Impact-based gravity energy storage trolley end-buffered positioning device and method

Abstract

This invention discloses an end-effector buffering and positioning device and method for a gravity energy storage trolley based on impact mechanism, belonging to the field of inclined gravity energy storage technology. It includes a travel track, a trolley, a speed sensing module, a distributed lifting and adjusting module, a main control module, and a positioning execution module. The trolley is mounted on the travel track, which includes an inclined track and a horizontal track. The speed sensing module is installed on the inclined track; the distributed lifting and adjusting module and the positioning execution module are both installed on the horizontal track. The main control module is electrically connected to the speed sensing module, the distributed lifting and adjusting module, and the positioning execution module. By establishing a sliding distance calculation model through impact mechanism analysis, and combining distributed track adjustment and dual-hysteresis closed-loop control, the trolley is precisely positioned within 1 / 2 ± 0.2 m of the total length of the horizontal track, effectively mitigating end-effector impact and improving system operational stability and service life.

Description

Technical Field

[0001] This invention relates to the field of slope-type gravity energy storage technology, and in particular to a buffer positioning device and method for the end of a gravity energy storage vehicle based on an impact mechanism. Background Technology

[0002] Inclined gravity energy storage, as a novel clean energy storage technology, stores and releases energy by having a heavy trolley move up and down an inclined track. The impact buffering, speed control, and positioning of the trolley as it slides down to the end of the horizontal track at the bottom of the slope are crucial for ensuring stable system operation and preventing structural damage. During the trolley's descent, gravitational potential energy is rapidly converted into kinetic energy, generating instantaneous impact loads on the track end and positioning mechanism. Impact mechanism analysis shows that this impact load is positively correlated with the trolley's sliding speed and negatively correlated with the buffering resistance. It is also directly affected by the smoothness of the track connection, the trolley's load, and the track gradient. Peak impact loads can easily cause track deformation and wear damage to the positioning mechanism; repeated impacts over a long period can significantly shorten the system's lifespan.

[0003] Existing end-positioning control technology for inclined gravity energy storage vehicles has many shortcomings: 1. Speed ​​perception relies on on-board power supply sensors, which require on-board power supply modules, increasing the heavy load. Furthermore, these sensors are prone to failure under harsh outdoor conditions and cannot accurately predict impact loads. 2. The horizontal track is a fixed structure, and the track height cannot be adjusted according to the real-time speed of the trolley. It is difficult to adapt to the sliding distance control requirements under different impact loads, and it is easy to overshoot or understop. 3. The lifting adjustment adopts a single unit control, which has poor adjustment flexibility and is prone to impact rebound during the buffering process, amplifying the impact load; 4. The control strategy is a fixed threshold control, which does not incorporate the impact mechanism optimization logic and cannot achieve coordinated linkage of speed, track lifting, buffering, and positioning; 5. The positioning mechanism has a complex structure or insufficient reliability; the electromagnetic structure is easily affected by working conditions; and the mechanical structure has low positioning accuracy. 6. The positioning range and speed detection rely on a single sensor without other verification, which is prone to positioning trigger deviation. 7. The lack of clear constraints on track adjustment length makes it impossible to position the trolley in the middle of the track, affecting energy connection efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a gravity energy storage trolley end-buffering positioning device and method based on impact mechanism. By analyzing the impact mechanism, a sliding distance calculation model is established. Combined with distributed track adjustment and dual hysteresis closed-loop control, the trolley is accurately positioned within 1 / 2 ± 0.2m of the total length of the horizontal track, effectively mitigating end-buffering impact and improving system operation stability and service life.

[0005] To achieve the above objectives, the present invention provides an end-buffered positioning device for a gravity energy storage vehicle based on an impact mechanism, comprising a travel track, a vehicle, a speed sensing module, a distributed lifting adjustment module, a main control module, and a positioning execution module. The vehicle is mounted on the travel track, which includes a ramp track and a horizontal track connected in sequence. The horizontal track includes a first horizontal track and a second horizontal track arranged in parallel. The speed sensing module is installed on the inclined track to collect the accurate speed of the trolley before it slides into the horizontal track in real time. The distributed lifting adjustment module is installed on the horizontal track to adjust the trolley's sliding resistance, thereby controlling the trolley's sliding distance. The positioning execution module is installed on the horizontal track to stop the trolley within 1 / 2 ± 0.2 m of the total length of the horizontal track. The main control module is electrically connected to the speed sensing module, the distributed lifting adjustment module, and the positioning execution module, respectively, to receive feedback signals, combine the impact mechanism analysis results, and output control commands to achieve comprehensive and coordinated control. This ensures the synchronous realization of trolley sliding distance control, buffering, positioning, and impact mitigation, avoiding damage to the system from impact loads.

