Facade hanging type longitudinal multi-material conveying device

Abstract

The utility model discloses a facade hangs and connects formula longitudinal many material conveying devices, belong to energy storage technical field, including material frame, energy storage block, stator track, mover carrier and the connecting mechanism. Form the positioning portion on energy storage block. Stator track sets up in material frame one side. Mover carrier can move on stator track. The connecting mechanism is used for executing the transfer motion of energy storage block between material frame and mover carrier, and the limiting portion that cooperates with positioning portion is arranged on the connecting mechanism. Material frame, stator track, mover carrier and the connecting mechanism are combined into a complete three -dimensional automatic conveying system, realize the automatic transfer of energy storage block from storage location to lift track. Among them, the positioning portion and the limiting portion constitute the self -positioning structure of passive cooperation, can form quasi -rigid mechanical clamping in the process of connecting, and energy storage block with position error will correct position error after clamping positioning, so as to return to the initial positioning position after unloading.

Description

Technical Field

[0001] This utility model belongs to the field of energy storage technology, specifically a vertical hanging type longitudinal multi-material conveying device. Background Technology

[0002] Gravity energy storage is a physical energy storage method that uses electrical energy to drive a mass block to rise and fall to achieve energy storage and release. Its basic principle is to drive the energy storage block to rise when there is a surplus of electrical energy, converting electrical energy into potential energy for storage; when there is a shortage of electrical energy, the energy storage block is released to fall and generate electricity, thus achieving energy feedback.

[0003] In typical gravity energy storage systems, the lifting and transfer of energy storage blocks are crucial for energy storage and release. In existing technologies, energy storage blocks are typically lifted and lowered within the shaft using winches, or transferred and connected in horizontal areas using traditional logistics equipment such as forklifts and cranes. Patent CN120613761A discloses a moving-coil direct-drive gravity energy storage device and its control method. This device allows several primary moving parts to draw power from the DC bus via a current collector, enabling independent control of the operation of multiple primary moving parts constrained by the magnetic track space on the secondary magnetic track, thus eliminating the traditional winch-based direct lifting method.

[0004] While this material conveying method improves the transport stability of energy storage blocks during the lifting phase, it still lacks effective positioning methods during the docking process. When automated transport equipment such as forklifts and hoisting devices transfer energy storage blocks on a level surface, factors such as docking gaps, image processing noise, environmental influences on photoelectric positioning, path deviations, and material swaying cause the positional error of the energy storage blocks to gradually accumulate over time. As the number of energy storage blocks increases, this error accumulation deepens, ultimately affecting the precise docking of the transport equipment and the energy storage blocks, reducing the system's operational efficiency and safety. Utility Model Content

[0005] The purpose of this utility model is to provide a vertical hanging type longitudinal multi-material conveying device to solve the problems mentioned in the prior art.

[0006] A vertically mounted longitudinal multi-material conveying device is provided, comprising: Material racks; An energy storage block, on which a positioning part is formed; The stator track is located on one side of the material rack; The moving stage can move on the stator track; The connecting mechanism is used to perform the transfer action of the energy storage block between the material rack and the moving platform. The connecting mechanism is equipped with a limiting part that cooperates with the positioning part.

[0007] As a further embodiment of this utility model: the moving platform has vertically arranged facades, the limiting part is disposed on the facade and extends outward relative to the facade, and the energy storage block can be mounted on the facade through the cooperation of the positioning part and the limiting part.

[0008] The moving platform has a vertical facade for mounting the energy storage block, with a limiting part protruding outward from the facade to form a stable bearing surface with hooks. When the connecting mechanism pushes the energy storage block, the positioning part of the energy storage block moves towards the facade, eventually allowing the energy storage block to enter the limiting part in an insert manner. Gravity serves as the auxiliary positioning force during the mounting process. After the energy storage block undergoes quasi-rigid fitting, the clamping force generated by gravity presses the block against the facade along the force path, thereby achieving self-locking and attitude stability. The facade mounting design provides a structural foundation for the energy storage block to form multi-point support with the facade after passive mounting, placing the moving platform and stator track in the most favorable stress condition and improving system stability during lifting and lowering.

[0009] The geometric guidance of the positioning and limiting parts enables error correction and return during the attachment and unloading cycles, allowing the energy storage block to return to a position close to its initial positioning after unloading. The moving platform is precisely controlled by electromagnetic direct drive for lifting and lowering on the stator track. The vertical attachment provides a stable and repeatable mechanical interface, facilitating high-frequency lifting and lowering cycles under electromagnetic drive.

[0010] As a further embodiment of this utility model: the positioning part includes a flared section, a transition section and a fitting section formed sequentially along the insertion direction of the limiting part. The flared section is in clearance fit with the limiting part, the transition section has a progressive narrowing structure that guides the limiting part to move towards the fitting section, and the fitting section fits into the limiting part.

[0011] The flared section accommodates the limiting part with a large tolerance, allowing for larger initial deviations and reducing the system's requirements for gripper positioning and path control. The transition section features a progressive narrowing, and its progressive guidance ensures that deviations are eliminated in a controlled manner, avoiding impacts or jamming caused by direct hard collisions, and achieving continuous correction during the insertion process. The fitting section achieves final precise engagement, ensuring that each docking achieves the same positioning geometry, thereby maintaining the consistency of system positioning during the unloading-return cycle. This three-stage structure progressively reduces displacement and angular errors from transfer equipment or the environment during docking, forming a quasi-rigid positioning during the fitting stage.

