WO2022143927A1

WO2022143927A1 - Anti-falling control method and apparatus for battery transfer device, and battery transfer system

Info

Publication number: WO2022143927A1
Application number: PCT/CN2021/143204
Authority: WO
Inventors: 张建平; 陈新雨; 陆文成
Original assignee: 奥动新能源汽车科技有限公司; 上海电巴新能源科技有限公司
Priority date: 2020-12-31
Filing date: 2021-12-30
Publication date: 2022-07-07
Also published as: CN114684564A; CN114684564B

Abstract

An anti-falling control method and apparatus for a battery transfer device, and a battery transfer system. The anti-falling control method comprises: acquiring the position of an anomaly that occurs on a transmission belt (111); and when the position of the anomaly meets an anti-falling trigger condition, controlling a transmission mechanism to stop a lifting movement of a battery picking-and-placing mechanism (120). By means of the anti-falling control apparatus for a battery transfer device, when a battery picking-and-placing mechanism (120) is driven by a conveying mechanism to transfer a battery pack, whether an anomaly occurs on a transmission belt (111) can be detected in real time, and the position of the anomaly can be determined, and when the position meets an anti-falling trigger condition, a falling prevention function is realized by means of the structure of a transmission mechanism itself, thereby ensuring the accuracy and timeliness of anti-falling control, and improving the reliability and safety during a battery transfer process; and a structure is simple, and input costs are reduced.

Description

Anti-fall control method and device for battery transfer equipment and battery transfer system

This application claims the priority of Chinese patent application 2020116292607 with an application date of 2020/12/31. This application cites the full text of the above Chinese patent application.

technical field

The invention relates to the technical field of electric vehicles, in particular to a fall-prevention control method and device for battery transfer equipment and a battery transfer system.

Background technique

Existing battery transfer equipment (such as battery transfer elevators) usually realizes lifting and lowering through a transmission mechanism arranged in the guide device, such as driving a car (or battery pick-and-place mechanism) for accommodating batteries through a sprocket chain arranged in the guide device. lift. However, the battery transfer equipment moves in the vertical direction along the guide mechanism through the transmission mechanism, causing the transmission mechanism to wear and tear, and the transmission mechanism that drives the battery pick-and-place mechanism is likely to be abnormal (such as breakage). If it is discovered and dealt with in time, it is very likely that the car will fall, which will affect the battery transfer efficiency and cause certain economic losses.

Refer to Chinese patent application with publication number CN111717062A, which discloses a power exchange system for heavy trucks and a method of using the same. Specifically, the power exchange parking area of the vehicle is used to park the vehicle to be exchanged and for the vehicle to pass through, and the power exchange stacker is used to The depleted battery on the vehicle to be replaced is removed from the carrying battery storage area for charging, or the fully charged battery in the battery storage area is carried to the vehicle to be replaced to realize the function of providing battery replacement service for heavy trucks. Therefore, the battery transfer process disclosed in the prior art is implemented based on a battery swap stacker, and does not involve taking and placing batteries in a vertical direction, so there is no need to design a solution to prevent the battery transfer equipment for taking and placing batteries from falling.

In order to realize the abnormal monitoring of the battery transfer equipment in the vertical direction in the scenario of battery exchange and transfer, the existing method is to regularly detect and judge whether the transfer mechanism will be abnormal by manual means, and when it is determined that the abnormality will occur, the additionally installed mechanical The structure is used to jam the car to prevent the car from falling. However, this control method has problems such as inability to monitor timely and accurately, and high input cost of manpower and material resources.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the inaccuracy of monitoring whether the battery transfer equipment is in a falling state in the prior art, so that the falling of the car cannot be effectively avoided, the battery transfer efficiency is affected, and a certain amount of damage is caused. In view of the defect of economic loss, an anti-fall control method, device and battery transfer system for battery transfer equipment are provided.

The present invention solves the above-mentioned technical problems through the following technical solutions:

The present invention provides an anti-fall control method for a battery transport device, the battery transport device is used for transporting batteries between a plurality of battery positions of a battery rack, the battery rack has a guide mechanism arranged in a vertical direction, the A plurality of battery compartments are sequentially arranged on the battery rack along the vertical direction, and the battery transport device includes a battery pick-and-place mechanism and a transmission mechanism for picking up and placing battery packs from the battery compartments; the transmission mechanism includes an active A wheel, a transition wheel, and a transmission belt fixed on the guide mechanism at both ends in the vertical direction, the driving wheel and the transition wheel are arranged on the battery pick-and-place mechanism, and the transmission belt passes through the driving wheel and the battery. between the transition wheels to drive the battery pick-and-place mechanism to move up and down;

The anti-fall control method includes:

Obtain the abnormal position where the transmission belt is abnormal;

When the abnormal position satisfies the fall prevention trigger condition, the transmission mechanism is controlled to stop the lifting and lowering movement of the battery pick-and-place mechanism.