[0006] Preferably, the speed sensing module includes a speed sensing switch and a signal processing unit. The speed sensing switches are evenly installed from the end of the inclined track to the entrance of the horizontal track, and are arranged at intervals along the sliding direction of the trolley. The sensing end of the speed sensing switch faces the inclined track and is used to detect whether the trolley has passed by. When the trolley is detected, a switch signal is output.

[0007] Preferably, all speed sensor switches are electrically connected to the signal processing unit. The signal processing unit is used to collect the switching signals of the speed sensor switches in real time, record the time difference between the time the car passes through two adjacent speed sensor switches in sequence, and combine the preset distance between adjacent speed sensor switches to obtain the accurate speed of the car before sliding into the horizontal track, and transmit the speed signal to the main control module. The precise speed at which the trolley slides into the horizontal track must satisfy: v = s / Δt ; in, v This represents the real-time speed of the trolley as it slides onto the horizontal track. s A fixed spacing is maintained between adjacent speed sensor switches. Δt This is the time difference between the time it takes for the car to pass two adjacent speed sensor switches.

[0008] Preferably, the distributed lifting adjustment module includes distributed lifting legs, displacement sensors, and a drive unit. The distributed lifting legs include a first lifting leg, a second lifting leg, a third lifting leg, and a fourth lifting leg. The first and second lifting legs are respectively installed on the second horizontal track and the first horizontal track at the ends away from the inclined track. The third and fourth lifting legs are respectively installed on the second horizontal track and the first horizontal track at the ends near the inclined track. The drive unit uses a stepper motor, is electrically connected to the main control unit, receives control signals from the main control unit, and thus drives the distributed lifting legs to rise and fall.

[0009] Preferably, the displacement sensor is installed on the distributed lifting outrigger to collect the lifting height of the distributed lifting outrigger in real time and transmit it to the main control unit; The lifting height of the distributed lifting outriggers satisfies: h 1 -h 3 = Δh 2 ; in, h 1 The lifting height of the first lifting outrigger. h 3 The lifting height of the third lifting outrigger. Δh 2 The height difference of the second horizontal track; h 2 -h 4 = Δh 1 ; in, h 2 This refers to the lifting height of the second lifting outrigger. h 4 The lifting height of the fourth lifting outrigger. Δh 1 The height difference of the first horizontal track; The height difference between the first horizontal track and the height difference between the second horizontal track satisfy the following: ; in, Δh avg This indicates the average height difference of the horizontal track.

[0010] Preferably, the main control module incorporates a velocity-position dual hysteresis control algorithm, a coasting distance prediction model, an impact mechanism analysis model, and a coasting distance formula for the trolley, wherein the coasting distance formula is: ; in, L This indicates the final sliding distance of the trolley on the horizontal track. L 1 Indicates the total length of the horizontal track; k Indicates the impact coefficient. m Indicates the mass of the car. g Represents gravitational acceleration. ρ This represents the coefficient of friction of the travel track.

[0011] Preferably, the positioning execution module includes a positioning steel plate assembly, a three-cylinder positioning assembly, and a positioning induction switch. The positioning steel plate assembly is installed at the bottom of the trolley and includes a first positioning steel plate and a second positioning steel plate, which are arranged in parallel. The arrangement direction of the positioning steel plate assembly is perpendicular to the length direction of the horizontal track, and is used to cooperate with the three-cylinder positioning assembly to achieve precise positioning and ensure that the trolley is positioned near the designated location.

[0012] Preferably, the positioning sensor switch is arranged on the side of the horizontal track close to the inclined track. The positioning sensor switch uses two proximity switches with switch outputs, which are arranged at intervals along the sliding direction of the trolley, with the sensing end facing the horizontal track. It is used to detect whether the front edge of the trolley body has entered the designated area to complete the positioning range determination. At the same time, it relies on the time difference of the fixed interval between the two switches to calculate the real-time low speed of the trolley at the moment of entering the positioning range, so as to realize the speed measurement verification of the positioning area.

[0013] Preferably, the three-cylinder positioning assembly is installed in the positioning area at the bottom of the horizontal track, including a first positioning cylinder, a second positioning cylinder, and a third positioning cylinder. The extension and retraction direction of the third positioning cylinder is perpendicular to the length direction of the horizontal track. The first and second positioning cylinders are symmetrically fixedly installed at the extension and retraction ends of the third positioning cylinder, and the extension and retraction directions of both are parallel to the length direction of the horizontal track. The extension and retraction distances of the first and second positioning cylinders match the distance between the first and second positioning steel plates. The extension and retraction stroke of the third cylinder ensures that it extends exactly between the first and second positioning steel plates after reaching its full extension and retraction position. Buffer pads are provided at the extension and retraction ends of both the first and second positioning cylinders.

