A gravity energy storage logistics system

Abstract

The utility model discloses a kind of gravity energy storage logistics systems, belong to energy storage technical field, including shuttle bus, main track and subtrack. Shuttle bus is used to carry energy storage block. Main track is used to limit the moving path of shuttle bus. Multiple subtracks have docking point between main track, and shuttle bus can carry out transposition action of energy storage block with each subtrack. By defining the cooperative relationship between shuttle bus, main track and multiple subtracks, a gravity energy storage block logistics transportation network with multiple paths switchable in plane is constructed, so that the conveying of energy storage block in flat layer no longer depends on external logistics tools with large precision difference such as forklift and AGV, but position accuracy is ensured through highly controlled track system. Energy storage block always moves on the path constrained by track, without attitude deflection or position drift, reducing the risk of alignment deviation in docking, hanging, lifting action.

Description

Technical Field

[0001] This utility model belongs to the field of energy storage technology, specifically a gravity energy storage logistics system. Background Technology

[0002] Gravity energy storage systems, which access energy by lifting and lowering high-density energy storage blocks, represent a significant development direction in the field of energy storage technology. Existing gravity energy storage devices typically employ winches, lifting mechanisms, linear motors, or other methods to raise and lower the energy storage blocks within a vertical shaft. After the energy conversion between upper and lower layers is completed, the energy storage blocks need to be horizontally transported and positioned within each level to facilitate subsequent actions such as stacking, buffering, docking, and loading / unloading.

[0003] However, current technologies still lack sufficient research on the horizontal transport and precise positioning of energy storage blocks within each level. Most existing systems focus only on the lifting and lowering of energy storage blocks within the vertical shaft, relying solely on external logistics equipment such as forklifts and AGVs for transport within each level. This approach suffers from the following significant problems: when energy storage blocks are moved by external equipment within a level, the horizontal positioning accuracy is low due to the influence of the driving environment, vehicle posture changes, and operational consistency. This leads to a continuous accumulation of storage position deviations, which in turn affects the automatic connection, engagement, and unlocking processes between the lifting mechanism and the energy storage blocks. Utility Model Content

[0004] The purpose of this invention is to provide a gravity energy storage logistics system to solve the problems mentioned in the prior art.

[0005] A gravity energy storage logistics system is provided, comprising: Shuttle bus, used to carry energy storage blocks; The main track is used to restrict the movement path of the shuttle bus; The secondary tracks, with multiple secondary tracks having docking points with the main track, allow the shuttle vehicle to perform energy storage block swapping with each secondary track.

[0006] As a further embodiment of this utility model: the shuttle vehicle includes a sliding system and a first positioning system. The sliding system forms a sliding pair with the main track, and the first positioning system is used to limit the static and / or dynamic position of the energy storage block on the shuttle vehicle.

[0007] The sliding system, serving as the motion interface between the shuttle and the main track, is responsible for the transmission and guidance of longitudinal motion with low friction and low sway. The first positioning system forms constraints on the energy storage block on the shuttle. Static constraints prevent parking deviation and suppress slippage or swaying during acceleration, deceleration, and turning. Dynamic constraints provide the energy storage block with a unidirectional degree of freedom while restricting its displacement or swaying towards other degrees of freedom. The sliding system and the first positioning system together ensure smooth movement of the shuttle on the main track while limiting the relative displacement of the energy storage block to an acceptable range, thus guaranteeing the reliability of the reference for subsequent repositioning actions.

[0008] By constraining the primary positioning system, alignment errors caused by relative motion during transportation are reduced, improving the docking success rate. The sliding system enhances the operating efficiency and lifespan of the shuttle vehicle, while the primary positioning system ensures the safety and position repeatability of the energy storage blocks under high inertia conditions. The system supports high-speed, frequent cyclic operation while maintaining high-precision positioning requirements.

[0009] As a further aspect of this invention, it also includes an execution system for performing the transposition of the energy storage block and the sub-track.

[0010] The actuator independently performs the tasks of picking up, placing, and changing the orientation at the docking point, realizing the actual displacement of the energy storage block between the shuttle vehicle and the secondary track. The actuator can be an independent functional unit on the shuttle vehicle; or the actuator can be detached from the shuttle vehicle, separating the displacement action from the shuttle vehicle. The actuator can complete displacement methods in space that are different from the direction of the secondary track, such as lateral movement, lifting, or combined movements, thereby guiding the energy storage block into the secondary track.

[0011] Because the actuator can directly remove the energy storage blocks from the shuttle car and deliver them to the secondary track, the shuttle car only needs to run along the main track to the docking point, without having to enter the narrow, structurally complex, or dynamically changing secondary track area. The existence of the actuator completely decouples the main track vehicle circulation transportation from the secondary track storage process. Therefore, the system only needs to maintain a small number of shuttle cars circulating on the main track to provide transfer services for a large number of energy storage blocks, avoiding the configuration of one shuttle car per energy storage block.

[0012] As a further embodiment of this invention, it also includes a traction mechanism for driving the energy storage block to move along the secondary track.

[0013] The traction mechanism is specifically designed for active drive in the longitudinal direction of the secondary track. When the energy storage block enters the secondary track, the traction mechanism takes over and drags the block to the designated stacking or buffering location. Specifically, the traction mechanism travels along the track or pulls the energy storage block via steel cables on the secondary track, achieving continuous transport. Sectional traction avoids the structural complexity caused by connecting vehicles entering the secondary track. During traction, a reliable connection needs to be established between the traction mechanism and the energy storage block, and rapid disengagement is required at the designated location to complete placement.

