Energy storage module automatic post-weld cleaning and dust extraction equipment

Abstract

The utility model provides a kind of automatic post-welding cleaning dust extraction equipment of energy storage module, including cleaning dust extraction mechanism, moving mechanism, conveying mechanism and code scanning mechanism;The cleaning dust extraction mechanism is connected with the moving mechanism, and the cleaning dust extraction mechanism is located above the conveying mechanism, and the code scanning mechanism is located at one side of the conveying mechanism, for the code scanning of energy storage module;The cleaning dust extraction mechanism includes mounting bracket, brush, installation box and several dust extraction pipes;The mounting bracket is connected with the moving mechanism, and the installation box is arranged on mounting bracket, and the lower end of installation box has opening, and the upper end of installation box is provided with a plurality of first plug-in interfaces, and the edge of opening is distributed around brush, and one end of several dust extraction pipes is inserted into a plurality of first plug-in interfaces one by one;The utility model distributes the edge of opening around brush, ensures that the dust after cleaning does not escape to the outside of brush, and generates uniform suction force by setting multiple dust extraction pipes, ensures cleaning dust extraction effect.

Description

Technical Field

[0001] This utility model belongs to the field of automation equipment technology, specifically relating to an automatic post-welding cleaning and dust extraction device for energy storage modules. Background Technology

[0002] Welding of energy storage modules is a critical process in the manufacturing of battery energy storage systems, directly affecting the reliability, safety, and electrical performance of the modules. During production, welding of energy storage modules involves connecting cell tabs to form a conductive circuit; connecting busbars to connect multiple cell tabs and form the main current path; and connecting the module to external wiring, such as welding the module to the battery management system and cables.

[0003] After the welding of the energy storage module is completed, the energy storage module needs to be cleaned. In the existing technology, dust is extracted from the surface of the energy storage module by setting up a dust suction pipe, but the cleaning effect is poor. Summary of the Invention

[0004] To address the shortcomings of the existing technology, this utility model provides an automatic post-welding cleaning and dust extraction device for energy storage modules. The device distributes brushes around the edge of the opening to ensure that the dust after cleaning does not escape to the outside of the brushes. Furthermore, by setting multiple dust extraction pipes, it generates uniform suction to ensure effective cleaning and dust extraction.

[0005] The technical effects to be achieved by this utility model are realized through the following technical aspects:

[0006] This utility model provides an automatic post-welding cleaning and dust extraction device for energy storage modules, including a cleaning and dust extraction mechanism, a moving mechanism, a conveying mechanism, and a barcode scanning mechanism;

[0007] The cleaning and dust extraction mechanism is connected to the moving mechanism and is located above the conveying mechanism. The scanning mechanism is located on one side of the conveying mechanism and is used for scanning the energy storage module.

[0008] The cleaning and dust extraction mechanism includes a mounting frame, a brush, a mounting box, and several dust extraction pipes;

[0009] The mounting bracket is connected to the moving mechanism, the mounting box is disposed on the mounting bracket, the lower end of the mounting box has an opening, and the upper end of the mounting box has a plurality of first insertion interfaces, the brushes are distributed around the edge of the opening, and one end of a plurality of dust extraction tubes is inserted into a plurality of the first insertion interfaces.

[0010] In some implementations, the cleaning and dust extraction mechanism further includes a dust collection box disposed on the mounting frame, the dust collection box being located above the mounting box;

[0011] The lower end of the dust collection box is provided with several second insertion interfaces, and the other ends of several dust extraction pipes are inserted into the several second insertion interfaces one by one; the dust extraction pipes are installed and limited by the second insertion interfaces, and at the same time, it is convenient to collect the dust extracted by multiple dust extraction pipes through the dust collection box.

[0012] In some implementations, the moving mechanism includes a first moving module driven along the Y-axis, a second moving module driven along the X-axis, and a third moving module driven along the Z-axis.

[0013] The drive end of the first moving module is connected to the second moving module, the drive end of the second moving module is connected to the third moving module, and the drive end of the third moving module is connected to the cleaning and dust extraction mechanism. With the cooperation of the first moving module, the second moving module, and the third moving module, the cleaning and dust extraction mechanism is driven to move to a set position for cleaning and dust extraction.