[0014] This invention also provides a method for end-effector positioning of a gravity energy storage vehicle based on an impact mechanism, comprising the following steps: S1. Initialization settings: The main control unit presets various thresholds and parameters, imports the impact mechanism analysis model and the trolley sliding distance formula, calibrates relevant components, initializes the horizontal track lifting height to 0, and completes the overall system calibration. S2. Speed ​​acquisition and sliding distance prediction: The speed sensor switch collects signals to calculate the real-time speed of the trolley. The main control module substitutes the signals into the formula to predict the sliding distance of the trolley, determines whether it meets the standard, and determines the horizontal track lifting and lowering adjustment scheme. S3. The lifting adjustment and sliding distance are precisely controlled. According to the speed of the trolley, the height difference of the horizontal track is increased, fine-tuned, or decreased accordingly to control the sliding resistance and ensure that the sliding distance of the trolley falls within the target range. S4. Dual hysteresis collaborative control: initiate speed-position dual hysteresis closed-loop control, dynamically adjust the track and stabilize the trolley's sliding distance; when the trolley enters the positioning area and is at low speed, lock the horizontal track height and trigger positioning. S5. Precise positioning: The main control unit controls the three-cylinder positioning assembly in conjunction with the positioning steel plate assembly for bidirectional limit positioning, and the buffer pad reduces secondary impact, with a positioning error of ≤±2mm. S6. Reset preparation and algorithm optimization: The positioning execution module and distributed lifting outriggers are reset, the running deviation is recorded and the impact coefficient is fine-tuned, the model accuracy is optimized, and preparation is made for the next operation.

[0015] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: (1) Based on the evolution law of impact load, this invention establishes a special sliding distance formula for the trolley, and strictly positions the trolley within ±0.2m of the middle of the horizontal track, thereby mitigating the end impact from the source and reducing system damage.

[0016] (2) The four independent lifting outriggers of this invention enable flexible adjustment of the height difference of the horizontal track, with fast response and high precision, and can dynamically adapt to the sliding distance requirements of the trolley at different speeds.

[0017] (3) The speed and position coordinated closed loop of the present invention corrects the sliding deviation in real time, the positioning triggering logic is rigorous, and the positioning error is ≤±2mm.

[0018] (4) The positioning steel plate assembly, the three-cylinder positioning assembly and the buffer pad of the present invention work together to avoid secondary impact. The structure is simple, the maintenance is convenient, and it is suitable for large-scale energy storage system applications.

[0019] (5) The present invention is equipped with a speed measuring sensor switch and a positioning sensor switch, with independent dual-zone verification, which improves the accuracy of positioning triggering and system security.

[0020] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a gravity energy storage vehicle end buffer positioning device based on impact mechanism according to the present invention; Figure 2 This is a schematic diagram of the speed sensing module arrangement structure of an embodiment of a gravity energy storage vehicle end buffer positioning device based on impact mechanism according to the present invention. Figure 3This is a schematic diagram of the horizontal track structure of an embodiment of a gravity energy storage trolley end buffer positioning device based on impact mechanism according to the present invention. Figure 4 This is a schematic diagram of the raised distributed lifting outriggers of an embodiment of a gravity energy storage trolley end buffer positioning device based on impact mechanism according to the present invention. Figure 5 This is a schematic diagram of the positioning execution module structure of an embodiment of a gravity energy storage vehicle end buffer positioning device based on impact mechanism according to the present invention; Figure 6 This is a schematic diagram of the working structure of the positioning execution module of an embodiment of the gravity energy storage vehicle end buffer positioning device based on the impact mechanism of the present invention; Figure 7 This is a flowchart of an embodiment of a gravity energy storage vehicle end-buffer positioning method based on impact mechanism according to the present invention; Figure 8 This is a flowchart of the main control module of an embodiment of a gravity energy storage vehicle end-buffer positioning method based on impact mechanism according to the present invention.

[0022] Figure Labels 1. Inclined track; 2. Horizontal track; 21. First horizontal track; 22. Second horizontal track; 3. Trolley; 4. Speed ​​sensor switch; 5. Distributed lifting outriggers; 51. First lifting outrigger; 52. Second lifting outrigger; 53. Third lifting outrigger; 54. Fourth lifting outrigger; 6. Displacement sensor; 7. Drive unit; 8. Positioning steel plate assembly; 81. First positioning steel plate; 82. Second positioning steel plate; 9. Three-cylinder positioning assembly; 91. First positioning cylinder; 92. Second positioning cylinder; 93. Third positioning cylinder; 10. Buffer pad; 11. Positioning sensor switch. Detailed Implementation

[0023] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0025] Example 1 like Figures 1 - 6 As shown, the present invention provides an end-buffered positioning device for a gravity energy storage vehicle based on impact mechanism, including a travel track, a vehicle 3, a speed sensing module, a distributed lifting adjustment module, a main control module and a positioning execution module. The vehicle 3 is set on the travel track, which includes a ramp track 1 and a horizontal track 2 connected in sequence. The horizontal track 2 includes a first horizontal track 21 and a second horizontal track 22 arranged in parallel. A speed sensing module is installed on the inclined track 1 to collect the accurate speed of the trolley 3 before it slides into the horizontal track 2 in real time. A distributed lifting adjustment module is installed on the horizontal track 2 to adjust the sliding resistance of the trolley 3, thereby controlling the sliding distance of the trolley 3. A positioning execution module is installed on the horizontal track 2 to stop the trolley 3 within 1 / 2 ± 0.2m of the total length of the horizontal track 2. The main control module is electrically connected to the speed sensing module, the distributed lifting adjustment module, and the positioning execution module respectively. It is used to receive feedback signals, combine the impact mechanism analysis results, and output control commands to achieve comprehensive and coordinated control. This ensures the synchronous realization of the trolley 3's sliding distance control, buffering, positioning, and impact mitigation, avoiding damage to the system from impact loads.