[0014] As a further embodiment of this utility model: the traction mechanism includes a docking trolley, and the docking trolley is provided with a hooking mechanism that can form a limiting cooperation with the energy storage block.

[0015] The docking trolley is arranged along the secondary track and is powered by a motor, linear drive unit, or traction cable system. The energy storage block itself does not have a drive unit; the movement of the energy storage block along the secondary track is entirely driven by the docking trolley. This external drive mode ensures that the running trajectory of the energy storage block is constrained by a fixed guide path and constant drive parameters. The speed, acceleration, and stopping position of the power source can be repeatedly set by the controller, thereby ensuring that the energy storage block can reproduce a consistent motion trajectory, the same braking distance, and a highly uniform docking accuracy in each operation.

[0016] After engagement, the coupling mechanism provides reliable limiting contact for the energy storage block, ensuring stable transmission of traction force along the secondary track. Simultaneously, it provides partial attitude constraint on the energy storage block, preventing it from swaying, tilting, or rotating due to inertia during transfer or braking. This ensures the energy storage block maintains a linear and consistent trajectory along the secondary track without attitude drift. The coupling mechanism eliminates manual pin insertion, forklift insertion, and manual alignment, automating the entire process, reducing manual labor, and avoiding safety risks.

[0017] As a further embodiment of this utility model: the hooking mechanism is an elastic element set on the docking crane, and the hooking mechanism and the docking crane trigger the elastic element to move up and down through mechanical interference.

[0018] The core of this mechanical coupling mechanism lies in its passive motion chain, which combines mechanical interference triggering, a flexible floating structure, and automatic engagement / disengagement. The coupling mechanism itself does not require motors, electromagnets, cylinders, or controllers; electrical controls are concentrated at the end of the track. The interior of the track (over long distances) eliminates easily worn components such as wires, air pipes, and control harnesses, reducing potential sources of failure and significantly improving system availability. The mechanically triggered action is determined by the geometric contour, independent of signal delays or command errors, and the triggering path is fixed each time, ensuring high repeatability.

[0019] As a further embodiment of this utility model: a second positioning system is provided on the secondary track for locating the static and / or dynamic position of the energy storage block on the secondary track.

[0020] The second positioning system is used to form a controllable fit with the components on the energy storage block. This geometric fit can provide constraints in multiple directions: prevent the energy storage block from shifting left or right, ensure that the center of the energy storage block is aligned with the center line of the sub-track; control the stopping position of the energy storage block along the track direction; and provide attitude support for the energy storage block, preventing it from tilting, rotating, or exhibiting off-center loading.

[0021] As the energy storage block moves along the secondary track, the second positioning system continuously provides guidance, ensuring that the energy storage block does not deviate or change attitude when accelerating, decelerating, or encountering small track errors. Through this continuous dynamic constraint, the system achieves high trajectory repeatability, controllable attitude changes, and prevents the energy storage block from deviating from the track due to inertial sideslip or swaying.

[0022] As a further aspect of this utility model: the second positioning system is a guide groove mating surface formed between the energy storage block and the sub-track, used to limit the movement path of the energy storage block on the sub-track.

[0023] The guide slot type fitting structure constrains the degree of freedom of the energy storage block's motion within the secondary track. The cross-sectional shape of the guide slot naturally possesses self-centering characteristics. When the energy storage block enters the slot opening, its position is determined by the geometry of the slot surface, thereby simultaneously restricting the energy storage block's degrees of freedom in the lateral, vertical, pitch, and roll attitudes, while retaining only a single degree of freedom linear displacement along the track direction.

[0024] When the energy storage block deviates slightly from the track, the inclined surface of the guide groove generates a lateral restoring force, pushing the energy storage block back to the center position and automatically centering it without the need for additional active control or sensor correction. Because the energy storage block's attitude is restricted and it is automatically centered, it can more reliably complete the mechanical interface with the stacking mechanism, lifting mechanism, and pick-and-place device in the secondary track, significantly reducing the risk of misalignment, collision, and jamming.

[0025] As a further embodiment of this utility model: the second positioning system includes a stop mechanism that is arranged around the sub-track and can form a limiting cooperation with the energy storage block.

[0026] The stop mechanism is installed at key stopping points on the secondary track. Its core principle is to constrain the terminal position of the energy storage block through mechanical limiting, preventing the energy storage block from sliding along the track due to collisions, gravity, vibration, or other external disturbances. The stop mechanism ensures that the energy storage block will not drift after reaching the designated position, making the stopping of the energy storage block in the storage area more reliable. When the energy storage block tends to move due to external disturbances, the stop mechanism can immediately limit the displacement of the energy storage block, preventing it from sliding into unexpected areas, colliding with other energy storage blocks, or interfering with actuators or personnel.

[0027] As a further embodiment of this invention, a wheel system is provided on the energy storage block.

[0028] Arranging a wheel system on the energy storage block can change the relative motion between the energy storage block and the track system from sliding to rolling. The wheel system undertakes the main tasks of support and guidance. The wheel system provides lateral positioning and reduces frictional resistance through the engagement of wheel flanges or lateral guide wheels with guide grooves and tracks. The wheel system can work in conjunction with the first positioning system and the second positioning system. The wheel system is responsible for translation and rolling, while the positioning system is responsible for precise locking and anti-swaying.

[0029] Wheel trains reduce movement resistance and traction power requirements, improving energy efficiency. Rolling supports reduce wear between the track and the energy storage block, lowering maintenance frequency. The presence of wheel trains simplifies traction and guidance design, making entry and exit from the trough smoother and more reliable, while also facilitating long-distance, repeated cyclic transport.