[0014] In some implementations, the first moving module includes a first moving component and a first guiding component that are positioned relative to each other;

[0015] The first guide component includes a first guide rail and a first slider, the first slider being slidably connected to the first guide rail, and the first guide rail being distributed along the driving direction of the first moving component;

[0016] The second moving module connects the drive end of the first moving component and the first slider, and achieves a stable moving effect through the driving action of the first guiding component on the first moving component.

[0017] In some implementations, the second moving module includes a mounting plate and a second moving component disposed on the mounting plate;

[0018] The mounting plate is connected to the drive end of the first moving component and the first slider at opposite ends, respectively.

[0019] The driver of the second moving component is connected to the third moving module.

[0020] In some implementations, the conveying mechanism includes a conveying vehicle, a first conveyor belt and a second conveyor belt distributed in parallel;

[0021] The conveying vehicle is located on the first conveyor belt and the second conveyor belt. The conveying vehicle is used to carry and position the energy storage module, thereby improving the positional stability of the energy storage module during operation.

[0022] In some implementations, the conveying mechanism further includes a blocking module;

[0023] The blocking module is located between the first conveyor belt and the second conveyor belt, and is used to block the transmission of the conveyor, prevent the conveyor from continuing to transmit, and improve the stability of the operation.

[0024] In some implementations, the conveying mechanism further includes an upper support module;

[0025] The upper support module is located between the first conveyor belt and the second conveyor belt, and is used to support the conveyor vehicle, position the conveyor vehicle, and improve the stability of the operation.

[0026] In some implementations, the upper support module includes an upper support cylinder and an upper support plate, wherein the upper support plate is connected to the drive end of the upper support cylinder;

[0027] The upper support plate is equipped with positioning pins for positioning the conveyor, thereby improving the stability of the operation.

[0028] In some implementations, a position sensor is also provided on the upper support plate;

[0029] The position sensor is used to detect the position of the conveyor, ensuring that the top support plate is in place and improving the accuracy of the operation.

[0030] In summary, this utility model has at least the following advantages:

[0031] 1. The present invention provides an automatic post-weld cleaning and dust extraction device for energy storage modules. The brushes are distributed around the edge of the opening to ensure that the dust after cleaning is promptly extracted through the opening, preventing the dust from escaping to the outside of the brushes and causing re-contamination. In addition, by inserting multiple dust extraction pipes into the upper end of the mounting box, the uniform suction force generated by the multiple dust extraction pipes is used to ensure the dust extraction effect, thereby ensuring the cleaning effect.

[0032] 2. The present invention provides an automatic post-weld cleaning and dust extraction device for energy storage modules. By setting a barcode scanning mechanism on one side of the conveying mechanism, the barcode scanning mechanism scans the energy storage module after it is conveyed to the position, which facilitates production data traceability. In addition, the operation of the moving mechanism and the cleaning and dust extraction mechanism can be started only after the barcode scanning mechanism returns information through the program, which can effectively supervise the operation. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the device provided in Embodiment 1 of this utility model;

[0034] Figure 2 This is a schematic diagram of the cleaning and dust extraction mechanism provided in Embodiment 1 of this utility model;

[0035] Figure 3 This is a schematic diagram of the installation box and brush provided in Embodiment 1 of this utility model;

[0036] Figure 4 This is a schematic diagram of the moving mechanism provided in Embodiment 2 of this utility model;

[0037] Figure 5 This is a schematic diagram of the structure of the device provided in Embodiment 3 of this utility model;

[0038] Figure 6 This is a schematic diagram of the conveying mechanism provided in Embodiment 3 of this utility model;

[0039] Marked in the image:

[0040] 100. Cleaning and dust extraction mechanism; 110. Mounting bracket; 120. Brush; 130. Mounting box; 131. Opening; 132. First insertion interface; 140. Dust collection box; 141. Second insertion interface;