[0026] The speed sensing module includes a speed sensing switch 4 and a signal processing unit. The speed sensing switches 4 are evenly installed from the end of the inclined track 1 to the entrance of the horizontal track 2, and are arranged at intervals along the sliding direction of the trolley 3. The sensing end of the speed sensing switch 4 faces the inclined track 1 and is used to detect whether the trolley 3 has passed by. When the trolley 3 is detected, a switch signal is output.

[0027] All speed sensor switches 4 are electrically connected to the signal processing unit. The signal processing unit is used to collect the switching signals of the speed sensor switches 4 in real time, record the time difference between the time the trolley 4 passes through two adjacent speed sensor switches 4 in sequence, and combine the preset distance between adjacent speed sensor switches to obtain the accurate speed of the trolley 3 before sliding into the horizontal track 2, and transmit the speed signal to the main control module. The precise speed of trolley 3 before it slides into horizontal track 2 must meet the following requirements: v = s / Δt ; in, v This represents the real-time speed of the trolley 3 when it slides into the horizontal track 2. s The fixed spacing between adjacent speed measuring sensor switches 4 Δt The time difference is the time it takes for the car 4 to pass between two adjacent speed sensor switches 4.

[0028] The distributed lifting adjustment module includes distributed lifting legs 5, displacement sensors 6, and a drive unit 7. The distributed lifting legs 5 include a first lifting leg 51, a second lifting leg 52, a third lifting leg 53, and a fourth lifting leg 54. The first lifting leg 51 and the second lifting leg 52 are respectively installed on the second horizontal rail 22 and the first horizontal rail 21 at the ends away from the inclined rail 1. The third lifting leg 53 and the fourth lifting leg 54 are respectively installed on the second horizontal rail 22 and the first horizontal rail 21 at the ends close to the inclined rail 1. The drive unit 7 uses a stepper motor, is electrically connected to the main control unit, receives control signals from the main control unit, and thus drives the distributed lifting legs 5 to rise and fall.

[0029] Displacement sensor 6 is installed on the distributed lifting outrigger 5 to collect the lifting height of the distributed lifting outrigger 5 in real time and transmit it to the main control unit. The lifting height of the distributed lifting outrigger 5 meets the following requirements: h 1 -h 3 = Δh 2 ; in, h 1 The lifting height of the first lifting outrigger 51, h 3 The lifting height of the third lifting outrigger 53. Δh 2 The height difference of the second horizontal track 22; h 2 -h 4 = Δh 1 ; in, h 2The lifting height of the second lifting outrigger 52. h 4 The lifting height of the fourth lifting outrigger 54. Δh 1 The height difference of the first horizontal track 21; The height difference between the first horizontal track 21 and the height difference between the second horizontal track 22 satisfy the following: ; in, Δh avg This represents the average height difference of horizontal track 2.

[0030] The main control module incorporates a velocity-position dual hysteresis control algorithm, a coasting distance prediction model, an impact mechanism analysis model, and a coasting distance formula for the trolley. The coasting distance formula for trolley 3 is as follows: ; in, L This indicates the final sliding distance of car 3 on horizontal track 2. L 1 This indicates the total length of horizontal track 2; k Indicates the impact coefficient. m This indicates the mass of the car is 3. g Represents gravitational acceleration. ρ This represents the coefficient of friction of the travel track.

[0031] The positioning execution module includes a positioning steel plate assembly 8, a three-cylinder positioning assembly 9, and a positioning induction switch 11. The positioning steel plate assembly 8 is installed at the bottom of the trolley 3 and includes a first positioning steel plate 81 and a second positioning steel plate 82. The first positioning steel plate 81 and the second positioning steel plate 82 are arranged in parallel. The arrangement direction of the positioning steel plate assembly 8 is perpendicular to the length direction of the horizontal track 2, and is used to cooperate with the three-cylinder positioning assembly 9 to achieve precise positioning and ensure that the trolley 3 is positioned near the designated position.