[0012] As a further embodiment of this utility model: the positioning part has an extension section in the horizontal direction and an extension section in the vertical direction that are sequentially formed along the extension direction of the limiting part.

[0013] The horizontal section first corrects lateral deviations, guiding the limiting part close to the centerline; the vertical section then performs further corrections to ensure the limiting part is in the appropriate posture when entering the fitting section. After docking, the energy storage block undergoes longitudinal lifting and lowering, electromagnetic direct drive acceleration and deceleration, as well as possible system vibration and wind load disturbances. Therefore, the docking structure must ensure the stability and safety of the transportation process. Through the horizontal and vertical transition sections, and then entering the fitting section, the energy storage block finally achieves complete restriction of horizontal degrees of freedom, vertical degrees of freedom, forward and backward displacement, yaw, pitch, and roll angles, forming a quasi-rigid positioning interface. This improves the vibration resistance and impact resistance of longitudinal transportation, preventing the energy storage block from falling off, shaking, or getting stuck during lifting and lowering.

[0014] As a further embodiment of this utility model: the connecting mechanism includes an actuator, a base, and an adaptive platform. The base is disposed between the material rack and the stator track. The adaptive platform has the freedom to move on the base. The actuator is disposed on the adaptive platform to drive the energy storage block to move relative to the vertical surface and to dock the positioning part with the limiting part.

[0015] In the automated transport link of energy storage blocks, there may be positional deviations when the energy storage blocks arrive at the docking position. When deviations occur during the insertion of the positioning part into the limiting part, wedge-shaped impacts, lateral scraping, and structural interference can easily occur on the mating surfaces. The instantaneous impact force caused by the interference can be amplified into a peak load, which may lead to wear and deformation of the limiting part or even cause the device to enter an abnormal shutdown state. In gravity energy storage systems, the ton-level mass of the energy storage blocks makes the impact amplification effect even more severe.

[0016] The adaptive stage is equipped with guides, secondary supports, and elastic or damping structures relative to the base, enabling the actuator to achieve a small range of displacement when subjected to force, i.e., flexible return capability. This active displacement capability allows the adaptive stage to not remain rigidly resistant when subjected to biasing forces, but rather to produce yielding motion.

[0017] Specifically, when the positioning part of the energy storage block deviates from the center of the limiting part due to error, the non-centering contact force generated by the mating surface acts on the adaptive platform. This biasing force is captured by the adaptive mechanism and drives the platform to offset. The offset of the platform transforms the original non-centering hard collision into dynamic centering correction, ultimately guiding the positioning part to the axial direction of the limiting part. Thus, the impact changes from a rigid collision to a flexible transition, the peak force decreases, and damage, jamming, and metal tearing of the limiting part are avoided. Flexible energy absorption is particularly critical when the energy storage block has a large mass.

[0018] As a further embodiment of this utility model: the actuator includes an actuator guide rail and an actuator gripper. The actuator guide rail is arranged along the side walls of each layer of the material rack, and the actuator gripper is connected to the actuator guide rail in a transmission manner.

[0019] The lateral arrangement of the actuator guide rails relative to the material rack ensures that the main motion planes of the actuator guide rails and actuator grippers do not coincide with the lifting plane of the moving platform, or only briefly intersect at controlled docking nodes. The actuator gripper's interaction with the energy storage block can be limited to the side wall area, and after completion, it retracts into the clearance zone along the lateral rails, ensuring that the moving platform can pass through the lifting position of this layer without obstruction, avoiding restrictions on the moving platform's passage or collisions caused by the actuator guide rails or actuator grippers occupying the space above.

[0020] As a further embodiment of this utility model, the connecting mechanism also includes a logistics track, which is set on the side wall of each storage layer of the material rack, and there is a docking node between the logistics track and the execution guide rail for the execution gripper to interact and operate.

[0021] This structure enables the actuator to switch between two different track systems, allowing it to not only grasp, position, and attach energy storage blocks on the execution rails, but also to handle the full-path displacement of the energy storage blocks within the leveled area along the logistics track. This creates a composite actuator with both transportation and docking / correction capabilities.

[0022] Specifically, the lateral and longitudinal movement of each energy storage block within its respective layer no longer relies on multiple sets of conveyor mechanisms, but is entirely accomplished by the actuators on the logistics track. The logistics track provides a low-resistance, long-distance running path, enabling the actuators to undertake the transportation of materials from any storage cell to the docking node.

[0023] Once the energy storage block is transported to the docking node, the actuator switches to the execution rail and completes the following key actions: pulling the energy storage block closer to the moving platform surface, guiding the positioning and limiting parts to perform mechanical self-alignment, and realizing the locking, coupling, and unloading actions. The process no longer relies on the cooperation of multiple mechanisms, reducing error dispersion, and the full-path control of the actuator makes the energy storage block transfer process highly controllable and repeatable.

[0024] As a further embodiment of this utility model, the connecting mechanism also includes a logistics track, which is set on the bottom wall of each storage layer of the material rack, and the actuator moves between the logistics track and the moving platform.

[0025] By delegating the long-distance horizontal transport of energy storage blocks to the logistics track system, and entrusting the short-distance, high-precision docking action to the actuator, functional decoupling and travel shortening are achieved, thereby improving the efficiency, scalability, and reliability of the entire facade material transport system.