[0030] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. The main track serves as the core transportation channel, forming a horizontal trunk logistics path for the long-distance cross-regional movement of energy storage blocks throughout the entire floor area. Multiple secondary tracks are distributed across different storage areas required by the system, each connecting to the main track via docking points. Shuttle vehicles can operate on the main track; upon reaching a docking point, the shuttle vehicle transfers the energy storage blocks from the shuttle vehicle to the secondary track path.

[0031] 2. By defining the collaborative relationships between the shuttle vehicle, the main track, and multiple secondary tracks, a multi-path switchable gravity energy storage block logistics transportation network is constructed within a plane. This eliminates the reliance on external logistics tools with varying precision, such as forklifts and AGVs, for the transport of energy storage blocks within a single level. Instead, a highly controlled tracked system ensures positional accuracy. The energy storage blocks always move along the track-constrained path, preventing attitude deviations or positional drifts, thus reducing the risk of alignment errors during shuttle, coupling, and lifting operations. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this drawing or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this drawing. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the overall structure of a gravity energy storage logistics system. Figure 2 for Figure 1 Enlarged view of region A in the middle; Figure 3 for Figure 2 Enlarged view of region B in the middle; Figure 4 for Figure 2 Enlarged view of region C in the middle; Figure 5 This is one of the structural schematic diagrams of the execution system provided in the embodiments of this utility model; Figure 6 A second schematic diagram of the execution system provided in this embodiment of the utility model; Figure 7 This is a schematic diagram of the structure of the second positioning system provided in an embodiment of the present utility model; Figure 8 This is a schematic diagram of the stop mechanism provided in an embodiment of the present utility model; Figure 9 This is a schematic diagram of the docking crane provided in an embodiment of the present utility model.

[0034] In the diagram: 1. Shuttle vehicle; 11. Sliding system; 12. First positioning system; 2. Main track; 3. Sub-track; 31. Second positioning system; 311. Guide groove mating surface; 312. Stopping mechanism; 4. Energy storage block; 41. Wheel system; 5. Actuation system; 6. Traction mechanism; 61. Docking trolley; 62. Interlocking mechanism. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0036] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0037] However, there may be instances where unnecessary detailed descriptions are omitted. For example, detailed descriptions of well-known matters or repetitive descriptions of essentially the same structures may be omitted. This is to avoid unnecessarily lengthy descriptions and to facilitate understanding by those skilled in the art. Furthermore, the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand this application and are not intended to limit the subject matter of the claims.

[0038] Please see Figures 1-2As shown in the embodiment of this utility model, a gravity energy storage logistics system includes a shuttle vehicle 1, a main track 2, and secondary tracks 3. The shuttle vehicle 1 is used to carry energy storage blocks 4. The main track 2 is used to restrict the movement path of the shuttle vehicle 1. Multiple secondary tracks 3 have docking points with the main track 2, and the shuttle vehicle 1 can perform the exchange action of energy storage blocks 4 with each secondary track 3.

[0039] The system divides planar logistics into two paths: a main track (2) and a secondary track (3). The main track (2) is used for the inter-regional movement of the shuttle vehicle (1), while the secondary track (3) is used for placement, stacking, and local retrieval. The shuttle vehicle (1) runs on the main track (2) and establishes a physical and functional connection with the secondary track (3) at a predetermined docking point. At the docking point, a transfer process is triggered, allowing the energy storage block (4) to switch between the main track (2) and the secondary track (3) from transport to storage or vice versa. This track constraint reduces the orientation freedom of the energy storage block (4) to a controllable single degree of freedom, minimizing attitude drift and positioning uncertainty.

[0040] In some typical embodiments, to raise and lower the energy storage block 4 within the vertical shaft and connect it to the planar track system, the optional vertical transportation methods mainly include: a steel wire rope or synthetic fiber rope wound around a drum, using a motor and brake to pull the lifting platform up and down; or a rotary motor unfolded into a linear structure, directly generating axial push and pull force through electromagnetic force to make the lifting platform carrying the energy storage block 4 move in a straight line. The transportation method of the energy storage block 4 within the vertical shaft can be selected as needed and is not limited to a single method here.

[0041] Preferably, the stator of the linear motor is arranged on both sides of the shaft or the entire vertical shaft wall to form a fixed linear magnetic track. A mover or magnetic slider is installed on the linear magnetic track, and a phase sequence current that varies with time is passed through it to generate a continuous electromagnetic thrust along the vertical direction, so that the energy storage block 4 is directly driven to rise or fall without the need for intermediate mechanical transmission such as steel wire rope, which can realize high-precision transmission of the mover.

[0042] In some typical embodiments, to realize the transfer of energy storage block 4 between the lifting platform and the shuttle vehicle 1, the following transfer methods are provided: The mover lowers the energy storage block 4 onto the cabin or tray of the shuttle vehicle 1, and alignment is completed using self-neutral guidance (guide groove, chamfer). The mover or the shuttle vehicle 1 is equipped with a translation platform, which slides horizontally after alignment to transfer the energy storage block 4 from one side to the other. The mover first rises and falls to the accurate height, and then the transfer is completed by a lateral swing arm or lateral movement mechanism. For example, a gripper is used to pick up the energy storage block 4 and move it to the other position before releasing it, or a lifting limit clamp is used to form a limiting engagement with the energy storage block 4, raising it to a certain height and then moving it to the target position and placing it down. The posture of the energy storage block 4 is changed by flipping the tray or tongue plate to complete the transfer from the mover to the shuttle vehicle 1. The transfer method of energy storage block 4 between the lifting platform and the shuttle vehicle 1 can be selected as needed and is not limited to a single method.