[0032] The positioning sensor switch 11 is arranged on the side of the horizontal track 2 near the inclined track 1. The positioning sensor switch 11 uses two proximity switches with switch outputs, which are arranged at intervals along the sliding direction of the trolley 3. The sensing end faces the horizontal track 2. It is used to detect whether the front edge of the trolley 3 has entered the designated area and complete the positioning range determination. At the same time, it relies on the time difference of the fixed interval between the two switches to calculate the real-time low speed of the trolley 3 at the moment of entering the positioning range, so as to realize the speed measurement and verification of the positioning area.

[0033] The three-cylinder positioning assembly 9 is installed in the positioning area at the bottom of the horizontal track 2, including a first positioning cylinder 91, a second positioning cylinder 92, and a third positioning cylinder 93. The extension and retraction direction of the third positioning cylinder 93 is perpendicular to the length direction of the horizontal track 21. The first positioning cylinder 91 and the second positioning cylinder 92 are symmetrically fixedly installed at the extension and retraction ends of the third positioning cylinder 93, and the extension and retraction directions of both are parallel to the length direction of the horizontal track 2. The extension and retraction distances of the first positioning cylinder 91 and the second positioning cylinder 92 match the distance between the first positioning steel plate 91 and the second positioning steel plate 92. The extension and retraction stroke of the third cylinder 93 ensures that it extends exactly between the first positioning steel plate 81 and the second positioning steel plate 82 after extension and retraction. The extension and retraction ends of the first positioning cylinder 81 and the second positioning cylinder 82 are both provided with buffer pads 10.

[0034] like Figures 7 - 8 As shown, the present invention also provides a method for end-effector buffer positioning of a gravity energy storage vehicle based on impact mechanism, comprising the following steps: S1. Initialization settings; The main control module presets three speed thresholds for the vehicle (the thresholds are divided into high-speed thresholds). V 1 Low speed threshold V 2 , V 1 > V 2 ,in V 2 The low-speed threshold for location triggering (i.e., the criterion for determining very low speed), and the target location threshold (corresponding to...) ) and the corresponding gliding distance of the car 3 L Preset range (strictly) m, ensuring that the trolley 3 is positioned near the center of the horizontal track 2), and the four lifting heights of the horizontal track 2. h 1 , h 2 , h 3 , h 4 The adjustment range (both 0-50mm) and double hysteresis control parameters; import the impact mechanism analysis model, and pre-store the total mass of the trolley 3. m Coefficient of friction of the running track ρ Impact coefficient k (Initial calibration is 0.85), gravitational acceleration g =9.8m / s 2 Horizontal track 2 total length L 1 (Preset known values, range 2-3m, determined based on actual track layout) h1 and h 3 , h 2 and h 4 Adjust the total length of the corresponding horizontal track 2 lifting section), and the new formula for the trolley 3 sliding distance. ,clear h 2 -h 4 = Δh 1 , h 1 -h 3 = Δh 2 、 The computational logic, while clarifying L The constraint range is m Calibrate the speed measuring sensor switch 4, the positioning sensor switch 11, and the signal processing unit to ensure the accuracy of the switching signal acquisition, speed calculation, and trolley 3 sliding distance of the speed measuring sensor switch 4 and the positioning sensor switch 11. L Check the calculation accuracy, inspect the wiring connections of each module, and ensure that the distributed lifting outriggers (5 (4 units, corresponding to...)) are accurate. h 1 - h 4 The three-cylinder positioning assembly 9 and the positioning sensor switch 11 are functioning normally. The installation firmness and spacing accuracy of the first positioning steel plate 81 and the second positioning steel plate 82 are checked (ensuring a spacing of 50cm). The initial calibration of the impact mechanism analysis model is completed. The fixed spacing s between the speed sensor switch 4 and the positioning sensor switch 11 is preset (the spacing of the speed sensor switch 4 is 50cm, and the spacing of the positioning sensor switches is 20cm), and the sensitivity calibration of the speed sensor switch 4 and the positioning sensor switch 11 is completed. The extension stroke of the third positioning cylinder 93 and the fixed extension distance of the first positioning cylinder 91 and the second positioning cylinder 92 are preset to ensure that the third positioning cylinder 93 can just fit between the positioning steel plate assemblies 8, and that the first positioning cylinder 91 and the second positioning cylinder 92 can accurately impact and fit against the first positioning steel plate 81 and the second positioning steel plate 82, respectively. Initialization is performed. h 1 , h 2 , h 3 , h 4 The initial height (both are 0mm), at this time Δh 1 =0、 Δh 2=0、 Δh =0 (Initial state, dynamically adjusted based on the sliding distance requirement of car 3 to ensure the calculated value after adjustment) L (Falling within the specified range) S2. Speed ​​Acquisition and Glide Distance Prediction: As the heavy block trolley 3 slides down the ramp and approaches the entrance of the horizontal track 2, it passes through multiple speed-sensing switches 4 in sequence. Each speed-sensing switch 4 detects the trolley 3 and outputs a corresponding switching signal. The signal processing unit collects the switching signals of the speed-sensing switches 4 in real time and records the time difference between two adjacent speed-sensing switches 4. Δt Through formula v = s / Δt The real-time speed of car 3 was calculated. v The speed signal is transmitted to the main control module in real time; the main control module calls the impact mechanism analysis model and substitutes the preset values. m , k , ρ , g , L 1 Parameters and real-time data acquisition v In combination with the current situation h 1 , h 2 , h 3 , h 4 The current height value is used to calculate the current height. Δh 1 , Δh 2 , Δh avg Then, the new formula for the sliding distance of the small car is used. Predict the final sliding distance of trolley 3 on horizontal track 2 under the current working conditions. L Simultaneously verify L Whether it falls Within the range, compare with the preset L positioning range to determine h 1 , h 2 , h 3 , h 4 The adjustment direction and amount are determined to prepare for subsequent horizontal track 2 lifting and lowering control (if predicted). L Exceeding If the range is m, then adjustment is required. Δh avg : L Greater than When, increase Δh avgTo shorten L ; L Less than When, decrease Δh avg To extend L ,make sure L (Falling within the target range) S3. Precise control of lifting height and gliding distance; The main control module receives real-time speed signals. v Combined with the predicted gliding distance of car 3, and the preset... m is the positioning range, calculated to achieve L Precisely falling within this range Δh avg Target value, and then deduce h 1 , h 2 , h 3 , h 4 Target height (ensure) h 2 -h 4 = Δh 1 , h 1 -h 3 = Δh 2 (and reach the target value); if v > V 1 (High-speed condition, prediction) L Easy to exceed (m), the main control module outputs control commands to drive the distributed lifting outriggers 5 to extend and retract independently, increasing the... Δh avg (can be raised) h 1 , h 2 or reduce h 3 , h 4 (or a combination of both), thereby increasing the sliding resistance of the car 3 and shortening the sliding distance of the car 3. L ,make sure L Falling Within a range of m, the end impact load is simultaneously mitigated; if V 2 ≤ v ≤ V 1 (Medium speed, prediction) L(Approaching the positioning range), the main control module drives the distributed lifting outriggers 5 to perform fine-tuning and precise adjustment. h 1 , h 2 , h 3 , h 4 Height, fine-tuning Δ h avg ,make L Stable landing Within a range of m, balance the sliding distance of the trolley 3 and mitigate impact, ensuring that the trolley 3 is positioned near the middle of the lifting track; if v < V 2 (Low speed state, prediction) L Easy to be lower than m), the main control module drives the distributed lifting outriggers 5 to extend and retract independently, reducing the... Δh avg (can be reduced) h 1 , h 2 or rise h 3 , h 4 (or a combination of both) to reduce gliding resistance and extend the gliding distance of the trolley. L ,make sure L It falls within the range of m, and at the same time prepares for the positioning and execution module to take action.