[0026] Specifically, the energy storage blocks can move horizontally along the logistics track when entering or leaving the storage layer. This track acts as a flat-level transport network, precisely delivering the energy storage blocks to the docking nodes on that layer. This eliminates the need for the actuator to perform extensive scanning and movement; it can simply wait at a fixed position for the logistics track to deliver the blocks and complete the docking.

[0027] Compared to solutions that require the gripper to move from multiple grid positions one by one to search for the location of the energy storage block, the single-layer sidewall docking node is fixed, significantly reducing the gripper's stroke. The gripper only needs to complete precise pushing, pulling, clamping, and handover actions within a relatively small stroke range.

[0028] As a further embodiment of this utility model, it also includes a transfer ladder and a transfer guide rail. The stator rail includes at least two and is arranged in parallel. The transfer guide rail is set between the same-direction ends of each stator rail. The transfer ladder moves on the transfer guide rail. The transfer ladder and each stator rail have a docking node for interactive operation of the moving platform.

[0029] The transfer elevator moves laterally along the transfer guide rail, which can guide the moving platform from one track to another. Through the precise docking of the transfer elevator and the transfer guide rail, the switching of the moving platform between different tracks forms a reliable and controllable lateral degree of freedom, realizing the lateral switching of the moving platform between tracks.

[0030] Each stator track serves as an independent lifting channel, with the mover platform rising and falling along its respective track without interference. The parallel tracks distribute the load across each single track, reducing structural stress and improving stability. Because the tracks run parallel, multiple mover platforms can simultaneously lift and lower the energy storage blocks, increasing system throughput. The independent operation of the mover platforms along their tracks prevents mutual interference, ensuring the safety and stability of concurrent operations.

[0031] As a further embodiment of this invention: the stator track forms a closed loop path with the ends connected, and the moving platform can circulate on the stator track.

[0032] The stator tracks, connected end to end, form a complete loop path, allowing the mover platform to operate continuously on the track without reversing. This enables continuous operation of the mover platform on the track, facilitating the continuous lifting, transportation, and return of energy storage blocks. The closed-loop structure ensures that the mover platform always moves along the track, eliminating idle travel or return dead zones, and avoiding stagnation or waiting during single-track lifting, thus improving the work cycle.

[0033] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. The material rack, stator track, moving platform, and connecting mechanism are combined into a complete three-dimensional automated conveying system to realize the automated transfer of energy storage blocks from the storage location to the lifting track. The positioning and limiting parts form a passively cooperating self-positioning structure, which can form a quasi-rigid mechanical engagement during the connection process. This allows energy storage blocks with positional errors to correct their errors after engagement and positioning, returning to their initial positioning position after unloading, thus preventing collisions between the energy storage blocks and other mechanisms in the system due to positional deviations.

[0034] 2. By replacing visual positioning and manual forklift guidance with structured mechanical limiting, interference from external factors such as ambient light, image noise, and path deviation can be significantly reduced. Through the mechanical connection between the positioning and limiting parts, the docking accuracy no longer depends on the movement accuracy of the transport equipment itself, but rather on the self-guidance of the structure, enabling the system to achieve high availability characteristics of error self-elimination and self-correction.

[0035] 3. The overall system architecture supports the continuous operation of energy storage blocks in the three stages of storage, connection and lifting, enabling the gravity energy storage station to form an automated process capability similar to a warehousing and logistics system. It can effectively store the gravity energy of the energy storage blocks through electromagnetic direct drive, and convert the gravity energy of the energy storage blocks into potential energy to generate electricity when power generation is needed. Attached Figure Description

[0036] 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.

[0037] Figure 1 This is a schematic diagram of the overall structure of a vertically mounted multi-material conveying device. Figure 2 This is one of the partial structural schematic diagrams of the conveying device of this utility model; Figure 3 This is the second partial structural schematic diagram of the conveying device of this utility model; Figure 4 A schematic diagram of the cross-sectional structure of the energy storage block provided in an embodiment of this utility model; Figure 5 This is one of the system distribution diagrams for a vertically mounted, longitudinally connected multi-material conveying device. Figure 6 This is the second system distribution diagram of the vertically attached longitudinal multi-material conveying device. Figure 7 This is the third system distribution diagram of the vertically mounted longitudinal multi-material conveying device. Figure 8 This utility model provides a schematic diagram of the connection mechanism.

[0038] In the diagram: 1. Material rack; 2. Energy storage block; 21. Positioning part; 211. Flared section; 212. Transition section; 213. Fitting section; 3. Stator track; 4. Mover platform; 41. Elevation; 5. Connecting mechanism; 51. Limiting part; 52. Actuating mechanism; 521. Actuating guide rail; 522. Actuating gripper; 53. Base; 54. Adaptive platform; 55. Logistics track; 61. Transfer elevator; 62. Transfer guide rail. Detailed Implementation

[0039] 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.

[0040] 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.

[0041] 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.

[0042] Please see Figures 1-3 As shown in the embodiment of this utility model, a vertically mounted, longitudinally connected multi-material conveying device includes a material rack 1, an energy storage block 2, a stator track 3, a moving platform 4, and a connecting mechanism 5. A positioning part 21 is formed on the energy storage block 2. The stator track 3 is disposed on one side of the material rack 1. The moving platform 4 can move on the stator track 3. The connecting mechanism 5 is used to perform the transfer action of the energy storage block 2 between the material rack 1 and the moving platform 4. The connecting mechanism 5 is provided with a limiting part 51 that cooperates with the positioning part 21.