[0043] In one specific implementation, when the gravity energy storage logistics system is in operation, the energy storage block 4 is first placed or connected to the shuttle vehicle 1. The shuttle vehicle 1 then travels a long distance along a predetermined path, either laterally or longitudinally, under the constraint of the main track 2. The main track 2 geometrically restricts the movement trajectory of the shuttle vehicle 1, ensuring that the shuttle vehicle 1 always maintains a stable attitude and accurate path. This allows for a repeatable, high-precision transportation process without relying on autonomous navigation or complex positioning devices.

[0044] When the shuttle vehicle 1 reaches a pre-set docking point, this docking point simultaneously serves as the interface for switching between the shuttle vehicle 1's running path and the corresponding secondary track 3. The shuttle vehicle 1 stops or decelerates at the docking point. The structural design at this location allows the shuttle vehicle 1 to form a mechanical interface with the secondary track 3 that ensures continuous trajectory or high alignment, thus ensuring that the energy storage block 4 can switch paths without attitude deviation.

[0045] At the docking point, the system's execution mechanism 5 triggers the repositioning action of the energy storage block 4. At this time, the energy storage block 4 detaches from the connecting vehicle 1 and enters the interior of the secondary track 3 along the guide path of the secondary track 3. During the repositioning process, the structural relationship between the main track 2, the connecting vehicle 1, and the secondary track 3 ensures the precise alignment of the energy storage block 4 with the track centerline, preventing the energy storage block 4 from jamming, swaying, or lateral displacement during path switching.

[0046] After the energy storage block 4 enters the secondary track 3, it continues to move along the path of the secondary track 3 into the storage area under the structural constraints of the secondary track 3. At the same time, the shuttle vehicle 1 does not need to enter the interior of the secondary track 3, but continues to run along the main track 2 after completing the transfer, and can perform the transportation task of the next energy storage block 4 at any time, realizing the independent division of labor and recycling between the main track 2 and the secondary track 3.

[0047] Through the above process, the logistics system forms a layered logistics architecture in which the main track 2 is responsible for level transport and the secondary track 3 is responsible for local area positioning and stacking. This enables the transport of energy storage blocks 4 within the entire level to have controllable paths, high repeatability of positioning, high throughput capacity, and precise interface with lifting equipment. This solves the problems of insufficient precision, uncontrollable paths, and error accumulation that exist in traditional forklifts and AGVs in level transfer.

[0048] Specifically, please refer to Figure 2 and Figure 3 As shown, the shuttle vehicle 1 includes a sliding system 11. The sliding system 11 forms a sliding pair between the shuttle vehicle 1 and the main track 2, enabling the shuttle vehicle 1 to move smoothly along the longitudinal direction of the main track 2. By reducing friction, it reduces the driving force required for starting, accelerating, decelerating, and maintaining a constant speed. In addition, the sliding system 11 restricts the lateral and tilting degrees of freedom of the shuttle vehicle 1 through its guiding cooperation with the main track 2, maintaining the longitudinal motion accuracy and attitude stability of the shuttle vehicle 1 and preventing swaying during high-speed operation or turning.

[0049] Optionally, the driving mode between the shuttle car 1 and the main track 2 can be as follows: the permanent magnet mover on the shuttle car 1 is directly driven by magnetic force to move along the track using the linear motor stator embedded in the main track 2; the shuttle car 1 is pulled or dragged by a fixedly connected traction rope, which is driven by an electric winch or gear reducer; a drive wheel or traction wheel is installed on the shuttle car 1, and driving force is generated by contact with the friction track or traction bar.

[0050] Please see Figure 2 , Figure 5 and Figure 6 As shown, the logistics system also includes an execution system 5, which is used to perform the switching action between the energy storage block 4 and the sub-track 3.

[0051] In one embodiment, see Figure 6 As shown, the actuator 5 is a conveyor belt mounted on the shuttle vehicle 1. The conveyor belt is powered by a motor that drives rollers or pulleys, causing the energy storage block 4 to move laterally or longitudinally along the shuttle vehicle 1. The conveyor belt provides a continuous and controllable surface speed, ensuring smooth movement of the energy storage block 4 during the transfer process. When the shuttle vehicle 1 reaches the docking point with the secondary track 3, the actuator 5 is activated, sliding the energy storage block 4 from the shuttle vehicle 1 onto the secondary track 3 in a predetermined direction.

[0052] More specifically, the conveyor belt travels in the same direction as the guide rail of the secondary track 3. After being transferred from the lifting platform to the connecting vehicle 1, the energy storage block 4 is carried on the conveyor belt. When the connecting vehicle 1 docks with the secondary track 3, the conveyor belt and the secondary track 3 are mechanically aligned, and the energy storage block 4 is transferred onto the secondary track 3 by the drive of the conveyor belt.

[0053] In one embodiment, see Figure 5 As shown, the actuator 5 employs a push rod mechanism positioned around the main track 2. The push rod can be driven electrically, pneumatically, or hydraulically to push the energy storage block 4 in a predetermined direction. The push rod forms direct contact with the surface of the energy storage block 4, and mechanically pushes the energy storage block 4 laterally from the shuttle car 1 to the secondary track 3.