Real-time monitoring of the abnormality of the transmission belt and determination of the abnormal position, and when the anti-fall trigger conditions are met, the anti-fall function is realized through the structure of the transmission mechanism to ensure the accuracy and timeliness of the anti-fall control and improve the reliability of the battery transfer process. At the same time, there is no need to add other additional structures when the anti-falling function is realized, and it has the advantage of simple structure, thereby greatly reducing the input cost.

Preferably, the step of judging whether the abnormal position satisfies the fall prevention triggering condition includes:

obtaining the position of the battery pick-and-place mechanism corresponding to the battery pick-and-place mechanism;

When it is determined based on the lifting direction of the battery pick-and-place mechanism that the abnormal position is located below the position of the battery pick-and-place mechanism, it is determined that the abnormal position satisfies the fall prevention triggering condition.

Obtain the car position in real time, and determine whether the abnormal position is above or below the car according to the lifting direction of the car, which ensures the accuracy of the abnormal position determination.

Preferably, a tension detection module is provided at the lower end of the transmission belt, and the tension detection module is used to collect the tension value in the transmission belt at the corresponding position;

The step of acquiring the abnormal position where the abnormality occurs in the transmission belt includes:

obtaining the tensile force value collected by the tensile force detection module;

When the tensile force detection module at the lower end of the transmission belt does not detect the tensile force, it is determined that the abnormal position is located below the position of the battery pick-and-place mechanism.

There are tension sensors at both ends of the transmission belt. Under normal circumstances, the transmission belt drives the car to move up and down, and the tension sensors at both ends of the transmission belt should display a certain tension value; once an abnormality occurs at one end, the tension sensor at the end will display a certain tension value. The detected tension value will be abnormal; when the transmission belt under the car is abnormal, the lower end of the transmission belt is in a slack state, and the tension value detected by the tension sensor corresponding to the lower end of the transmission belt is 0; by judging the tension corresponding to the lower end of the transmission belt Whether the abnormal position is below the car is determined by whether the sensor detects the pulling force, which ensures the accuracy of the abnormal position determination.

Preferably, a plurality of image acquisition modules are arranged on the guide mechanism, and the image acquisition modules are used to acquire first images at different positions of the transmission belt;

acquiring a plurality of the first images of the transmission belt at corresponding positions to obtain a transmission belt image of the transmission belt;

The abnormal position of the transmission belt is determined according to the transmission belt image.

Based on the image processing technology, the timely judgment of the abnormal (broken) condition of the transmission belt is realized, which ensures the real-time monitoring of whether the car is about to fall, and improves the reliability and safety of the battery transfer process.

Preferably, the step of controlling the transmission mechanism to stop the lifting movement of the battery pick-and-place mechanism includes:

Control and adjust the gap value between the driving wheel and the transition wheel to stop the lifting and lowering movement of the battery pick-and-place mechanism.

Based on the adjustment of the gap value between the driving wheel and the transition wheel, the battery pick-and-place mechanism is controlled to stop lifting and moving, which ensures the accuracy and timeliness of the anti-fall control.

Preferably, the transition wheel includes a first driven wheel and a second driven wheel, and the first driven wheel and the second driven wheel are arranged on both sides of the driving wheel at a preset distance in the vertical direction, The transmission belt passes between the first driven wheel and the driving wheel and between the driving wheel and the second driven wheel in sequence;

The step of controlling and adjusting the gap value between the driving wheel and the transition wheel includes:

controlling the value of the gap between at least one of the first driven pulley and the second driven pulley and the driving pulley to clamp the current position of the drive belt; or,

The driving pulley is controlled to move toward at least one between the first driven pulley and the second driven pulley to clamp the current position of the drive belt.

By setting the specific structure of the transition wheel and the transmission belt and the setting of the mutual cooperation, the gap value between at least one driven wheel in the transition wheel and the transition wheel is controlled to clamp the transmission belt, or control the driving wheel to at least one of the transition wheel The driven pulley moves to clamp the drive belt to ensure the accuracy and timeliness of the fall prevention control.

Preferably, the first driven wheel is set to a first position above the lift direction, the second driven wheel is set to a second position below the lift direction, and at least the first The driven wheel is arranged to move in the vertical direction;

Control the first driven pulley to move vertically downward to reduce the gap value between the first driven pulley and the drive pulley and increase the wrap angle value between the transmission belt and the drive pulley, thereby Clamp the drive belt.

The transmission belt is clamped by reducing the gap value between the first driven wheel and the driving wheel, so as to ensure the accuracy and timeliness of the anti-fall control. At the same time, the wrap angle value between the transmission belt and the driving wheel can be increased, so that the force of the driving wheel is more uniform, and the broken teeth can be avoided.