[0043] The material rack 1 provides a multi-layered spatial structure for densely arranging multiple energy storage blocks 2, forming a centralized storage system of a three-dimensional shelving. The stator track 3 is arranged on the side of the material rack 1, enabling the moving platform 4 to move up and down along the direct-drive magnetic track, thus replacing the traditional winch to achieve a ropeless, low-vibration, and precisely positioned lifting method. The moving platform 4, as the mobile platform carrying the energy storage blocks 2, can be continuously and precisely positioned along the stator track 3, maintaining a stable motion posture during the lifting phase. The connecting mechanism 5 undertakes the task of leveling and transferring, its core function being to provide a reliable grasping, importing, positioning, and placement process when the energy storage blocks 2 transition from a static storage state to the moving platform 4's operating state, or when performing a reverse action.

[0044] In one embodiment, the stator track 3 is a longitudinal guide rail structure fixed to the side of the material rack 1, and the primary stator core and armature winding of a three-phase permanent magnet linear motor are arranged longitudinally inside the stator track 3. The mover platform 4 is a moving magnet carrier that can move along the stator track 3, and its main structure includes a load-bearing structural frame, a permanent magnet array (secondary), a guide wheel group, and a facade 41.

[0045] A control current is applied to the three-phase windings on stator track 3, forming an electromagnetic traveling wave magnetic field that moves along the track direction. The permanent magnet array on mover platform 4 interacts with this traveling wave magnetic field to generate thrust. The direction of thrust is controlled by phase sequence and frequency, enabling rising and falling movements. Stable braking is achieved through back EMF and vector control.

[0046] More specifically, the system uses track-based inductive charging, with a wireless power transmitting coil locally arranged on the stator track 3 and a receiving coil arranged on the mover platform 4, supplying power to the mover via magnetic induction coupling. Alternatively, the system uses sliding contact charging, with a conductive slide rail installed on the side of the stator track 3 and a slider or carbon brush on the mover platform 4, supplying power to the mover via direct connection. No single limitation is specified here.

[0047] When the moving platform 4 descends or brakes, that is, during the lowering stage of the energy storage block 2 of the gravity energy storage system, the permanent magnet array moves relative to the stator coil. The coil is regarded as the output terminal of electromotive force. The permanent magnet cuts the magnetic flux of the coil to generate current in the coil, which is then rectified, inverted and connected to the grid or used to charge the battery.

[0048] In one embodiment, the stator track 3 is a permanent magnet array track. The permanent magnet blocks are fixed inside the track by embedded brackets, forming a magnetic field continuously distributed along the longitudinal direction. The mover platform 4 structure includes a moving coil winding (secondary), a laminated iron core (as part of the mover magnetic circuit), a drive inverter (mounted on the platform or connected via a flexible cable), a guide wheel assembly, and a facade 41.

[0049] The multiphase windings draw energy from the busbar via sliding contacts or current collectors. The stator track 3 provides a fixed magnetic field, and the energized windings on the mover platform 4 generate a Lorentz force with the permanent magnetic field, thus generating thrust. The direction of the thrust is modulated by the current phase sequence and frequency of the three-phase inverter.

[0050] More specifically, the moving-coil linear motor requires energization of the mover coil. This system transmits energy via electromagnetic induction coupling, with an energy transmission coil arranged on the stator side and the mover coil acting as the receiver. The received energy is then rectified and used by a rectifier controller to power the mover drive coil. Alternatively, the system can be powered via a sliding contact rail, with conductive rails on the stator track 3 and sliders or carbon brushes on the mover platform 4. Or, the system can be directly powered via a wire connected to the mover platform 4. No single limitation is made here.

[0051] When the moving carrier platform 4 descends or brakes, that is, during the lowering stage of the energy storage block 2 of the gravity energy storage system, the moving coil moves in the permanent magnetic field of the stator, which generates an induced electromotive force. The moving coil cuts the magnetic field to generate an induced current, which is then transmitted to the energy storage unit or connected to the grid through the rectifier unit.

[0052] Regardless of whether it is a moving magnet type or a moving coil type, the specific driving process of the energy storage block 2 is as follows: after the moving carrier platform 4 reaches the docking position, it decelerates and stops precisely. The docking mechanism 5 hangs the energy storage block 2 on the facade 41. The moving carrier platform 4 carries the energy storage block 2 up and down along the stator track 3. The operation process is continuously driven by the permanent magnet array and the electromagnetic traveling wave.

[0053] Specifically, in the pre-positioning stage before attachment, the connection mechanism 5 holds the energy storage block 2 in a predetermined position opposite to the vertical surface 41 of the moving platform 4, ensuring that the movement direction of the positioning part 21 is collinear with the surface 41, reducing the possibility of misalignment. Since the surface 41 is a flat vertical reference plane, it can serve as a directional reference for attaching the energy storage block 2, allowing subsequent attachment movements to proceed along a defined path.

