distance is less than a first threshold according to the mapping relationship. The first threshold is the distance between the pre-adjustment area and the crossbeam 211. Preferably, the first threshold is the maximum distance between the pre-adjustment area and the crossbeam 211.

[0056] Step S152: Calculate the rate of change of the detection distance based on the data curve. The detection position is the horizontal axis, the detection distance is the vertical axis, and the rate of change of the detection distance relative to the detection position is also the slope of the data curve.

[0057] Step S153: Determine the skew information of the mining card 10 based on the rate of change. The greater the rate of change, the greater the skew information of the mining card 10. The smaller the rate of change, the smaller the skew information of the mining card 10.

[0058] Reference Figure 4 and Figure 9In some embodiments, there are two distance sensors 23. The sliding ranges of the two distance sensors 23 do not overlap. The sliding range of each distance sensor 23 is smaller than the horizontal dimension of the upright plate 13 of the mining card 10. This reduces the sliding range of the distance sensors 23, allowing them to measure repeatedly within a small area. This enables them to promptly reflect changes in the detection distance at a small detection location, reducing the requirements for the sliding speed of the distance sensors 23 and lowering the speed design cost. The maximum distance between the two distance sensors 23 is greater than the horizontal dimension of the upright plate 13, and the minimum distance between the two distance sensors 23 is less than the horizontal dimension of the upright plate 13. This allows for the determination of the detection distance at the two ends of the upright plate 13, improving the accuracy of the calculation of the tilt angle of the upright plate 13. Step S15 includes steps S154 to S156.

[0059] Step S154: Based on the mapping relationship, identify two abrupt change stages where the rate of change of the detection distance exceeds a rate threshold. The abrupt change stage is the detection distance change stage between multiple adjacent detection positions. Preferably, the abrupt change stage is the detection distance change stage between two adjacent detection positions. When the transmission direction of the transmitter of the distance sensor 23 exceeds the range of the stand plate 13, the detection distance is much greater than the detection distance of the detection point on the stand plate 13, thus manifesting as an abrupt change in the rate of change in the mapping relationship.

[0060] Step S155: Obtain the target distance value in each abrupt change stage. The target distance value is the minimum detection distance in the abrupt change stage, and the target distance value is less than the first threshold. That is, the target distance value is the detection distance of the detection point at the end of the upright plate 13.

[0061] Step S156: Confirm the skew information of the mining truck 10 based on the difference between the two target distance values. Since the target distance values ​​reflect the detection distance at the horizontal end of the vertical plate 13, the skew information of the mining truck 10 can be accurately determined by using the two target distance values ​​that are furthest apart, thereby improving the accuracy of the mining truck 10's docking and thus improving the battery swapping efficiency.

[0062] In some embodiments, the hoisting assembly 20 further includes an adjusting rail 24, which is laid along a first direction. Two adjusting rails 24 are provided, with a gap between them. A first rail 31 and a second rail 41 are located between the two adjusting rails 24. Each adjusting rail 24 corresponds one-to-one with a vertical beam 212, which is slidably connected to the adjusting rail 24. The height of the vertical beam 212 is adjustable.

[0063] In some embodiments, such as Figure 10 As shown, step S40 includes steps S41 to S42.

[0064] In step S41, when the mining truck 10 enters the battery swapping area 50, the gantry 21 is controlled to move in the same direction as the mining truck 10 until the gantry 21 and the mining truck 10 stop synchronously. When the mining truck 10 enters the battery swapping area 50, the crossbeam 211 of the gantry 21 is located between the protective plate 14 and the power battery 12. The mining truck 10 can stop autonomously after entering the battery swapping area 50, and the gantry 21 stops accordingly.

[0065] In step S42, when the gantry 21 stops moving, the battery swapping robot 22 is controlled to grab the low-battery box on the mining truck 10 and put it onto the first carrier vehicle 32.