[0041] 200. Moving mechanism; 210. First moving module; 211. First moving component; 212. First guide component; 2121. First guide rail; 2122. First slider; 220. Second moving module; 221. Mounting plate; 222. Second moving component; 230. Third moving module;

[0042] 300. Conveying mechanism; 310. Conveying carrier; 320. First conveyor belt; 330. Second conveyor belt; 340. Blocking module; 350. Top support module; 351. Top support cylinder; 352. Top support plate; 360. Position sensor;

[0043] 400, QR code scanning organizations. Detailed Implementation

[0044] To facilitate understanding of the present invention, a more comprehensive description will be given below in conjunction with the accompanying drawings and specific embodiments. The drawings illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0045] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0046] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0048] Example 1:

[0049] Please see Figures 1-3 This embodiment provides an automatic post-welding cleaning and dust extraction device for energy storage modules, used to clean and extract dust from the welded energy storage modules. The equipment includes a cleaning and dust extraction mechanism 100, a moving mechanism 200, a conveying mechanism 300, and a barcode scanning mechanism 400. The cleaning and dust extraction mechanism 100 is used to clean and extract dust from the surface of the energy storage module. The moving mechanism 200 is used to drive the cleaning and dust extraction mechanism 100 to move in position. The cleaning and dust extraction mechanism 100 is connected to the moving mechanism 200 and is located above the conveying mechanism 300. Understandably, the conveying mechanism 300 is used to transport the energy storage module to the area below the corresponding cleaning and dust extraction mechanism 100 so that the cleaning and dust extraction mechanism 100 can clean and extract dust from the surface of the energy storage module. The barcode scanning mechanism 400 is located on one side of the conveying mechanism 300 and is used to scan the barcodes on the energy storage module. Typically, the energy storage module will have a QR code or label that can be scanned and identified, so that the barcode scanning mechanism 400 can scan and record the barcodes for easy production data traceability and operation supervision.

[0050] In the specific operation process, the energy storage module is placed on the conveying mechanism 300 for conveying. Under the action of the conveying mechanism 300, the energy storage module is conveyed to the bottom of the cleaning and dust extraction mechanism 100. After being conveyed to the position, the scanning mechanism 400 scans the energy storage module. After the scanning information is returned, the moving mechanism 200 drives the cleaning and dust extraction mechanism 100 to move to the set position for cleaning and dust extraction.

[0051] Understandably, the device has a controller, and the cleaning and dust extraction mechanism 100, the moving mechanism 200, the conveying mechanism 300, and the barcode scanning mechanism 400 are all connected to the controller, so that each mechanism can be controlled by the controller to perform or stop operation. For example, after the barcode scanning mechanism 400 scans the energy storage module and sends the scan information back to the controller, the controller controls the moving mechanism 200 to drive the cleaning and dust extraction mechanism 100 to move, and after the cleaning and dust extraction mechanism 100 moves into place, it controls the cleaning and dust extraction mechanism 100 to perform cleaning and dust extraction operations.

[0052] The cleaning and dust extraction mechanism 100 includes a mounting frame 110, a brush 120, a mounting box 130, and several dust extraction pipes. The mounting frame 110 is connected to the moving mechanism 200. The mounting box 130 is mounted on the mounting frame 110. The lower end of the mounting box 130 has an opening 131, and the upper end of the mounting box 130 has several first insertion interfaces 132. The brush 120 is distributed around the edge of the opening 131, and one end of each of the several dust extraction pipes is inserted into one of the first insertion interfaces 132.

[0053] For example, the lower surface of the mounting box 130 is rectangular, with an opening 131 in the middle. The opening 131 can be elliptical, circular, or quadrilateral. The brushes 120 are distributed between the edge of the opening 131 and the edge of the lower surface of the mounting box 130, that is, surrounding the opening 131. With this design, it can be ensured that the dust after cleaning is promptly drawn away through the opening 131, preventing the dust after cleaning from escaping to the outside of the brushes 120 and causing re-contamination. Furthermore, by inserting multiple dust extraction pipes into the upper end of the mounting box 130, the uniform suction generated by the multiple dust extraction pipes ensures the dust extraction effect, thereby ensuring the cleaning effect.