[0054] During the spatial engagement phase of the insertion process, the connecting mechanism 5 pushes the energy storage block 2 towards the facade 41. When the energy storage block 2 approaches the facade 41, the positioning part 21 makes initial contact with the limiting part 51 and slides along the shape of the limiting part 51 until the positioning part 21 enters the limiting space formed by the limiting part 51. Under the action of gravity, the energy storage block 2 will naturally sink, causing the positioning part 21 to press tightly against the bearing surface of the limiting part 51. Since the insertion has achieved self-locking and multi-point support, there will be no loosening, impact, or attitude drift even during dynamic operation. The quasi-rigid locking of the insertion structure achieves anti-sway stability.

[0055] In one embodiment, the positioning part 21 or the limiting part 51 is provided with a driving member extending from the driving pair interference structure, which is used to form a further locking relationship of the driving pair interference structure after the positioning part 21 and the limiting part 51 have formed a fit. This fit form is flexible and can achieve a fully rigid fit, but the structure is complex and requires additional driving components to be configured on the positioning part 21 or the limiting part 51, increasing the redundancy of system control.

[0056] In one embodiment, see Figures 1-4 As shown, the positioning part 21 includes a flared section 211, a transition section 212, and a fitting section 213 formed sequentially along the extension direction of the limiting part 51.

[0057] The cross-sectional opening of the flared section 211 is larger than the external dimensions of the limiting part 51. The geometry of the flared section 211 can be a trumpet-shaped opening, a conical opening, or a rounded expansion opening. When the energy storage block 2 is pushed into the limiting part 51, even if there is a large horizontal deviation, angular deviation, or path drift, the flared section 211 can still receive the limiting part 51 without collision. The inner wall of the flared section 211 forms a passive restraint on the entering positioning part 21, so that the error of large deviation is converged for the first time. The system no longer relies on high-precision trajectory control, allowing error accumulation, effectively reducing the requirements for gripper positioning, track guidance accuracy, and the influence of environmental disturbances (structural micro-deformation caused by vibration, displacement, and temperature), and performing preliminary coarse correction of deviation.

[0058] The transition section 212 is characterized by a progressively decreasing internal cavity cross-section, providing continuous and flexible geometric guidance for the limiting part 51. The reduction of deviation by the transition section 212 is gradual, rather than abrupt. This gradual mechanism effectively avoids rebound, jamming, and structural wear or damage caused by excessive rigid constraints, which can result from direct impact.

[0059] The fitting section 213 serves as the final positioning cavity. The dimensions of the fitting section 213 precisely match the geometric shape of the limiting part 51, ensuring surface and line contact between the limiting part 51 and the cavity wall of the fitting section 213. This simultaneously eliminates multiple degrees of freedom, forming a quasi-rigid fit. Because the geometric dimensions of the fitting section 213 are fixed, the limiting part 51 will always remain in the same geometric position each time it enters, thus ensuring repeatability of the return position after unloading and preventing cumulative errors from occurring after multiple connections.

[0060] This limiting method is naturally implemented through the mechanical structure, requiring no additional drive components.

[0061] Furthermore, a composite guide structure consisting of horizontal and vertical sections is set in the connection path between the limiting part 51 and the positioning part 21, so that the positioning process corrects the deviation in stages, and finally forms a multi-degree-of-freedom complete constraint in the fitting section 213, thereby enabling the energy storage block 2 to maintain high stability and safety in subsequent lifting and lowering movements.

[0062] Specifically, when the energy storage block 2 is pushed into the docking position, the most significant deviation is usually lateral offset. The horizontal section actively guides the limiting part 51 to near the centerline through a laterally converging transition shape (such as a horizontal flared mouth or a horizontal guide groove). After the horizontal section completes the lateral correction, the guide structure of the vertical section continues to restrict the free movement of the energy storage block 2 in the vertical direction, allowing the energy storage block 2 to gradually correct its deflection angle and micro-displacement.

[0063] In one specific embodiment, the limiting part 51 includes a horizontally extending outward main body and a hook extending vertically upward relative to the main body. The horizontally extending inward section is the path of the flared section 211, and the vertically extending upward section is the path where the transition section 212 and the fitting section 213 meet. The flared section 211 is flat and concave inward, and the transition section 212 is concave upward and forms a tapered section. The limiting part 51 first enters the flared section 211 horizontally. When the energy storage block 2 falls or the moving platform 4 is lifted, the hook and the transition section 212 form a correction interference, ultimately causing the hook and the fitting section 213 to form a fitting contact.

[0064] In one specific embodiment, the limiting part 51 includes a horizontally extending outward main body and a hook extending vertically upward relative to the main body. The horizontally extending inward section is the path of the flared section 211 and part of the transition section 212, and the vertically extending upward section is the path of the combination of part of the transition section 212 and the fitting section 213. The flared section 211 is flat and concave inward, and part of the transition section 212 is a tapered section that is horizontally concave inward and vertically concave upward. The limiting part 51 first enters the flared section 211 horizontally and then undergoes position correction under the interference of the transition section 212. When the energy storage block 2 falls or the mover platform 4 is lifted, the hook undergoes position correction under the further interference of the transition section 212, ultimately causing the hook to form a fitting contact with the fitting section 213.

[0065] In a further embodiment, the hook portion is in the shape of a tapered cone extending vertically upward, and the fitting segment 213 is in the shape of a tapered cone cavity extending vertically upward.