Preferably, there is a preset wrap angle value between the transmission belt and the driving wheel, and the gap between the transition wheel and the driving wheel is smaller than the thickness of the transmission belt;

The step of controlling the transmission mechanism to stop the lifting and lowering movement of the battery pick-and-place mechanism includes:

The driving pulley is controlled to stop rotating so that the driving pulley and the transition pulley clamp the current position of the transmission belt.

Based on the positional relationship between the driving wheel, the transition wheel and the transmission belt, by controlling the driving wheel to stop rotating, the car can be locked in time under the fastest and safest conditions, ensuring the reliability of the anti-fall operation.

obtaining the descending speed of the battery pick-and-place mechanism;

When the descending speed is greater than a preset speed range, the transition wheel is controlled to lock and clamp the transmission belt to prevent the battery pick-and-place mechanism from falling.

The descending speed of the car is obtained in real time. When the descending speed is too fast, the transition wheel is used to automatically lock and stop rotating to clamp the transmission belt, so as to prevent the car from falling, and improve the reliability and safety of the battery transfer process.

The present invention also provides an anti-fall control device for battery transport equipment, the battery transport equipment is used to transport batteries between a plurality of battery positions of a battery rack, the battery rack has a guide mechanism arranged in a vertical direction, so The plurality of battery compartments are sequentially arranged on the battery rack along the vertical direction, and the battery transport device includes a battery pick-and-place mechanism and a transmission mechanism for picking up and placing battery packs from the battery compartments; the transmission mechanism includes A driving wheel, a transition wheel, and a transmission belt fixed on the guide mechanism at both ends in the vertical direction, the driving wheel and the transition wheel are arranged on the battery pick-and-place mechanism, and the transmission belt passes through the driving wheel and the transition wheel, thereby driving the battery pick-and-place mechanism to move up and down; the anti-fall control device includes:

an abnormal position acquisition module, used for acquiring the abnormal position where the transmission belt is abnormal;

The locking module is used to control the transmission mechanism to stop the lifting and lowering movement of the battery pick-and-place mechanism when the abnormal position satisfies the fall prevention trigger condition.

Preferably, the anti-fall control device further includes:

a pick-and-place mechanism position acquisition module for acquiring the battery pick-and-place mechanism position corresponding to the battery pick-and-place mechanism;

The judgment module is configured to determine that the abnormal position satisfies the anti-fall trigger condition when it is judged that the abnormal position is located below the position of the battery access mechanism based on the lifting direction of the battery access mechanism.

The abnormal location acquisition module includes:

a tensile force value acquisition unit, configured to acquire the tensile force value collected by the tensile force detection module;

The abnormal position acquisition unit is configured to determine that the abnormal position is located below the position of the battery pick-and-place mechanism when the tensile force detection module at the lower end of the transmission belt does not detect the tensile force.

The abnormal location acquisition module includes:

a transmission belt image acquisition unit, configured to acquire a plurality of the first images of the transmission belt at corresponding positions to obtain a transmission belt image of the transmission belt;

An abnormal position acquisition unit, configured to determine the abnormal position of the transmission belt according to the transmission belt image.

Preferably, the locking module is used to control and adjust the gap value between the driving wheel and the transition wheel to stop the lifting movement of the battery pick-and-place mechanism when the abnormal position satisfies the fall prevention trigger condition. .

The locking module is used to control the gap value between at least one of the first driven pulley and the second driven pulley and the driving pulley to clamp the current position of the transmission belt; or,

The locking module is used for controlling the driving pulley to move toward at least one between the first driven pulley and the second driven pulley to clamp the current position of the transmission belt.

The locking module is used to control the vertical downward movement of the first driven wheel to reduce the clearance value between the first driven wheel and the driving wheel and increase the distance between the transmission belt and the driving wheel. The wrap angle value between the two, so as to clamp the drive belt.

The locking module is used for controlling the driving pulley to stop rotating so that the driving pulley and the transition pulley clamp the current position of the transmission belt.

Preferably, the locking module includes:

a descending speed acquiring unit, used for acquiring the descending speed of the battery pick-and-place mechanism;

The locking unit is configured to control the transition wheel to lock and clamp the transmission belt to prevent the battery pick-and-place mechanism from falling when the descending speed is greater than a preset speed range.

The present invention also provides a battery transport system, which includes a battery transport device and the above-mentioned anti-fall control device for the battery transport device.

On the basis of conforming to common knowledge in the art, the preferred conditions can be combined arbitrarily to obtain preferred embodiments of the present invention.