[0054] It should be noted that this embodiment does not impose a specific limit on the number of dust extraction pipes; it can be 3 or 4, etc. For example, in this example, the number of dust extraction pipes is 3, and correspondingly, the number of first insertion interfaces 132 is also 3. Furthermore, it is understood that the dust extraction pipes are connected to an external dust extraction mechanism, and can generate suction under the action of the external dust extraction mechanism.

[0055] In some embodiments, the cleaning and dust extraction mechanism 100 also includes a dust collection box 140 disposed on the mounting frame 110. The dust collection box 140 is located above the mounting box 130. A plurality of second insertion interfaces 141 are provided at the lower end of the dust collection box 140. The other ends of a plurality of dust extraction pipes are inserted into the plurality of second insertion interfaces 141 in a corresponding manner. The dust extraction pipes are installed and limited by the second insertion interfaces, and it is also convenient to collect the dust extracted by multiple dust extraction pipes through the dust collection box 140.

[0056] Example 2:

[0057] This embodiment makes further structural optimizations based on Embodiment 1. Please refer to... Figures 1-3 Based on the above, refer to Figure 4 .

[0058] In this embodiment, the moving mechanism 200 includes a first moving module 210 driven along the Y-axis, a second moving module 220 driven along the X-axis, and a third moving module 230 driven along the Z-axis.

[0059] The drive end of the first moving module 210 is connected to the second moving module 220, the drive end of the second moving module 220 is connected to the third moving module 230, and the drive end of the third moving module 230 is connected to the cleaning and dust extraction mechanism 100. With the cooperation of the first moving module 210, the second moving module 220 and the third moving module 230, the cleaning and dust extraction mechanism 100 is driven to move to the set position for cleaning and dust extraction.

[0060] For example, after the conveying mechanism 300 conveys the energy storage module into place, the first moving module 210 drives the cleaning and dust extraction mechanism 100 to move along the Y-axis, the second moving module 220 drives the cleaning and dust extraction mechanism 100 to move along the X-axis, and the third moving module 230 drives the cleaning and dust extraction mechanism 100 to move along the Z-axis. After the cleaning and dust extraction mechanism 100 moves into place, it performs cleaning and dust extraction operations on the energy storage module.

[0061] In some embodiments, the first moving module 210 includes a first moving component 211 and a first guiding component 212 disposed opposite to each other. The first guiding component 212 includes a first guiding slide rail 2121 and a first slider 2122. The first slider 2122 is slidably connected to the first guiding slide rail 2121. The first guiding slide rail 2121 is distributed along the driving direction of the first moving component 211.

[0062] The second moving module 220 connects the driving end of the first moving component 211 and the first slider 2122, and achieves a stable moving effect by driving the first moving component 211 through the first guide component 212.

[0063] For example, when the first moving component 211 drives the second moving module 220 to move, the second moving module 220 drives the first slider 2122 to move along the first guide rail 2121, that is, to ensure that the second moving module 220 moves on the predetermined track, thereby ensuring the movement stability of the cleaning and dust extraction mechanism 100.

[0064] Specifically, the second moving module 220 includes a mounting plate 221 and a second moving component 222 disposed on the mounting plate 221. The opposite ends of the mounting plate 221 are respectively connected to the driving end of the first moving component 211 and the first slider 2122, so that the second moving component 222 drives the first slider 2122 to move stably under the driving action of the first moving component 211. The driving end of the second moving component 222 is connected to the third moving module 230, and the second moving component 222 drives the third moving module 230 to move the cleaning and dust extraction mechanism 100.

[0065] In this embodiment, by setting a first moving module 210, a second moving module 220 and a third moving module 230, the cleaning and dust extraction mechanism 100 is driven to move in different directions, ensuring that the cleaning and dust extraction mechanism 100 moves accurately to the set position to perform cleaning and dust extraction operations, thereby improving the operation accuracy.

[0066] Example 3:

[0067] This embodiment makes further structural optimizations based on Embodiments 1 and 2. Please refer to... Figures 1-4 Based on the above, refer to Figure 5 and Figure 6 .