[0066] It should be noted that the location of the positioning part 21 is not limited to the side wall opposite to the energy storage block 2 and the facade 41, but can also be located on two opposing side walls adjacent to that side wall. For example, if hooks are provided on the two opposing side walls of the energy storage block 2, the two protruding structures of the limiting part 51 will respectively cooperate with the hooks to form a hook-and-loop structure. The structures derived from this, such as the flared section 211, transition section 212, and fitting section 213, are the same as in the above embodiment and will not be described in detail here.

[0067] In another embodiment, the positioning part 21 extends outward relative to the energy storage block 2, and the limiting part 51 is recessed inward relative to the facade 41, forming a fitting assembly structure. This method requires the energy storage block 2 to extend an additional structure, which may cause structural interference between adjacent energy storage blocks 2, resulting in an inability to arrange them closely. Optionally, after the positioning part 21 extends into the limiting part 51, the limiting part 51 extends a pin through a drive assembly to form a pin engagement with the positioning part 21.

[0068] Please see Figures 5-8 As shown, the docking mechanism 5 includes an actuator 52, a base 53, and an adaptive platform 54. A flexible clearance mechanism is provided between the base 53 and the adaptive platform 54, enabling the adaptive platform 54 to undergo controlled micro-displacement when subjected to the bias insertion force of the energy storage block 2. Under the action of the bias force, the flexible clearance mechanism drives the adaptive platform 54 to produce a lateral, longitudinal, or small-angle attitude clearance displacement, transforming the original non-centering hard collision into a flexible centering process; after the bias force is released, the adaptive platform 54 is reset through a return mechanism or damping structure, realizing the automatic alignment and self-recovery capability of the docking mechanism 5.

[0069] In one embodiment, several elastic elements, such as compression springs, torsion springs, and rubber damping blocks (NR, CR, EPDM, multi-directional shear blocks, etc.), are arranged symmetrically between the base 53 and the adaptive platform 54. The adaptive platform 54 maintains translational or small-angle rotational freedom through guide posts or dovetail grooves. When the positioning part 21 is eccentrically inserted, the biasing force pushes the adaptive platform 54 to compress along the direction of the elastic elements, causing the adaptive platform 54 to make lateral clearance. After the external force disappears, the elastic elements cause the platform to return to the center position.

[0070] As a variation of this embodiment, a spherical pad or a ball joint support is provided between the base 53 and the adaptive platform 54, and a rubber support ring is arranged around its perimeter. The spherical pad allows the platform to pitch and yaw at small angles, while the rubber ring allows for slight lateral displacement and provides a return force.

[0071] In one embodiment, a short-stroke hydraulic damping cylinder or buffer is arranged between the adaptive platform 54 and the base 53. When the bias force is applied, it pushes the piston in the damping cylinder to move. The oil flows through the throttling orifice to generate damping and absorb the impact. The damper can control the speed of dynamic alignment and avoid reverse bouncing. It is suitable for high-frequency connection and high-quality energy storage block 2, and can be returned to its original position by hydraulic drive after disassembly.

[0072] As a variation of this embodiment, a magnetorheological damper is arranged between the adaptive platform 54 and the base 53, making the damping value adjustable. The adaptive platform 54 achieves translation and slight tilting through a simplified guiding mechanism, and adjusts the damping magnitude through a controller when the docking action occurs, thus providing an adaptive response to different mass energy storage blocks 2 and different docking speeds.

[0073] In one embodiment, an X / Y short-stroke linear guide rail is provided between the adaptive stage 54 and the base 53, and the two ends of the guide rail are pre-tensioned by springs or rubber components. The adaptive stage 54 can only move along the direction of the guide rail to avoid disorderly shaking, and the return mechanism of the guide rail maintains positional accuracy.

[0074] In one embodiment, an air-floating pad is arranged below the adaptive platform 54 to form a small-gap air film by instantaneous ventilation before the docking action; or micro-levitation support is achieved by controllable permanent magnet arrangement or magnetic pads, with boundary limiting and spring structure providing final centering.

[0075] Furthermore, the actuator 52 includes an actuator guide rail 521 and an actuator gripper 522. In traditional gravity energy storage transfer or automated storage and retrieval systems, the mechanical gripper is often located directly above the energy storage layer, which can easily obstruct the passage of lifting equipment if the gripper is not fully retracted. In this solution, the actuator guide rail 521 is located in the lateral area of ​​the material rack 1. The motion plane of the actuator guide rail 521 is laterally misaligned with the vertical lifting plane of the moving platform 4, naturally separating their motion spaces and forming a physical division between the lateral working area and the central lifting area, thus avoiding the risk of interference caused by the gripper or guide rail being suspended directly above the moving platform 4.

[0076] Specifically, the actuator 52 and the moving platform 4 are completely separated in their motion planes, but a brief spatial intersection is required during the docking operation: the actuator gripper 522 briefly enters the lifting plane of the moving platform 4 according to the action plan, and immediately retreats to the lateral avoidance zone after completing the limiting, lifting, detection, or docking actions. This avoids prolonged shared space, minimizes the risk of collision, and ensures that the interactive actions are carried out within the precise time window allowed by the system, which is beneficial for control synchronization.

[0077] In a typical embodiment, the gripper 522 is mounted on the moving platform 4. After the energy storage block 2 approaches the moving platform 4, the gripper 522 performs a gripping action on the energy storage block 2 and provides stable limiting during the lifting and lowering process. However, this solution requires the arrangement of hydraulic or other drive components on the moving platform 4, which will significantly increase the weight of the moving platform 4, which is detrimental to the direct-drive charging and power generation system of this utility model and reduces the energy storage rate.