[0054] More specifically, the shuttle vehicle 1 is equipped with multiple guide rails, the extension direction of which is the same as that of the secondary track 3. After the energy storage block 4 is transferred from the lifting platform to the shuttle vehicle 1, it rests on the guide rails. When the shuttle vehicle 1 docks with the secondary track 3, the guide rails of both are mechanically aligned, providing a stable and interference-free channel for the sliding of the energy storage block 4 between the two guide rails. At the same time, the push rod mechanism is activated, pushing the energy storage block 4 off the surface of the shuttle vehicle 1 and sliding it onto the secondary track 3.

[0055] In a more specific embodiment, the push rod has a rotatable threaded joint at its front end, which can be threaded into a threaded hole on the energy storage block 4, so that the push rod can not only perform a forward pushing action, but also perform a pull-back action when the energy storage block 4 is transferred from the sub-track 3 to the shuttle car 1.

[0056] In one embodiment, the execution system 5 adopts a robotic arm mechanism set around the main track 2. The robotic arm forms a mechanical limit with the energy storage block 4 by clamping or structural interference, so as to perform lifting, translation and lowering actions on the energy storage block 4, and transport the energy storage block 4 from the shuttle car 1 to the secondary track 3 through a combination of actions.

[0057] Please see Figure 2 and Figure 3 As shown, the shuttle vehicle 1 also includes a first positioning system 12, which constrains the energy storage block 4 and provides one or more combined constraint modes based on at least one possible static or dynamic state.

[0058] The energy storage block 4 only requires static constraints on the shuttle vehicle 1: when the energy storage block 4 is stationary on the shuttle vehicle 1, the first positioning system 12 constrains the lateral, longitudinal, and vertical degrees of freedom of the energy storage block 4 through geometric limits, guide grooves, clamping, or support surfaces, preventing the energy storage block 4 from displacing or tilting. This static constraint applies to the case where the transfer action of the energy storage block 4 between the shuttle vehicle 1 and the sub-track 3 is achieved through lifting, translation, and lowering actions by a robotic arm mechanism such as the actuator 5, i.e., the case where there are no possible degrees of freedom of movement between the energy storage block 4 and the shuttle vehicle 1.

[0059] The energy storage block 4 requires dynamic constraints on the shuttle vehicle 1: During the acceleration, deceleration, or turning of the shuttle vehicle 1, the energy storage block 4 is subjected to inertial forces. The first positioning system 12 restricts the sliding or swaying of the energy storage block 4 relative to the shuttle vehicle 1 through fastening, clamping, or guiding devices, ensuring that the movement of the energy storage block 4 is synchronized with the shuttle vehicle 1, thereby improving the system's operational stability and docking accuracy. When the energy storage block 4 needs to move relative to the shuttle vehicle 1 into the sub-track 3, the first positioning system 12 releases part of the constraints on the energy storage block 4, providing only a directional sliding degree of freedom in a certain direction. Through this dynamic constraint, the energy storage block 4 will not generate cumulative displacement errors during lateral material flow, thus ensuring high repeatability positioning accuracy when docking with the sub-track 3. This dynamic constraint applies to the transfer action of the energy storage block 4 between the shuttle vehicle 1 and the sub-track 3, which is achieved by pushing through a push rod mechanism such as the actuator 5 or by conveyor belt transport, i.e., the energy storage block 4 and the shuttle vehicle 1 have possible degrees of freedom of movement.

[0060] In one specific embodiment, please refer to Figure 3 As shown, the first positioning system 12 is formed by two guide rails on the shuttle vehicle 1, and the energy storage block 4 is provided with a stop structure that forms a limiting cooperation with the guide rail, such as a guide groove, an inverted conical flange, etc.

[0061] In a more specific embodiment, the energy storage block 4 is provided with a wheel system 41. The wheel system 41 forms a limiting engagement with the guide rail through guide grooves or inverted conical flanges, allowing the energy storage block 4 to travel on the shuttle vehicle 1 with low friction. The first positioning system 12 also includes a drivable limiting lock. The limiting lock forms a structural interference between the locking tongue or pin and the corresponding limiting part on the energy storage block 4 through controllable rotation and translation, thereby controlling the unique sliding degree of freedom of the energy storage block 4 on the shuttle vehicle 1.

[0062] When the shuttle vehicle 1 travels on the main track 2, all degrees of freedom of the energy storage block 4 are restricted by the first positioning system 12 to prevent the energy storage block 4 from slipping due to the instability of the wheel system 41. When the shuttle vehicle 1 docks with the corresponding secondary track 3, the limit lock of the first positioning system 12 releases the only degree of freedom of the energy storage block 4, ensuring that the energy storage block 4 can slide in a stable direction.

[0063] In one specific embodiment, the first positioning system 12 is formed by a number of raised strips on the conveyor belt of the shuttle vehicle 1. The raised strips are integrally formed with the surface of the conveyor belt. The energy storage block 4 is provided with a stop structure that forms a limiting cooperation with the raised strips, such as a guide groove or an inverted conical flange.

[0064] In a more specific embodiment, if the secondary track 3 transports the energy storage block 4 via a conveyor belt, and there is no relative friction between the energy storage block 4, the connecting vehicle 1, and the secondary track 3, then the energy storage block 4 may not be equipped with a wheel system 41. If the secondary track 3 forms a transport path for the energy storage block 4 via a guide rail, and a wheel system 41 is provided on the energy storage block 4 to reduce transport friction, then the wheel system 41 forms a limiting fit with the convex strip through the guide groove or inverted conical flange on it.