[0066] Reference Figure 11 The method for swapping the power of a mining gantry crane also includes steps S60 and S70.

[0067] In step S60, after the multi-battery box moves onto the mining truck 10, the gantry 21 is controlled to move along the direction away from the vertical plate 13 of the mining truck 10 until the crossbeam 211 and the protective plate 14 of the mining truck 10 are vertically misaligned.

[0068] In step S70, the vertical beam 212 is raised until the bottom of the horizontal beam 211 is higher than the top surface of the protective plate 14, and a signal is output that the vehicle is leaving. This allows the mining truck 10 to move forward and leave the battery swapping area 50 after the battery swapping is completed, avoiding inconvenience to the battery swapping of other mining trucks 10 behind it.

[0069] like Figure 11 As shown, the method for swapping the power of a mining gantry crane also includes step S80.

[0070] In step S80, when the mining truck 10 leaves the battery swapping area 50, the height of the vertical beam 212 is lowered and reset, so that the height of the horizontal beam 211 is restored to be compatible with the mining truck 10, that is, the height of the horizontal beam 211 to the ground is between the protective plate 14 and the power battery 12.

[0071] Furthermore, in this embodiment, at least one vertical beam 212 is rotatably connected to a horizontal beam 211, and the vertical beam 212 rotatably connected to the horizontal beam 211 and the horizontal beam 211 are slidably arranged relative to each other along the length direction of the horizontal beam 211.

[0072] Reference Figure 12 Furthermore, step S41 in this embodiment includes step S411.

[0073] In step S411, when the mining truck 10 enters the battery swapping area 50, the gantry 21 is controlled to move in the same direction as the mining truck 10. Simultaneously, based on the skew information, the two vertical beams 212 of the gantry 21 are controlled to move at different speeds to adjust the crossbeam 211 to be parallel to the upright plate 13 until the gantry 21 and the mining truck 10 stop synchronously. Since the mining truck 10 has undergone pre-adjusted posture, the degree of deviation of the mining truck 10 can be controlled within a small angle, thereby fine-tuning the angle of the crossbeam 211 to make it more parallel to the upright plate 13, thus improving the adaptability of the battery swapping robot 22 to the position of the power battery 12 on the mining truck 10.

[0074] Reference Figure 13 Furthermore, step S42 in this embodiment includes steps S421 to S423.

[0075] Step S421: When the gantry 21 stops moving, control the battery swapping robot 22 to grab the low-power battery box on the mining card 10. Step S422: Adjust the crossbeam 211 to be perpendicular to the first direction; Step S423: Control the battery swapping robot 22 to place the low-battery box onto the first carrier vehicle 32.

[0076] Reference Figure 14 Furthermore, step S50 in this embodiment includes steps S51 to S54.

[0077] Step S51: Control the battery swapping robot 22 to grab the fully charged battery box on the second carrier vehicle 42; Step S52: Control the two vertical beams 212 to move at different speeds to adjust the angle of the horizontal beam 211 so that the horizontal beam 211 is parallel to the vertical plate 13; Step S53: Control the battery swapping robot 22 to install the fully charged battery box onto the mining truck 10; Step S54: Control the two vertical beams 212 to move at a differential speed to restore the horizontal beam 211 to be perpendicular to the first direction, and the battery swap is completed.

[0078] The range of angle adjustment of the crossbeam 211 depends on the length of the crossbeam 211. Since the mine truck 10 is in a relatively upright position after being pre-adjusted, the adjustable range of the crossbeam 211 can be controlled within a small range, which can reduce the cost of adjusting the angle of the gantry 21.

[0079] Those skilled in the art will understand that the above embodiments are specific examples of implementing this disclosure, and in practical applications, various changes can be made in form and detail without departing from the scope of this disclosure.