[0078] Optionally, the actuator end of the actuator 522 can perform a gripping action by hydraulic drive, which allows the actuator 522 to mechanically limit the limiting structure on it and the corresponding matching structure of the energy storage block 2 through simple displacement and movement.

[0079] Optionally, the actuator 522 has only a fixed limiting structure at its actuating end, and the energy storage block 2 has a mating structure that can mechanically interfere with this limiting structure. This solution eliminates the need for a complex drive mechanism, reduces the number of free joints in the actuator 522, and improves the operational stability of the actuator 522 by forming a natural limiting structure through mechanical means.

[0080] In one specific embodiment, the energy storage block 2 has outwardly extending hanging ears on both sides, and the actuator 522 has inwardly extending lifting ears on both sides. The actuator 522 lifts the energy storage block 2 by translating and lifting, causing the hanging ears and lifting ears to mechanically interfere with each other. After the energy storage block 2 is docked with the facade 41, the actuator 522 performs translation and lifting actions to retract from the energy storage block 2.

[0081] In one embodiment, see Figure 5 As shown, the connecting mechanism 5 also includes a logistics track 55, which is set on the side wall of each storage layer of the material rack 1. The logistics track 55 and the execution guide rail 521 have a docking node for the execution gripper 522 to operate interactively.

[0082] The actuator 522 can move between two different track systems. In the logistics track 55 area, the actuator 522 is responsible for horizontal, longitudinal, and cross-area displacement for large-scale material transport; in the execution guide track 521 area, the actuator 522 is responsible for precise interactive actions such as approaching the moving platform 4, guiding, positioning, engaging, and unloading. This path system expands the function of the actuator 522 from simple handling to a triple capability of transportation, execution, and correction, achieving composite execution. Multiple transportation mechanisms (such as chain conveyors, traverse trolleys, and docking push rods) no longer need to work together; the entire link is handled by a single actuator 522, reducing sources of error and shortening logical links.

[0083] The specific process is as follows: During the internal transportation phase of energy storage block 2 on the same level, the actuator 522 moves along the logistics track 55 to the grid where energy storage block 2 is located and completes the lateral gripping. The actuator 522 moves along the logistics track 55 to the docking node, completing various lateral, longitudinal, and cross-zone transport operations. During the switching phase, the actuator 522 reaches the track intersection area, and the drive mechanism causes the actuator 522 to move from the logistics track 55 to the actuator guide rail 521, aligning the actuator 522 and energy storage block 2 into a docking posture. The switching between the two sets of tracks enables the zoned execution of transportation and docking tasks.

[0084] It should be noted that you should refer to [link / reference]. Figure 5 and Figure 8As shown, the partitioned execution can structurally separate the base 53, the adaptive platform 54 mechanism, and the logistics track 55. When the gripper 522 crosses zones, the adaptive platform 54 precisely docks with the logistics track 55; when the gripper 522 executes the docking procedure, the adaptive platform 54 undergoes a slight displacement and separates from the logistics track 55; after the gripper 522 docking procedure is completed and it is disassembled from the energy storage block 2, the adaptive platform 54 returns to its original position and re-docks with the logistics track 55.

[0085] Of course, the logistics track 55 and the execution guide rail 521 can always be in a stable docking state, the base 53 has a stable moving path on the execution guide rail 521, and the micro displacement of the energy storage block 2 occurs between the adaptive platform 54 and the base 53.

[0086] In one embodiment, see Figure 6 As shown, the connecting mechanism 5 also includes a logistics track 55, which can be a conveyor belt or a roller conveyor. The logistics track 55 is set on the bottom wall of each storage layer of the material rack 1, and the actuator gripper 522 moves between the logistics track 55 and the moving platform 4.

[0087] The large-scale lateral or longitudinal movement of the energy storage block 2 is undertaken by the logistics track 55, which has the capacity for heavy loads, long distances, and high-frequency operation. The logistics track 55 can branch off to achieve multi-cell supply. The actuator 522 only operates in a local area of ​​the docking node. Its short stroke results in high precision and fast response. The mechanical structure of the actuator 522 does not require heavy-duty design, reducing equipment wear.

[0088] The specific process is as follows: Energy storage block 2 enters the logistics track 55 carrying system from its location or entrance area. The logistics track 55 drives energy storage block 2 to the docking node, and then energy storage block 2 stops at the entrance area of ​​the docking node. The execution gripper 522 moves from the lateral execution guide rail 521 to the docking node and grabs energy storage block 2. The execution gripper 522 pushes energy storage block 2 towards the moving platform 4, finally completing the docking.

[0089] In one embodiment, see Figure 1 , Figure 5 and Figure 6 As shown, the stator track 3 includes at least two and is arranged in parallel. The two ends of the stator track 3 array are respectively provided with transfer guide rails 62. The transfer ladder 61 moves on the transfer guide rails 62. The transfer ladder 61 and each stator track 3 have docking nodes for the interactive operation of the moving platform 4.