[0035] S4. Dual-hysteresis coordinated control; The main control module starts with a speed-position dual hysteresis control algorithm, which compares the real-time speed of the vehicle in real time. v Compared with the preset threshold and the actual sliding distance of the car 3 (through h 1 - h 4 and v (Calculated in real time) and m Positioning range, actual Δh avg With the goal Δh avg When the speed of car 3 deviates from the threshold, or the actual sliding distance of car 3 deviates from the positioning range, or Δh avg Adjust in real time when deviating from the target value. h 1 , h 2 , h 3 , h4 Height, optimization Δh avg Ensure the car's 3-kilometer coasting distance L Always stable at Within a range of m, closed-loop control of speed, sliding distance, and track height is achieved to ensure that the trolley 3 is always in the vicinity of the middle of the horizontal track 2; when the positioning sensor switch 11 detects that the trolley 3 has entered the positioning range, and the instantaneous speed calculated by the positioning sensor switch 11 drops to... V 2 At the following speeds, position hysteresis is triggered, locking occurs. h 1 , h 2 , h 3 , h 4 Height and Δh avg At the same time, it triggers the location execution module action.

[0036] S5. Precise positioning; The main control module determines that car 3 has entered The positioning range of m and the speed measured by the positioning sensor switch 11 reaches V 2 Immediately afterward, a control command is output to extend the third positioning cylinder 93, so that it just extends into the 50cm gap between the bottom positioning steel plate assembly 8 (first positioning steel plate 91 and second positioning steel plate 92) of the trolley 3; then, the first positioning cylinder 91 and the second positioning cylinder 92 extend synchronously. Since their extension and retraction distances are fixed, the extension and retraction end of the first positioning cylinder 91 impacts and fits against the first positioning steel plate 81, and the extension and retraction end of the second positioning cylinder 92 impacts and fits against the second positioning steel plate 82. Through bidirectional limiting impact, the trolley 3 is accurately positioned with a positioning error ≤ ±2mm, ensuring that the trolley 3 stays stably near the middle of the horizontal track 2. Within a range of m); the buffer pads 10 at the extension and retraction ends of the first positioning cylinder 91 and the second positioning cylinder 92 synchronously buffer the impact force, avoid secondary impact during positioning, further alleviate the end impact, and meet the impact mitigation requirements in the impact mechanism analysis.