The positive improvement effect of the present invention is: in the present invention, when the battery pack is transported by the transmission mechanism to drive the battery pick-and-place mechanism, the transmission belt is monitored in real time for abnormality and the abnormal position is determined, and the transmission mechanism passes the transmission mechanism when the anti-fall trigger conditions are met. Its own structure realizes the anti-fall function to ensure the accuracy and timeliness of anti-fall control, and improves the reliability and safety of the battery transfer process; advantages, thereby greatly reducing the investment cost.

Description of drawings

FIG. 1 is a schematic structural diagram of a battery transfer device with a transmission mechanism according to the present invention.

FIG. 2 is a front view of the battery transfer device with a transmission mechanism of the present invention.

FIG. 3 is a partial enlarged schematic view of the battery transfer device with a transmission mechanism of the present invention.

FIG. 4 is a schematic structural diagram of a transmission belt in the battery transfer device of the present invention.

FIG. 5 is a flowchart of a fall prevention control method for a battery transport device according to Embodiment 1 of the present invention.

FIG. 6 is a first flowchart of a fall prevention control method for a battery transport device according to Embodiment 2 of the present invention.

FIG. 7 is a second flowchart of the fall prevention control method of the battery transport device according to Embodiment 2 of the present invention.

FIG. 8 is a third flowchart of a fall prevention control method for a battery transport device according to Embodiment 2 of the present invention.

FIG. 9 is a schematic structural diagram of an anti-fall control device of a battery transport device according to Embodiment 3 of the present invention.

FIG. 10 is a schematic structural diagram of an anti-fall control device of a battery transport device according to Embodiment 4 of the present invention.

Detailed ways

The present invention is further described below by means of examples, but the present invention is not limited to the scope of the examples.

The battery transfer device of the present invention is used for transferring batteries between a plurality of battery positions of a battery rack, the battery rack has a guide mechanism arranged in a vertical direction, a plurality of battery positions are sequentially arranged on the battery rack along the vertical direction, and the batteries are transported. The equipment includes a battery pick-and-place mechanism and a transmission mechanism for picking and placing battery packs from the battery compartment; the transmission mechanism includes a driving wheel, a transition wheel, and a transmission belt fixed on the guide mechanism at both ends in the vertical direction. The driving wheel and the transition wheel are arranged On the battery pick-and-place mechanism, the transmission belt passes between the driving wheel and the transition wheel to drive the battery pick-and-place mechanism to move up and down.

Specifically, referring to FIGS. 1 to 4 , the battery transport device 100 includes a battery pick-and-place mechanism 120 for picking up and placing battery packs from a battery compartment and a transmission mechanism, wherein the transmission mechanism includes a driving wheel 113 , a transition wheel (including a first The driven pulley 112 and the second driven pulley 114), the drive belt 111 fixed on the guide mechanism 210 at both ends in the vertical direction, the drive pulley 113 and the transition pulleys (112, 114) are arranged on the battery pick-and-place mechanism 120, and the drive belt 111 wears Pass between the driving wheel 113 and the transition wheels (112, 114) to drive the battery pick-and-place mechanism 120 to move up and down.

Example 1

As shown in FIG. 5 , the anti-fall control method of the battery transport device of this embodiment includes:

S101. Acquire an abnormal position where the transmission belt is abnormal; wherein, the abnormal situation of the transmission belt includes but is not limited to the rupture of the transmission belt.

S102, determine whether the abnormal position satisfies the anti-fall triggering condition, if yes, go to step S103; if not, go to step S104;

S103 , controlling the transmission mechanism to stop the lifting movement of the battery pick-and-place mechanism.

S104, the transmission mechanism is controlled to continue to drive the battery pick-and-place mechanism to move up and down.

In this embodiment, when the transmission mechanism is used to drive the battery pick-and-place mechanism to transfer the battery pack, the transmission belt is monitored in real time for any abnormality and the abnormal position is determined, and the anti-fall function is realized through the structure of the transmission mechanism when the trigger conditions for anti-fall are met. , in order to ensure the accuracy and timeliness of anti-fall control, and improve the reliability and safety of the battery transfer process; at the same time, there is no need to add other additional structures when the anti-fall function is realized, which has the advantage of simple structure, thus greatly reducing the cost of Input costs.

Example 2

The anti-fall control method of the battery transport equipment of the present embodiment is a further improvement to the embodiment 1, specifically:

When the lower end of the transmission belt is provided with a tension detection module, and the tension detection module is used to collect the tension value in the transmission belt at the corresponding position, as shown in FIG. 6 , step S101 includes:

S1011. Obtain the tensile force value collected by the tensile force detection module;

S1012 , when the tensile force detection module at the lower end of the transmission belt does not detect the tensile force, it is determined that the abnormal position is located below the position of the battery pick-and-place mechanism.