Claims

1. A power swapping device for a mining gantry crane, characterized in that, The mining truck gantry crane battery swapping device is used to swap batteries for mining trucks; the mining truck includes a body, a power battery, a vertical plate, and a protective plate; the vertical plate is vertically arranged; the protective plate is horizontally arranged; the vertical plate is fixedly connected to the body; the protective plate is fixedly connected to the top of the vertical plate; the power battery is fixedly connected to the body; the protective plate is located above the power battery; The power swapping device for the mining gantry crane includes: The hoisting assembly includes a gantry frame, a battery swapping robot, and a distance sensor. The gantry frame includes horizontal beams and vertical beams. The horizontal beams are horizontally positioned. The vertical beams are vertically positioned. There are two vertical beams. The horizontal beam connects the two vertical beams. The battery swapping robot is slidably connected to the horizontal beam. The battery swapping robot passes through the horizontal beam between the protective plate and the power battery. The distance sensor is connected to the horizontal beam and slidably positioned along the horizontal beam. The distance sensor is used to detect the horizontal distance between the horizontal beam and the vertical plate. A first loading assembly includes a first track and a plurality of first carrier vehicles; the first track is laid along a first direction; the first carrier vehicles are slidably connected to the first track along the first direction; the first carrier vehicles are used to carry low-power battery boxes. The second loading assembly includes a second track and a plurality of second carrier vehicles; the second track is laid along the first direction; the second carrier vehicles are slidably connected to the second track along the first direction; the second carrier vehicles are used to carry a fully charged battery box; the crossbeam spans over the first track and the second track.

2. The power swapping device for a mining gantry crane according to claim 1, characterized in that, The number of distance sensors is two; the sliding ranges of the two distance sensors do not overlap; the sliding range of each distance sensor is smaller than the horizontal dimension of the upright plate; the maximum distance between the two distance sensors is greater than the horizontal dimension of the upright plate. The minimum distance between the two distance sensors is less than the horizontal dimension of the upright plate.

3. The power swapping device for a mining gantry crane according to claim 1, characterized in that, The hoisting assembly also includes an adjusting track; the adjusting track is laid along the first direction; two adjusting tracks are provided; the first track and the second track are located between the two adjusting tracks; the adjusting track corresponds one-to-one with the vertical beam; the vertical beam is slidably connected to the adjusting track; the height of the vertical beam is adjustable.

4. The power swapping device for a mining gantry crane according to claim 3, characterized in that, At least one of the vertical beams is rotatably connected to the horizontal beam; the vertical beam rotatably connected to the horizontal beam and the horizontal beam are slidably arranged relative to each other along the length direction of the horizontal beam.

5. The power swapping device for a mining gantry crane according to claim 1, characterized in that, The distance sensor is one in number, and the sliding range of the distance sensor on the crossbeam is greater than the horizontal dimension of the vertical plate.

6. A method for swapping the power of a mining gantry crane, applied to the power swapping device for the mining gantry crane as described in any one of claims 1-5; characterized in that, The method for swapping the power supply of the mining gantry crane includes: When the mining truck enters the pre-adjustment area, the deflection information is obtained through the mining truck gantry crane battery swapping device, wherein the deflection information represents the degree of deviation between the driving posture of the mining truck and the preset parking posture. Output a deflection signal based on the deflection information; The driving posture of the mining truck is adjusted based on the skew signal until the mining truck enters the battery swapping area, so that when the mining truck stops in the battery swapping area, the parking posture of the mining truck is the preset parking posture. Remove the low-power battery box from the mining card and move the high-power battery box onto the mining card.

7. The method for swapping the power supply of a mining gantry crane according to claim 6, characterized in that, When the mining truck enters the pre-adjustment area, the deflection information is obtained through the mining truck gantry crane power swapping device, including: When the mining truck enters the pre-adjustment area, the control distance sensor slides back and forth along the crossbeam; When the distance sensor is in a sliding state, the detection position of the distance sensor in the length direction of the crossbeam is obtained; Control the distance sensor to capture the detection distance at a preset frequency; Establish a mapping relationship between the detection distance and the detection position; The skew information of the mining card is confirmed based on the mapping relationship.