[0037] S6. Reset preparation and algorithm optimization; After positioning is completed, the main control module controls the first positioning cylinder 91 and the second positioning cylinder 92 to retract synchronously, and then controls the third positioning cylinder 93 to retract, completing the reset of the positioning execution module; the main control module drives the distributed lifting outriggers 5 (corresponding to h 1 - h 4Reset to the initial height (all 0mm), clear the control data for this operation; simultaneously, the main control module records the speed of the vehicle in this operation. v , h 1 - h 4 Actual height value Δh avg Actual value, car's 3-way gliding distance L The deviation between the actual value and the predicted value, and L and The difference in impact coefficient k Fine-tuning and calibration were performed (within a range of 0.8-0.9) to optimize the impact mechanism analysis model and the accuracy of the sliding distance calculation, ensuring the accuracy of the subsequent sliding distance of the trolley 3. L Always accurately land Within a range of m, the buffer positioning effect is improved to ensure that the trolley 3 is continuously positioned near the middle of the horizontal track 2, preparing for the next trolley 3 to slide and position.

[0038] Therefore, the present invention adopts the above-mentioned gravity energy storage trolley end buffer positioning device and method based on impact mechanism. By analyzing the impact mechanism, a sliding distance calculation model is established. Combined with distributed track adjustment and dual hysteresis closed-loop control, the trolley is accurately positioned within 1 / 2 ± 0.2m of the total length of the horizontal track, which effectively alleviates the end impact and improves the system's operational stability and service life.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A gravity energy storage trolley end buffer positioning device based on impact mechanism, characterized in that: The application relates to a vehicle positioning system, which comprises a running track, a trolley, a speed sensing module, a distributed lifting adjusting module, a main control module and a positioning execution module, wherein the trolley is arranged on the running track; the running track comprises a slope track and a horizontal track which are connected in sequence; the horizontal track comprises a first horizontal track and a second horizontal track which are arranged in parallel; the speed sensing module is installed on the slope track and is used for collecting the accurate speed of the trolley before the trolley slides into the horizontal track; the distributed lifting adjusting module is installed on the horizontal track and is used for adjusting the sliding resistance of the trolley so as to control the sliding distance of the trolley; the positioning execution module is installed on the horizontal track and is used for stopping the trolley in the range of 1 / 2+ / -0.2m of the total length of the horizontal track; the main control module is electrically connected with the speed sensing module, the distributed lifting adjusting module and the positioning execution module respectively, is used for receiving feedback signals, combining the impact mechanism analysis results and outputting control instructions to realize comprehensive and cooperative control. The speed sensing module comprises speed measuring induction switches and a signal processing unit; the speed measuring induction switches are uniformly installed beside the end of the slope track and the entrance of the horizontal track, are arranged at intervals along the sliding direction of the trolley and have sensing ends facing the slope track and being used for detecting whether the trolley passes by and outputting switch signals when the trolley is detected.

2. The gravity energy storage cart end buffer positioning device based on impact mechanism according to claim 1, characterized in that: The speed measuring induction switches are electrically connected with the signal processing unit; the signal processing unit is used for collecting the switch signals of the speed measuring induction switches in real time, recording the time difference of the trolley passing through adjacent two speed measuring induction switches, combining the distance between the adjacent speed measuring induction switches and obtaining the accurate speed of the trolley before the trolley slides into the horizontal track and transmitting the speed signals to the main control module; 3. A gravity energy storage cart end buffer positioning device based on impact mechanism according to claim 2, characterized in that: The accurate speed of the trolley before the trolley slides into the horizontal track satisfies the formula v=s / Δt. Δt The distributed lifting adjusting module comprises distributed lifting legs, displacement sensors and a driving unit; the distributed lifting legs comprise first lifting legs, second lifting legs, third lifting legs and fourth lifting legs; the first lifting legs and the second lifting legs are respectively installed at the ends of the second horizontal track and the first horizontal track which are far away from the slope track; the third lifting legs and the fourth lifting legs are respectively installed at the ends of the second horizontal track and the first horizontal track which are close to the slope track; the driving unit adopts a stepping motor, is electrically connected with the main control unit and receives the control signals of the main control unit so as to drive the distributed lifting legs to lift. ； Wherein, v is the real-time speed of the trolley when sliding into the horizontal track, s is the fixed interval of adjacent speed measurement induction switches, The displacement sensors are installed on the distributed lifting legs and are used for collecting the lifting height of the distributed lifting legs in real time and transmitting the lifting height to the main control unit; is the time difference of the trolley passing through two adjacent speed measurement induction switches.

4. A gravity energy storage cart end buffer positioning device based on impact mechanism according to claim 3, characterized in that: The lifting height of the distributed lifting legs satisfies the formula =Δh.