[0065] The actuator 5 works in conjunction with the first positioning system 12 to minimize the positional error of the energy storage block 4 during transportation, detachment, and placement. Combined with the actuator 5 and the first positioning system 12, the shuttle vehicle 1 and the energy storage block 4 form a rigid or quasi-rigid motion unit, ensuring stable attitude and high positional accuracy of the energy storage block 4 as it moves along the main track 2, thus reducing the risk of shuttle failure or impact damage.

[0066] Please see Figure 2 As shown, the logistics system also includes a traction mechanism 6, which drives the energy storage block 4 to move along the secondary track 3. The traction mechanism 6 is specifically arranged in the longitudinal direction of the secondary track 3, undertaking the active driving responsibility of the energy storage block 4 within the secondary track 3. The secondary track 3 is usually narrow, with a complex structure or dense distribution. If the shuttle vehicle 1 needs to enter the secondary track 3, it will lead to problems such as the need to set up a steering structure for the shuttle vehicle 1, the complexity of the track layout, and the increase in the number of shuttle vehicles 1.

[0067] Unlike the shuttle vehicle 1 on the main track 2, the traction mechanism 6 does not participate in the main line transportation. Instead, it takes over the power after the energy storage block 4 enters the sub-track 3, enabling the energy storage block 4 to continue moving deeper along the sub-track 3. This avoids the structural complexity and operational risks caused by the shuttle vehicle 1 going deeper into the sub-track 3. The traction mechanism 6 can actively drag the energy storage block 4 to the designated position along the sub-track 3, providing stable and controllable longitudinal transportation capabilities, and can quickly detach and return at the termination position. This design effectively ensures the precise positioning, stable stacking, and sequential buffering of the energy storage block 4 deep within the sub-track 3, while improving the overall throughput efficiency and layout flexibility of the system.

[0068] Optionally, the traction mechanism 6 includes a drive trolley that runs along the secondary track 3. The trolley is equipped with a hook or clamping device connected to the energy storage block 4, and the trolley is driven by a motor. The trolley itself moves along the secondary track 3, pulls the energy storage block 4 by the hook device, and serves as a support chassis for the energy storage block 4 during storage. This solution offers flexible positioning and precise local control, but the drive trolley needs to continuously carry the energy storage block 4, placing a continuous load on the trolley body.

[0069] Optionally, the traction mechanism 6 includes a chain or synchronous toothed belt arranged along the secondary track 3, with a drive wheel and tension wheel driving the chain belt to move the circulating traction device.

[0070] Optionally, the traction mechanism 6 includes a long stator or linear rail embedded in the sub-rail 3, with a traction mover or traction trolley as the moving body, directly electromagnetically driving the energy storage block 4 or the traction component. Electromagnetic force generates contactless driving force, and the mover drives the hanger or trolley to move, achieving high precision, high acceleration and deceleration capability, almost no mechanical wear, easy closed-loop control and energy recovery.

[0071] Further, please refer to Figure 2 and Figures 4-6 As shown, the traction mechanism 6 includes a docking trolley 61, which is equipped with a hooking mechanism 62 that can form a limiting engagement with the energy storage block 4. The docking trolley 61 operates as a mobile traction unit between the secondary tracks 3. When the actuator 5 introduces the energy storage block 4 into the entrance or docking position of the secondary track 3, the docking trolley 61 automatically forms a mechanical limiting engagement with the energy storage block 4 using the hooking mechanism 62 installed on it. After completing the traction and reaching the designated stacking or buffer position, the hooking mechanism 62 automatically unlocks and disengages according to the control sequence, and the docking trolley 61 returns or continues to perform the next task.

[0072] More specifically, the docking trolley 61 can achieve precise parking through encoders, magnetic strip rulers or track markers, and the energy storage block 4 will naturally stop at the target position under the constraint of the secondary track 3.

[0073] In one embodiment, the docking trolley 61 operates between the secondary tracks 3 via its own drive motor, and can move back and forth between the sections of the secondary tracks 3. When the system scheduling requires the transfer of a certain energy storage block 4, the docking trolley 61 travels to the pre-dock position of the secondary track 3 where the energy storage block 4 is located according to the control command, and forms a mechanical connection with the energy storage block 4 through the hooking mechanism 62.

[0074] The bottom sides of the energy storage block 4 are mounted on the supporting sliders and rollers of the secondary track 3, ensuring overall stability and allowing free sliding along the track direction. The docking trolley 61's drive motor starts, outputting horizontal traction force. Under the action of traction force, the energy storage block 4 slides linearly along the secondary track 3. The weight of the energy storage block 4 is entirely supported by the secondary track 3, without affecting the trolley's drive load. The secondary track 3 provides linear motion constraints, keeping the energy storage block 4 stable and preventing lateral tilting and rotational deviation. The docking trolley 61 can perform acceleration and deceleration control.

[0075] In one embodiment, a closed-loop chain is arranged between the secondary tracks 3, and this chain is actively driven by a drive wheel. The drive wheel outputs torque through a motor, causing the chain to continuously circulate along a fixed path. The docking trolley 61 is fixed to the chain via connecting points. When the chain is running, the docking trolley 61 is dragged along the secondary track 3 by the chain. The guide geometry of the secondary track 3 ensures that the docking trolley 61 maintains the correct translational direction and does not yaw or deflect.