There are tension detection modules (including but not limited to tension sensors) at both ends of the transmission belt. Under normal circumstances, the transmission belt drives the lift of the car, and the tension sensors at both ends of the transmission belt should display a certain tension value; When an abnormality occurs, the tension value detected by the tension sensor at this end will be abnormal; when the transmission belt under the car is abnormal, the lower end of the transmission belt is in a slack state, and the tension value detected by the tension sensor corresponding to the lower end of the transmission belt is abnormal. 0; Determine whether the abnormal position is below the car by judging whether the tensile force sensor corresponding to the lower end of the transmission belt detects the pulling force, which ensures the accuracy of the abnormal position determination. Or, when the transmission belt under the car is abnormal, the upper end of the transmission belt is in a more taut state. At this time, the tension value detected by the tension sensor corresponding to the upper end of the transmission belt is greater than the set tension range, that is, by judging the detection of the tension sensor corresponding to the upper end of the transmission belt Whether the abnormal position is below the car is determined in a way that the pulling force increases significantly, which ensures the accuracy of the abnormal position determination.

Among them, the surrounding of the car is connected to the corresponding guide column through N transmission belts (such as N=4). Once the tension sensor set at the lower end of a transmission belt cannot detect the tension value, it is determined that the current transmission belt is abnormal and the abnormal position is located in the car. Below the car, the transmission mechanism is controlled to stop the lift movement of the car, that is, the battery pick-and-place mechanism, so as to ensure the timeliness and effectiveness of the anti-fall control.

When a plurality of image acquisition modules are arranged on the guide mechanism, specifically, a transmission belt is correspondingly arranged on each guide column in the guide mechanism, and each guide column is provided with a plurality of image acquisition modules, and each image acquisition module is used for acquiring When the first images at different positions of the transmission belt are shown in FIG. 7 , step S101 includes:

S1013, acquiring a plurality of first images of the transmission belt at the corresponding position to obtain a transmission belt image of the transmission belt;

After each image acquisition module (including but not limited to a camera) correspondingly collects a part of the image of the transmission belt, stitching processing is performed on the multiple partial transmission belt images to obtain the entire transmission belt image; wherein, performing stitching processing on the multiple partial transmission belt images belongs to this The mature technology in the field, so it will not be repeated here.

In addition, the specific position and specific quantity of the image acquisition module in the guide mechanism can be determined and adjusted according to the actual battery transfer scene.

S1014. Determine the abnormal position of the transmission belt according to the transmission belt image.

Step S102 includes:

Obtain the position of the battery pick-and-place mechanism corresponding to the battery pick-and-place mechanism;

Wherein, the acquisition of the position of the battery pick-and-place mechanism can be acquired through real-time acquisition by a position sensor arranged on the battery pick-and-place mechanism, or the position data of the battery pick-and-place mechanism can be obtained by calculating the motor parameters that drive the battery pick-and-place mechanism to move up and down; Of course, any other method for obtaining the position of the battery pick-and-place mechanism can also be used, which will not be repeated here.

When it is determined based on the lifting direction of the battery pick-and-place mechanism that the abnormal position is below the position of the battery pick-and-place mechanism, it is determined that the abnormal position satisfies the anti-fall trigger condition; otherwise, it is determined that the abnormal position does not meet the anti-fall trigger condition.

By acquiring the position of the car in real time, and determining whether the abnormal position is above or below the car according to the lifting direction of the car, the accuracy of the determination of the abnormal position is ensured.

The transmission mechanism of this embodiment includes a plurality of transmission units, the guide mechanism includes a plurality of guide columns, and each transmission unit includes a driving wheel, a transition wheel, a transmission belt fixed on a guide column at both ends in the vertical direction, the driving wheel and the transition wheel The wheel is arranged on the battery pick-and-place mechanism, and the transmission belt passes between the driving wheel and the transition wheel to drive the battery pick-and-place mechanism to move up and down.

Step S103 includes:

S1031, control and adjust the gap value between the driving wheel and the transition wheel to stop the lifting movement of the battery pick-and-place mechanism, that is, based on the adjustment of the gap value between the driving wheel and the transition wheel, to control the battery pick-and-place mechanism to stop the lifting movement, It ensures the accuracy and timeliness of anti-fall control.

Specifically, when the transition wheel includes a first driven wheel and a second driven wheel, the first driven wheel and the second driven wheel are arranged on both sides of the driving wheel at a preset distance in the vertical direction, and the transmission belt passes through the first driven wheel in sequence. between the driving wheel and the driving wheel and the second driven wheel, the step of controlling and adjusting the gap value between the driving wheel and the transition wheel in step S1031 specifically includes:

Control the value of the gap between at least one of the first driven pulley and the second driven pulley and the drive pulley to clamp the current position of the drive belt; or, control the drive pulley toward at least one between the first driven pulley and the second driven pulley. A move to clamp the current position of the belt.