5. A gravity energy storage cart end buffer positioning device based on impact mechanism according to claim 4, characterized in that: Δh The height difference of the first horizontal track and the height difference of the second horizontal track satisfy the formula Δh h 1 -h 3 The main control module is internally provided with a speed-position double hysteresis loop control algorithm, a sliding distance prediction model, an impact mechanism analysis model and a trolley sliding distance formula, wherein the trolley sliding distance formula is: 2 ； wherein h 1 is the lifting height of the first lifting leg, h 3 is the lifting height of the third lifting leg, ρ 2 is the height difference of the second horizontal track; h 2 -h 4 ​ 1 ； wherein, h 2 is the lift height of the second lift leg, h 4 is the lift height of the fourth lift leg, ​ 1 is the height difference of the first horizontal track; ​ ； wherein ​ avg represents the horizontal track average height difference.

6. A gravity energy storage cart end buffer positioning device based on impact mechanism according to claim 5, characterized in that: ​ ； wherein L represents the final sliding distance of the trolley on the horizontal track, L 1 represents the total length of the horizontal track; k represents the impact coefficient, m represents the trolley mass, g represents the gravitational acceleration, ​ represents the friction coefficient of the travel track.

7. A gravity energy storage cart end buffer positioning device based on impact mechanism according to claim 6, characterized in that: The positioning execution module includes a positioning steel plate assembly, a three-cylinder positioning assembly, and a positioning induction switch. The positioning steel plate assembly is installed at the bottom of the trolley and includes a first positioning steel plate and a second positioning steel plate, which are arranged in parallel. The arrangement direction of the positioning steel plate assembly is perpendicular to the length direction of the horizontal track, and is used to cooperate with the three-cylinder positioning assembly to achieve precise positioning and ensure that the trolley is positioned near the designated location.

8. A gravity energy storage cart end buffer positioning device based on impact mechanism according to claim 7, characterized in that: The positioning sensor switch is arranged on the side of the horizontal track close to the inclined track. The positioning sensor switch uses two proximity switches with switch outputs, which are arranged at intervals along the sliding direction of the trolley. The sensing end faces the horizontal track and is used to detect whether the front edge of the trolley body has entered the designated area to complete the positioning range determination. At the same time, the real-time low speed of the trolley at the moment of entering the positioning range is calculated by relying on the time difference of the fixed interval of the two switches, so as to realize the speed measurement and verification of the positioning area.

9. A gravity stored energy trolley end-of-stroke bumper positioning device based on impact mechanism according to claim 8, characterized in that: The three-cylinder positioning assembly is installed in the positioning area at the bottom of the horizontal track, including a first positioning cylinder, a second positioning cylinder, and a third positioning cylinder. The extension and retraction direction of the third positioning cylinder is perpendicular to the length direction of the horizontal track. The first and second positioning cylinders are symmetrically fixedly installed at the extension and retraction ends of the third positioning cylinder, and the extension and retraction directions of both are parallel to the length direction of the horizontal track. The extension and retraction distances of the first and second positioning cylinders match the distance between the first and second positioning steel plates. The extension and retraction stroke of the third positioning cylinder ensures that it extends exactly between the first and second positioning steel plates after reaching its full extension and retraction position. Buffer pads are provided at the extension and retraction ends of both the first and second positioning cylinders.

10. A method for end buffering and positioning of a gravity energy storage cart based on impact mechanism, based on the device of any one of claims 1-9, characterized in that, Includes the following steps: S1. Initialization settings: The main control unit presets various thresholds and parameters, imports the impact mechanism analysis model and the trolley sliding distance formula, calibrates relevant components, initializes the horizontal track lifting height to 0, and completes the overall system calibration. S2. Speed ​​acquisition and sliding distance prediction: The speed sensor switch collects signals to calculate the real-time speed of the trolley. The main control module substitutes the signals into the formula to predict the sliding distance, determines whether the standard is met, and determines the horizontal track lifting and lowering adjustment scheme. S3. The lifting adjustment and sliding distance are precisely controlled. According to the speed of the trolley, the height difference of the horizontal track is increased, fine-tuned, or decreased accordingly to control the sliding resistance and ensure that the sliding distance of the trolley falls within the target range. S4. Dual hysteresis collaborative control: initiate speed-position dual hysteresis closed-loop control, dynamically adjust the track and stabilize the trolley's sliding distance; when the trolley enters the positioning area and is at low speed, lock the horizontal track height and trigger positioning. S5. Precise positioning: The main control unit controls the three-cylinder positioning assembly in conjunction with the positioning steel plate assembly for bidirectional limit positioning, and the buffer pad reduces secondary impact, with a positioning error of ≤±2mm. S6. Reset preparation and algorithm optimization: The positioning execution module and distributed lifting outriggers are reset, the running deviation is recorded and the impact coefficient is fine-tuned, the model accuracy is optimized, and preparation is made for the next operation.

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