8. The method for swapping the power supply of a mining gantry crane according to claim 7, characterized in that, The step of adjusting the driving posture of the mining truck based on the skew signal until the mining truck enters the battery swapping area includes: The driving posture of the mining truck is adjusted based on the skew signal; When the same detection location corresponds to multiple detection distances, the mapping relationship is updated with the latest detection distance; When the mapping relationship is updated once, the steps of confirming the deflection information of the mining truck according to the mapping relationship and outputting the deflection signal according to the deflection information are repeated until the mining truck enters the battery swapping area.

9. A method for swapping the power supply of a mining gantry crane according to claim 7, characterized in that, The distance sensor is two in number; the sliding ranges of the two distance sensors do not overlap; the sliding range of each distance sensor is smaller than the horizontal dimension of the upright plate of the mining truck; the maximum distance between the two distance sensors is greater than the horizontal dimension of the upright plate. The minimum distance between the two distance sensors is less than the horizontal dimension of the upright plate; The step of confirming the skew information of the mining card based on the mapping relationship includes: Based on the mapping relationship, two abrupt change phases were identified in which the rate of change of the detection distance exceeded the rate threshold. Obtain the target distance value in each of the abrupt change phases; the target distance value is the minimum value of the detection distance in the abrupt change phase. The skew information of the mining card is confirmed based on the difference between the two target distance values.

10. A method for swapping the power supply of a mining gantry crane according to claim 6, characterized in that, The hoisting assembly also includes adjustable rails; the adjustable rails are laid along a first direction; two adjustable rails are provided; a first rail and a second rail are located between the two adjustable rails; each adjustable rail corresponds to a vertical beam; the vertical beam is slidably connected to the adjustable rail; the height of the vertical beam is adjustable. The step of removing the low-power battery box from the mining truck includes: When the mining truck enters the battery swapping area, the gantry is controlled to move in the same direction as the mining truck until the gantry and the mining truck stop synchronously; when the mining truck enters the battery swapping area, the crossbeam of the gantry is located between the protective plate and the power battery; When the gantry crane stops moving, control the battery swapping robot to grab the low-power battery box on the mining truck and put it onto the first carrier vehicle; The method for swapping the power supply of mining gantry cranes also includes: After the multi-battery box moves onto the mining truck, the gantry frame is controlled to move away from the vertical plate of the mining truck until the crossbeam and the protective plate are vertically misaligned. The vertical beam is raised until the bottom of the horizontal beam is higher than the top surface of the protective plate, and a signal is output that the vehicle has driven out.

11. A method for swapping the power supply of a mining gantry crane according to claim 10, characterized in that, At least one of the vertical beams is rotatably connected to the horizontal beam; the vertical beam rotatably connected to the horizontal beam and the horizontal beam are slidably disposed relative to each other along the length direction of the horizontal beam; When the mining truck enters the battery swapping area, controlling the gantry to move in the same direction as the mining truck until the gantry and the mining truck stop synchronously includes: When the mining truck enters the battery swapping area, the gantry is controlled to move in the same direction as the mining truck. At the same time, the two vertical beams of the gantry are controlled to move at different speeds according to the skew information, so as to adjust the crossbeam to be parallel to the vertical plate, until the gantry and the mining truck stop synchronously.

12. The method for swapping the power supply of a mining gantry crane according to claim 7, characterized in that, The distance sensor is one in number, and the sliding range of the distance sensor on the crossbeam is greater than the horizontal dimension of the upright plate of the mining truck. The step of confirming the skew information of the mining card based on the mapping relationship includes: The data curve where the detection distance is less than a first threshold is obtained according to the mapping relationship; the first threshold is the distance between the pre-adjustment area and the crossbeam; Calculate the rate of change of the detection distance based on the data curve; The deflection information of the mining card is confirmed based on the rate of change.

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