Or, when the first driven wheel is set to a first position above the lift direction, the second driven wheel is set to a second position below the lift direction, and at least the first driven wheel is set to be able to move along the When moving in the vertical direction, the step of controlling and adjusting the gap value between the driving wheel and the transition wheel in step S1031 specifically includes:

The first driven pulley is controlled to move vertically downward to reduce the gap value between the first driven pulley and the drive pulley and increase the wrap angle value between the drive belt and the drive pulley, thereby clamping the drive belt.

The transmission belt is clamped by reducing the gap value between the first driven wheel and the driving wheel, so as to ensure the accuracy and timeliness of the anti-fall control. At the same time, the wrapping angle value between the transmission belt and the driving wheel can be increased, so that the force of the driving wheel is more uniform, the occurrence of broken teeth can be avoided, and the safety of anti-fall control can be further ensured.

When there is a preset wrap angle value between the transmission belt and the driving wheel and the gap between the transition wheel and the driving wheel is smaller than the thickness of the transmission belt, as shown in FIG. 8 , step S103 includes:

S1032, controlling the driving pulley to stop rotating so that the driving pulley and the transition pulley clamp the current position of the transmission belt.

In addition, it is also possible to determine whether to perform anti-fall control based on the descending speed of the battery pick-and-place mechanism. Step S103 includes:

Get the descending speed of the battery pick-and-place mechanism;

Among them, the descending speed of the battery pick-and-place mechanism can be directly obtained by using the speed sensor installed on the battery pick-and-place mechanism, or it can be calculated according to the position data collected by the position sensor installed on the battery pick-and-place mechanism at different time points; The descending speed of the battery pick-and-place mechanism can be obtained by any other method, which will not be repeated here.

When the descending speed is greater than the preset speed range, the transition wheel is controlled to lock and clamp the transmission belt to prevent the battery pick-and-place mechanism from falling.

In this embodiment, when the transmission mechanism is used to drive the battery pick-and-place mechanism to transfer the battery pack, the transmission belt is monitored in real time for any abnormality and the abnormal position is determined, and the anti-fall function is realized through the structure of the transmission mechanism when the trigger condition for anti-fall is satisfied. , in order to ensure the accuracy and timeliness of anti-fall control, improve the reliability and safety of the battery transfer process; at the same time, there is no need to add other additional structures to realize the anti-fall function, which has the advantage of simple structure, thus greatly reducing the cost of Input costs.

Example 3

As shown in FIG. 9 , the anti-fall control device of the battery transport equipment in this embodiment includes an abnormal position acquisition module 1 and a locking module 2 .

The abnormal position acquiring module 1 is used to acquire the abnormal position where the transmission belt is abnormal; wherein, the abnormal situation of the transmission belt includes but is not limited to the rupture of the transmission belt.

The locking module 2 is used to control the transmission mechanism to stop the lifting and lowering movement of the battery pick-and-place mechanism when the abnormal position satisfies the fall-prevention trigger condition.

Example 4

As shown in FIG. 10 , the anti-fall control device of the battery transport equipment of the present embodiment is a further improvement to the third embodiment, specifically:

When the two ends of the transmission belt are respectively provided with tension detection modules, and the tension detection modules are used to collect the tension value in the transmission belt at the corresponding position, the abnormal position acquisition module 1 in this embodiment includes a tension value acquisition unit 3 and an abnormal position acquisition unit 4 .

The tensile force value acquisition unit 3 is used to acquire the tensile force value collected by the tensile force detection module;

The abnormal position acquisition unit 4 is used to determine that the abnormal position is located below the position of the battery pick-and-place mechanism when the tensile force detection module at the lower end of the transmission belt does not detect the tensile force.

When a plurality of image acquisition modules are arranged on the guide mechanism, specifically, a transmission belt is correspondingly arranged on each guide column in the guide mechanism, and each guide column is provided with a plurality of image acquisition modules, and each image acquisition module is used for acquiring In the case of the first images at different positions of the transmission belt, the abnormal position acquisition module 1 of this embodiment includes a transmission belt image acquisition unit 5 and an abnormal position acquisition unit 4 .

The transmission belt image acquisition unit 5 is configured to acquire a plurality of first images of the transmission belt at corresponding positions to obtain a transmission belt image of the transmission belt;

The abnormal position acquiring unit 4 is used for determining the abnormal position of the transmission belt according to the image of the transmission belt.

The fall prevention control device of this embodiment further includes a pick-and-place mechanism position acquisition module 6 and a judgment module 7 .

The pick-and-place mechanism position acquisition module 6 is used to acquire the battery pick-and-place mechanism position corresponding to the battery pick-and-place mechanism;

The judging module 7 is used to determine that the abnormal position satisfies the anti-fall trigger condition when it is judged that the abnormal position is below the position of the battery pick and place mechanism based on the lifting direction of the battery pick-and-place mechanism; otherwise, it is determined that the abnormal position does not meet the anti-fall trigger condition.