[0090] The transfer elevator 61 can move horizontally along the transfer guide rail 62 to dock with each stator rail 3, enabling the moving platform 4 to switch between different stator rails 3 and achieving controllable and reliable lateral freedom of the moving platform 4. When the moving platform 4 arrives at the transfer position from the stator rail 3, it enters the area of ​​the transfer elevator 61. The transfer elevator 61 can carry the moving platform 4 for lateral displacement. In this way, the system can dynamically allocate the running tasks of the moving platform 4 between each stator rail 3, forming a flexible scheduling capability.

[0091] In one specific embodiment, two stator tracks 3 are arranged side by side. During energy storage, the stator track 3 closer to the material rack 1 is used to perform the upward movement of the mover platform 4, and the stator track 3 farther from the material rack 1 is used to perform the downward movement of the mover platform 4. During discharge, the stator track 3 closer to the material rack 1 is used to perform the downward movement of the mover platform 4, and the stator track 3 farther from the material rack 1 is used to perform the upward movement of the mover platform 4. The transfer elevator 61 switches between the two stator tracks 3. This transfer mode forms a continuous cyclic transport of multiple mover platforms 4.

[0092] In one embodiment, see Figure 7 As shown, the stator track 3 forms a closed-loop path with its ends connected, and the moving platform 4 can circulate on the stator track 3. The closed-loop structure enables the moving platform 4 to form a complete material circulation route, including: an upward section, where the moving platform 4 raises the energy storage block 2 to the target height; an interaction section, where the docking node completes the hook-up and unloading operations; a downward section, where the moving platform 4 returns to the bottom, preparing for the next loading; and a return section, where the moving platform 4 naturally enters the next circulation section along the closed-loop track. There are no blind ends or dead zones in either the lifting or return path.

[0093] Preferably, in this cycle path, the moving platform 4 carries the energy storage block 2 only on the path near the material rack 1, and completes the loading or unloading operation on this path. The moving platform 4, which is in an unloaded state, can change its up and down direction by flipping, thereby entering the next cycle.

[0094] 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 vertically mounted longitudinal multi-material conveying device, characterized in that, include: Material rack (1); Energy storage block (2), on which a positioning part (21) is formed; The stator track (3) is located on one side of the material rack (1); The moving stage (4) can move on the stator track (3); The connecting mechanism (5) is used to perform the transfer action of the energy storage block (2) between the material rack (1) and the moving platform (4). The connecting mechanism (5) is provided with a limiting part (51) that cooperates with the positioning part (21).

2. The vertical hanging type longitudinal multi-material conveying device according to claim 1, characterized in that, The moving platform (4) has a vertically arranged facade (41), and a limiting part (51) is provided on the facade (41) and extends outward relative to the facade (41). The energy storage block (2) can be mounted on the facade (41) through the cooperation of the positioning part (21) and the limiting part (51).

3. A vertical hanging type longitudinal multi-material conveying device according to claim 2, characterized in that, The positioning part (21) includes a flared section (211), a transition section (212) and a fitting section (213) formed sequentially along the insertion direction of the limiting part (51). The flared section (211) is in clearance fit with the limiting part (51). The transition section (212) has a progressive narrowing structure that guides the limiting part (51) to move towards the fitting section (213). The fitting section (213) fits into the limiting part (51).

4. A vertical hanging type longitudinal multi-material conveying device according to claim 2, characterized in that, The positioning part (21) has a horizontal extension section and a vertical extension section that are sequentially formed along the insertion direction of the limiting part (51).

5. A vertical hanging type longitudinal multi-material conveying device according to claim 3, characterized in that, The connecting mechanism (5) includes an actuator (52), a base (53) and an adaptive platform (54). The base (53) is located between the material rack (1) and the stator track (3). The adaptive platform (54) has a degree of freedom to move on the base (53). The actuator (52) is located on the adaptive platform (54) to drive the energy storage block (2) to move relative to the facade (41) and to dock the positioning part (21) with the limiting part (51).

6. A vertically mounted longitudinal multi-material conveying device according to claim 5, characterized in that, The actuator (52) includes an actuator guide rail (521) and an actuator gripper (522). The actuator guide rail (521) is arranged along the side walls of each layer of the material rack (1), and the actuator gripper (522) is connected to the actuator guide rail (521) for transmission.

7. A vertical hanging type longitudinal multi-material conveying device according to claim 6, characterized in that, The connecting mechanism (5) also includes a logistics track (55), which is set on the side wall of each storage layer of the material rack (1). The logistics track (55) and the execution guide rail (521) have a docking node for the execution gripper (522) to operate interactively.

8. A vertical hanging type longitudinal multi-material conveying device according to claim 6, characterized in that, The connecting mechanism (5) also includes a logistics track (55), which is set on the bottom wall of each storage layer of the material rack (1), and the gripper (522) moves between the logistics track (55) and the moving platform (4).

9. A vertical hanging type longitudinal multi-material conveying device according to claim 1, characterized in that, It also includes a transfer elevator (61) and a transfer guide rail (62). The stator rail (3) includes at least two and is arranged in parallel. The transfer guide rail (62) is located between the same-direction ends of each stator rail (3). The transfer elevator (61) moves on the transfer guide rail (62). The transfer elevator (61) and each stator rail (3) have a docking node for the interactive operation of the moving platform (4).

10. A vertically mounted longitudinal multi-material conveying device according to claim 1, characterized in that, The stator track (3) forms a closed loop path with the beginning and end connected, and the moving platform (4) can run cyclically on the stator track (3).

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