[0076] The energy storage block 4 is mounted on the support structure of the secondary track 3 on both sides of its bottom, allowing it to slide with low resistance along the secondary track 3. After the docking trolley 61 arrives at the predetermined docking position, the hooking mechanism 62 automatically aligns with the docking point below or to the side of the energy storage block 4. The chain is restarted by the drive wheel, enabling the docking trolley 61 to achieve linear movement along the secondary track 3. The energy storage block 4 is then dragged towards the target position by the hooking mechanism 62. The weight of the energy storage block 4 is entirely supported by the secondary track 3; the docking trolley 61 does not bear any vertical load, only outputting horizontal traction. High-precision parking within the secondary track 3 can be achieved through chain pitch positioning and drive wheel angle encoding.

[0077] In one embodiment, a continuously arranged long stator core and winding are embedded in the slot, sidewall, or bottom of the sub-track 3. The long stator is divided into multiple drive sections, each of which can be independently powered to achieve zoned drive and segmented control. A mover assembly, typically including a permanent magnet array or short stator coils, is configured on the bottom or side of the docking trolley 61. When the long stator is energized, it forms an electromagnetic traveling magnetic field along the direction of the sub-track 3, providing driving force for the docking trolley 61. When the docking trolley 61 enters the drive zone of the long stator, the electromagnetic fields of the mover and the long stator couple, and electromagnetic thrust acts on the mover, enabling the docking trolley 61 to obtain linear driving force along the direction of the sub-track 3.

[0078] The bottom sides of the energy storage block 4 are supported by the auxiliary rails 3, allowing it to slide freely. After the docking trolley 61 stops at the docking position at the rear of the energy storage block 4, the hooking mechanism 62 automatically aligns with the preset docking interface of the energy storage block 4. The long stator is re-excited, generating electromagnetic thrust along the track direction. The docking trolley 61 is driven as the mover to move towards the target stacking position. Because electromagnetic drive has no gears, chains, or steel cables, the trolley movement is free of periodic impacts, and the movement of the energy storage block 4 is smooth and safe.

[0079] Optionally, the hook mechanism 62 is an integrated rotating hook arm combined with an insertable mechanical safety pin. The hook arm is driven to close by a motor or cylinder, and the safety pin is a spring-retained or electrically driven pin. The hook arm captures the upper lug of the energy storage block 4 by the guide surface, the hook arm tightens, and the mechanical safety pin is inserted to complete the secondary locking.

[0080] It should be noted that the rotational hooking method can rotate the hook arm from the secondary track 3 area to the main track 2 area, and drag the energy storage block 4 from the docking vehicle 1 to the secondary track 3 after the docking trolley 61 is running. Therefore, in some application scenarios, the hooking mechanism 62 and the execution system 5 have overlapping functions. The hooking mechanism 62 can be used as the execution system 5 without the need to configure an additional execution system 5 mechanism.

[0081] Optionally, the hooking mechanism 62 is an axial pin, and the energy storage block 4 is provided with a corresponding conical sleeve or hole. The pin is inserted and locked by a servo or cylinder. When the energy storage block 4 moves to the upper part of the docking trolley 61, the pin extends vertically upward and forms a limiting engagement with the conical sleeve or hole on the energy storage block 4. The pin centers the energy storage block 4 on the guide surface while bearing the traction force.

[0082] It should be noted that the structure of the pin is not limited to a column shape; it can also be a height-adjustable limit block or a conical block, as long as it serves the purpose of interference. There is no single limitation here.

[0083] In one embodiment, see Figure 4 and Figure 9 As shown, the hooking mechanism 62 is an elastic element installed on the docking carriage 61. The hooking mechanism 62 and the docking carriage 61 trigger the elastic element to move up and down through mechanical interference.

[0084] When the docking trolley 61 runs along the secondary track 3 and approaches the hooking position of the energy storage block 4, the docking trolley 61 is locked, and the energy storage block 4 moves toward the docking trolley 61. The guide boss, hooking ramp, or lower stop surface on the energy storage block 4 geometrically interferes with the triggering protrusion, baffle, or ramp protrusion of the hooking mechanism 62. This interference applies upward or downward forced deformation to the elastic element during relative motion, causing the elastic element to produce a passive triggering displacement (such as lifting, pressing down, or lateral swing). The interference structure typically uses a ramp fit, automatically converting the triggering force into controllable elastic deformation, ensuring smooth operation and low impact. This control process requires no electrical control commands; the mechanical motion itself drives the action.

[0085] It should be noted that when the docking trolley 61 is locked, the interference force between the hooking mechanism 62 and the energy storage block 4 is less than the locking force of the docking trolley 61. Therefore, it can drive the elastic element to deform and mechanically dock with the energy storage block 4. When the docking trolley 61 is released from its lock, it is driven to run. At this time, the interference force between the hooking mechanism 62 and the energy storage block 4 is greater than the resistance of the system operation, ensuring that the energy storage block 4 will not disengage from the hooking mechanism 62 during movement. When the docking trolley 61 reaches the end of the sub-track 3 or the unloading area, the energy storage block 3 is locked and cannot move. As the docking trolley 61 continues to run, the elastic element is interfered with by the energy storage block 3. At this time, the interference force between the hooking mechanism 62 and the energy storage block 4 is less than the locking force of the energy storage block 4, and the hooking mechanism 62 and the energy storage block 4 are released from the interference state. The elastic element automatically resets after the interference is released, preparing for the next docking.