Specifically, the locking module 2 is used to control and adjust the gap value between the driving wheel and the transition wheel to stop the lifting movement of the battery pick-and-place mechanism when the abnormal position satisfies the fall prevention trigger condition, that is, based on the difference between the driving wheel and the transition wheel The adjustment of the gap value between the two can control the battery pick-and-place mechanism to stop the lifting and moving, which ensures the accuracy and timeliness of the anti-fall control.

Specifically, when the transition wheel includes a first driven wheel and a second driven wheel, the first driven wheel and the second driven wheel are arranged on both sides of the driving wheel at a preset distance in the vertical direction, and the transmission belt passes through the first driven wheel in sequence. between the driving wheel and the driving wheel and the second driven wheel, the locking module 2 is used to control the clearance value between at least one of the first driven wheel and the second driven wheel and the driving wheel to clamp the current position of the drive belt; or,

The locking module 2 is used to control the driving pulley to move toward at least one between the first driven pulley and the second driven pulley to clamp the current position of the drive belt.

Or, when the first driven wheel is set to a first position located above along the lifting direction, the second driven wheel is set to a second position located below along the lifting direction, and at least the first driven wheel is set to be able to move along the When moving in the vertical direction, the locking module 2 is used to control the vertical downward movement of the first driven wheel to reduce the gap value between the first driven wheel and the driving wheel and increase the wrap angle value between the transmission belt and the driving wheel , thereby clamping the drive belt.

The transmission belt is clamped by reducing the gap value between the first driven wheel and the driving wheel, so as to ensure the accuracy and timeliness of the anti-fall control. At the same time, the wrapping angle value between the transmission belt and the driving wheel can be increased, so that the force of the driving wheel is more uniform, the occurrence of broken teeth is avoided, and the safety of anti-fall control is further ensured.

When there is a preset wrap angle value between the drive belt and the drive pulley and the gap between the transition pulley and the drive pulley is less than the thickness of the drive belt, the locking module 2 is used to control the drive pulley to stop rotating so that the drive pulley and the drive pulley clamp the drive belt 's current location.

In addition, the locking module 2 of the present embodiment includes a descending speed acquiring unit 8 and a locking unit 9 .

The descending speed acquiring unit 8 is used to acquire the descending speed of the battery pick-and-place mechanism;

The locking unit 9 is used to control the transition wheel to lock and clamp the transmission belt to prevent the battery pick-and-place mechanism from falling when the descending speed is greater than the preset speed range.

Example 5

The battery transport system of this embodiment includes the battery transport device and the anti-fall control device of the battery transport device in

Embodiment

3 or 4.

The battery transfer system in this embodiment adopts the above-mentioned anti-fall control device to monitor whether the transmission belt in the transmission mechanism is abnormal in real time and determine the abnormal position, and then realize the anti-fall through the own structure of the transmission mechanism when the trigger conditions for anti-fall are met. This function improves the reliability and safety of the battery transfer process and ensures the overall operational efficiency of the battery transfer system.

When the transmission mechanism is used to drive the battery pick-and-place mechanism to transfer the battery pack, the transmission belt in the transmission mechanism is monitored for abnormality in real time and the abnormal position is determined. The reliability and safety of the battery transfer process are improved.

Although the specific embodiments of the present invention are described above, those skilled in the art should understand that this is only an illustration, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

An anti-fall control method for a battery transport device, the battery transport device is used to transport batteries between a plurality of battery positions of a battery rack, the battery rack has a guide mechanism arranged in a vertical direction, the plurality of batteries The positions are sequentially arranged on the battery rack along the vertical direction, and the battery transport device includes a battery pick-and-place mechanism and a transmission mechanism for picking up and placing battery packs from the battery positions; the transmission mechanism includes a driving wheel, a transition A pulley, a transmission belt fixed on the guide mechanism at both ends in the vertical direction, the driving wheel and the transition wheel are arranged on the battery pick-and-place mechanism, and the transmission belt passes through the driving wheel and the transition between the wheels to drive the battery pick-and-place mechanism to move up and down; it is characterized in that:

The anti-fall control method includes:

Obtain the abnormal position where the transmission belt is abnormal;

When the abnormal position satisfies the fall prevention trigger condition, the transmission mechanism is controlled to stop the lifting and lowering movement of the battery pick-and-place mechanism.
The anti-fall control method for battery transport equipment according to claim 1, wherein the step of judging whether the abnormal position satisfies the anti-fall trigger condition comprises:

obtaining the position of the battery pick-and-place mechanism corresponding to the battery pick-and-place mechanism;