[0068] In this embodiment, the conveying mechanism 300 includes a conveying carrier 310, a first conveyor belt 320 and a second conveyor belt 330 distributed in parallel. The conveying carrier 310 is located on the first conveyor belt 320 and the second conveyor belt 330 for conveying. The conveying carrier 310 is used to carry and position the energy storage module. The positional stability of the energy storage module during operation is improved by means of the conveying carrier 310.

[0069] Understandably, a clamping structure for positioning the energy storage module can be provided on the conveyor 310, which can be adapted to energy storage modules of various sizes. After the energy storage module is placed on the conveyor 310, the clamping structure clamps and positions the energy storage module to prevent position movement during the conveying process. Then, the first conveyor belt 320 and the second conveyor belt 330 convey the energy storage module to the set position by the conveyor 310.

[0070] In some embodiments, the conveying mechanism 300 further includes a blocking module 340; the blocking module 340 is located between the first conveyor belt 320 and the second conveyor belt 330, and is used to block the conveying of the conveying vehicle 310, prevent the conveying vehicle 310 from continuing to convey, and improve the stability of the operation.

[0071] For example, the blocking module 340 includes a blocking cylinder and a blocking block. The blocking cylinder drives the blocking block to extend and block the transmission of the conveyor 310, which is equivalent to the conveyor 310 having been delivered to the correct position.

[0072] Furthermore, the conveying mechanism 300 also includes an upper support module 350; the upper support module 350 is located between the first conveyor belt 320 and the second conveyor belt 330, and is used to support the conveying vehicle 310, position the conveying vehicle 310, and improve the stability of the operation.

[0073] After the blocking cylinder drives the blocking block to block the conveyor 310, the upper support module 350 is activated to provide upper support for the conveyor 310, so that it is completely separated from the conveying action of the first conveyor belt 320 and the second conveyor belt 330, so as to facilitate subsequent operations.

[0074] Specifically, the upper support module 350 includes an upper support cylinder 351 and an upper support plate 352. The upper support plate 352 is connected to the drive end of the upper support cylinder 351. The upper support plate 352 is provided with a positioning pin for positioning with the conveyor 310. The conveyor 310 is positioned by the positioning pin to improve the stability of the operation.

[0075] Understandably, the conveyor 310 is provided with a positioning hole for the insertion of a positioning pin. After the upper support cylinder 351 drives the upper support plate 352 to be pushed upward, the positioning pin on the upper support plate 352 is inserted into the positioning hole of the conveyor 310 to support and position the conveyor 310 and ensure the positional stability of the conveyor 310.

[0076] The upper support plate 352 is also equipped with a position sensor 360; the position sensor 360 is used to detect the position of the conveyor 310, to ensure that the upper support plate 352 is in place, and to improve the accuracy of the operation.

[0077] After the upper support cylinder 351 drives the upper support plate 352 to lift upward, the distance between the upper support plate 352 and the conveyor 310 becomes smaller and smaller. When the position sensor 360 detects that the distance to the conveyor 310 is within a set threshold, it sends back information to stop the upper support cylinder 351 from driving. Of course, the position sensor 360 can also be used to detect the position height of the upper support plate 352. That is, by detecting the position height of the upper support plate 352, the upper support height of the conveyor 310 is ensured so that the cleaning and dust extraction mechanism 100 can perform cleaning and dust extraction operations.

[0078] The above description is merely an example and illustration of the structure of this invention, and while the description is specific and detailed, it should not be construed as limiting the scope of this invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this invention, and these obvious substitutions all fall within the protection scope of this invention.