[0086] The hooking mechanism 62 is triggered by the mechanical interference formed by the movement of the docking trolley 61 and the structure of the energy storage block 4, and utilizes the elastic deformation of the elastic element to achieve a fully mechanical action of hooking and disengaging. It eliminates the need for electrical and pneumatic control components, significantly reducing cables, pipelines, and electrical accessories along the track, thus lowering the sources of system failure. Furthermore, the buffering and automatic reset capabilities of the elastic element ensure smooth and repeatable hooking actions. Its simple structure and high durability make it suitable for long-distance, high-density secondary track layouts, improving reliability and reducing maintenance workload.

[0087] In one specific embodiment, the docking crane 61 is equipped with multiple elastic levers, one end of which is fixed and the other movable end is provided with a guide wheel. After the energy storage block 4 comes into contact with the guide wheel, it forces the movable end of the elastic lever to float up and down, performing an interference or disengagement action with the energy storage block 4.

[0088] Please see Figure 7 and Figure 8As shown, a second positioning system 31 is provided on the sub-track 3. The second positioning system 31 constrains the position and attitude of the energy storage block 4 under both static (parking) and dynamic (movement) conditions on the sub-track 3, so that the movement trajectory, parking position and attitude of the energy storage block 4 in the sub-track 3 can be repeatedly reproduced, thereby ensuring the accuracy and reliability of subsequent interface actions such as stacking, picking and placing, lifting and lowering.

[0089] Under dynamic guiding conditions, the second positioning system 31 is a guide groove mating surface 311 formed between the energy storage block 4 and the sub-track 3. The guide groove mating surface 311 eliminates or restricts some of the mechanical constraints of the original omnidirectional degrees of freedom of the energy storage block 4 through geometric mating of guide grooves, lateral limiting surfaces, inverted conical flanges, tongue grooves, V-grooves, dovetail grooves, etc., retaining only the displacement degree of freedom along the track direction or a controlled minimal swing space.

[0090] In static positioning conditions, the second positioning system 31 includes a stop mechanism 312 arranged around the sub-track 3 that can form a limiting engagement with the energy storage block 4. An extendable rigid stop mechanism 312, such as a mechanical stop, a wedge-shaped positioning surface, or a ball-and-groove positioning element, is provided at a designated stopping point to achieve hard positioning at the endpoint. The stop surface contacts the corresponding surface of the energy storage block 4 and forms a deterministic positional reference.

[0091] In one specific embodiment, the stop mechanism 312 includes rotating arms located on both sides of the sub-rail 3 and hinged to the foundation, and actuators (such as motors or hydraulic cylinders) that drive the rotating arms to rotate. The ends of the rotating arms are provided with support bodies that can form a limiting engagement with the energy storage block 4 to eliminate the degrees of freedom of the energy storage block 4 in all directions. When the energy storage block 4 is in place, the actuators drive the rotating arms on both sides to extend, thus avoiding contact with the energy storage block 4. After the energy storage block 4 is in place, the actuators drive the rotating arms on both sides to retract, thus interfering with the energy storage block 4 and providing a stable parking constraint when the energy storage block 4 is stationary.

[0092] It should be noted that this application is not limited to the above-described embodiments. The above embodiments are merely examples, and any embodiments with the same structure and effect as the technical concept within the scope of this application are included in the technical scope of this application. Furthermore, various modifications that can be conceived by those skilled in the art to the embodiments, and other ways of constructing by combining some of the constituent elements of the embodiments, without departing from the spirit of this application, are also included in the scope of this application.

Claims

1. A gravity energy storage logistics system, characterized in that, include: Shuttle bus (1), which is used to carry energy storage blocks (4); The main track (2) is used to restrict the movement path of the shuttle (1); Sub-tracks (3) and multiple sub-tracks (3) have docking points with the main track (2). The shuttle vehicle (1) can perform the swapping action of the energy storage block (4) with each sub-track (3).

2. The gravity energy storage logistics system according to claim 1, characterized in that, The shuttle vehicle (1) includes a sliding system (11) and a first positioning system (12). The sliding system (11) forms a sliding pair with the main track (2). The first positioning system (12) is used to limit the static and / or dynamic position of the energy storage block (4) on the shuttle vehicle (1).

3. The gravity energy storage logistics system according to claim 1, characterized in that, It also includes an execution system (5), which is used to perform the transposition of the energy storage block (4) and the sub-track (3).

4. The gravity energy storage logistics system according to claim 1, characterized in that, It also includes a traction mechanism (6) for driving the energy storage block (4) to move along the sub-track (3).

5. A gravity energy storage logistics system according to claim 4, characterized in that, The traction mechanism (6) includes a docking trolley (61), which is equipped with a hooking mechanism (62) that can form a limit engagement with the energy storage block (4).

6. The gravity energy storage logistics system according to claim 5, characterized in that, The hooking mechanism (62) is an elastic element set on the docking crane (61). The hooking mechanism (62) and the docking crane (61) trigger the elastic element to move up and down through mechanical interference.

7. The gravity energy storage logistics system according to claim 1, characterized in that, A second positioning system (31) is provided on the sub-track (3) for locating the static and / or dynamic position of the energy storage block (4) on the sub-track (3).

8. A gravity energy storage logistics system according to claim 7, characterized in that, The second positioning system (31) is a guide groove mating surface (311) formed between the energy storage block (4) and the sub-track (3), which is used to limit the movement path of the energy storage block (4) on the sub-track (3).

9. A gravity energy storage logistics system according to claim 7, characterized in that, The second positioning system (31) includes a stop mechanism (312) arranged around the sub-track (3) that can form a limit engagement with the energy storage block (4).

10. A gravity energy storage logistics system according to any one of claims 1-9, characterized in that, The energy storage block (4) is equipped with a wheel system (41).

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