When it is determined based on the lifting direction of the battery pick-and-place mechanism that the abnormal position is located below the position of the battery pick-and-place mechanism, it is determined that the abnormal position satisfies the fall prevention triggering condition.
The anti-fall control method for battery transport equipment according to at least one of claims 1-2, wherein a tensile force detection module is provided at the lower end of the transmission belt, and the tensile force detection module is used to collect the data at the corresponding position. the tension value in the drive belt;

The step of acquiring the abnormal position where the abnormality occurs in the transmission belt includes:

obtaining the tensile force value collected by the tensile force detection module;

When the tensile force detection module at the lower end of the transmission belt does not detect the tensile force, it is determined that the abnormal position is located below the position of the battery pick-and-place mechanism.
The anti-fall control method for battery transport equipment according to at least one of claims 1 to 3, wherein a plurality of image acquisition modules are arranged on the guide mechanism, and the image acquisition modules are used to acquire the transmission belt. the first images at different positions of ;

The step of acquiring the abnormal position where the abnormality occurs in the transmission belt includes:

acquiring a plurality of the first images of the transmission belt at corresponding positions to obtain a transmission belt image of the transmission belt;

The abnormal position of the transmission belt is determined according to the transmission belt image.
The anti-fall control method for battery transport equipment according to at least one of claims 1-4, wherein the step of controlling the transmission mechanism to stop the lifting and lowering movement of the battery pick-and-place mechanism comprises:

Control and adjust the gap value between the driving wheel and the transition wheel to stop the lifting and lowering movement of the battery pick-and-place mechanism.
The anti-fall control method for battery transport equipment according to claim 5, wherein the transition wheel comprises a first driven wheel and a second driven wheel, and the first driven wheel and the second driven wheel are vertically arranged. The straight direction is arranged on both sides of the driving wheel at a preset distance, and the transmission belt passes between the first driven wheel and the driving wheel and between the driving wheel and the second driven wheel in turn. ;

The step of controlling and adjusting the gap value between the driving wheel and the transition wheel includes:

controlling the value of the gap between at least one of the first driven pulley and the second driven pulley and the driving pulley to clamp the current position of the drive belt; or,

The driving pulley is controlled to move toward at least one between the first driven pulley and the second driven pulley to clamp the current position of the drive belt.
The anti-fall control method for a battery transport device according to claim 6, wherein the first driven wheel is arranged at a first position above in the lifting direction, and the second driven wheel is arranged along the lifting direction. The lifting direction is located at a lower second position, and at least the first driven wheel is arranged to move in a vertical direction;

The step of controlling and adjusting the gap value between the driving wheel and the transition wheel includes:

Control the first driven pulley to move vertically downward to reduce the gap value between the first driven pulley and the drive pulley and increase the wrap angle value between the transmission belt and the drive pulley, thereby Clamp the drive belt.
The anti-fall control method for battery transport equipment according to at least one of claims 1 to 7, characterized in that, there is a preset wrap angle value between the transmission belt and the driving pulley, and the transition pulley and the drive pulley have a preset wrap angle value. The gap between the driving wheels is smaller than the thickness of the transmission belt;

The step of controlling the transmission mechanism to stop the lifting and lowering movement of the battery pick-and-place mechanism includes:

The driving pulley is controlled to stop rotating so that the driving pulley and the transition pulley clamp the current position of the transmission belt.
The anti-fall control method for battery transport equipment according to at least one of claims 1 to 8, wherein the step of controlling the transmission mechanism to stop the lifting movement of the battery pick-and-place mechanism comprises:

Obtain the descending speed of the battery pick-and-place mechanism;

When the descending speed is greater than a preset speed range, the transition wheel is controlled to lock and clamp the transmission belt to prevent the battery pick-and-place mechanism from falling.
An anti-fall control device for battery transport equipment, the battery transport equipment is used for transporting batteries between a plurality of battery positions of a battery rack, the battery rack has a guide mechanism arranged in a vertical direction, the plurality of batteries The positions are sequentially arranged on the battery rack along the vertical direction, and the battery transport device includes a battery pick-and-place mechanism and a transmission mechanism for picking up and placing battery packs from the battery positions; the transmission mechanism includes a driving wheel, a transition A pulley, a transmission belt fixed on the guide mechanism at both ends in the vertical direction, the driving wheel and the transition wheel are arranged on the battery pick-and-place mechanism, and the transmission belt passes through the driving wheel and the transition between the wheels, thereby driving the battery pick-and-place mechanism to move up and down; it is characterized in that, the anti-fall control device includes:

an abnormal position acquisition module, used for acquiring the abnormal position where the transmission belt is abnormal;

The locking module is used to control the transmission mechanism to stop the lifting and lowering movement of the battery pick-and-place mechanism when the abnormal position satisfies the fall prevention trigger condition.
A battery transport system, characterized in that the battery transport system comprises a battery transport device and the anti-fall control device of the battery transport device according to claim 10 .