Claims

1. An automatic post-welding cleaning and dust extraction device for energy storage modules, characterized in that, It includes a cleaning and dust extraction mechanism (100), a moving mechanism (200), a conveying mechanism (300), and a barcode scanning mechanism (400). The cleaning and dust extraction mechanism (100) is connected to the moving mechanism (200), and the cleaning and dust extraction mechanism (100) is located above the conveying mechanism (300). The scanning mechanism (400) is located on one side of the conveying mechanism (300) and is used for scanning the energy storage module. The cleaning and dust extraction mechanism (100) includes a mounting frame (110), a brush (120), a mounting box (130), and several dust extraction pipes; The mounting bracket (110) is connected to the moving mechanism (200). The mounting box (130) is disposed on the mounting bracket (110). The lower end of the mounting box (130) has an opening (131). The upper end of the mounting box (130) is provided with a plurality of first insertion interfaces (132). The brush (120) is distributed around the edge of the opening (131). One end of a plurality of dust extraction tubes is inserted into a plurality of first insertion interfaces (132) in a corresponding manner.

2. The automatic post-welding cleaning and dust extraction equipment for energy storage modules according to claim 1, characterized in that, The cleaning and dust extraction mechanism (100) also includes a dust collection box (140) disposed on the mounting frame (110), the dust collection box (140) being located above the mounting box (130); The lower end of the dust collection box (140) is provided with several second insertion ports (141), and the other ends of several dust extraction pipes are inserted into several second insertion ports (141) in a corresponding manner.

3. The automatic post-welding cleaning and dust extraction equipment for energy storage modules according to claim 1, characterized in that, The moving mechanism (200) includes a first moving module (210) driven along the Y-axis, a second moving module (220) driven along the X-axis, and a third moving module (230) driven along the Z-axis. The drive end of the first moving module (210) is connected to the second moving module (220), the drive end of the second moving module (220) is connected to the third moving module (230), and the drive end of the third moving module (230) is connected to the cleaning and dust extraction mechanism (100).

4. The automatic post-welding cleaning and dust extraction equipment for energy storage modules according to claim 3, characterized in that, The first moving module (210) includes a first moving component (211) and a first guiding component (212) disposed opposite to each other. The first guide component (212) includes a first guide slide rail (2121) and a first slider (2122). The first slider (2122) is slidably connected to the first guide slide rail (2121). The first guide slide rail (2121) is distributed along the driving direction of the first moving component (211). The second moving module (220) is connected to the drive end of the first moving component (211) and the first slider (2122).

5. The automatic post-welding cleaning and dust extraction equipment for energy storage modules according to claim 4, characterized in that, The second moving module (220) includes a mounting plate (221) and a second moving component (222) disposed on the mounting plate (221); The mounting plate (221) is connected to the drive end of the first moving component (211) and the first slider (2122) at opposite ends. The driving end of the second moving component (222) is connected to the third moving module (230).

6. The automatic post-welding cleaning and dust extraction equipment for energy storage modules according to any one of claims 1-5, characterized in that, The conveying mechanism (300) includes a conveying vehicle (310), a first conveyor belt (320) and a second conveyor belt (330) distributed in parallel. The conveyor (310) is located on the first conveyor belt (320) and the second conveyor belt (330) for conveying energy storage modules. The conveyor (310) is used for carrying and positioning energy storage modules.

7. The automatic post-welding cleaning and dust extraction equipment for energy storage modules according to claim 6, characterized in that, The transmission mechanism (300) also includes a blocking module (340). The blocking module (340) is located between the first conveyor belt (320) and the second conveyor belt (330) and is used to block the transmission of the conveyor (310).

8. The automatic post-welding cleaning and dust extraction equipment for energy storage modules according to claim 7, characterized in that, The conveying mechanism (300) also includes an upper support module (350). The top support module (350) is located between the first conveyor belt (320) and the second conveyor belt (330) and is used to support the conveyor vehicle (310).

9. The automatic post-welding cleaning and dust extraction equipment for energy storage modules according to claim 8, characterized in that, The upper support module (350) includes an upper support cylinder (351) and an upper support plate (352), wherein the upper support plate (352) is connected to the drive end of the upper support cylinder (351); The upper support plate (352) is provided with a positioning pin for positioning with the conveyor (310).

10. The automatic post-welding cleaning and dust extraction equipment for energy storage modules according to claim 9, characterized in that, A position sensor (360) is also provided on the upper support plate (352). The position sensor (360) is used to detect the position of the transport vehicle (310).

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