Wind power blade transport vehicle

Abstract

The utility model discloses a wind power blade transport vehicle which comprises a vehicle body. The active driving wheel is located in the middle of the vehicle body and connected with the vehicle body through a slewing bearing; the driven wheels are arranged on the periphery of the driving wheel; the wing-shaped lifting bracket is arranged on the vehicle body and is used for supporting the wind power blade tool bracket; the magnetic navigation sensors are arranged on two sides of the active driving wheel; the laser navigation sensors are arranged right ahead, left front and right rear of the vehicle body and on the left-right telescopic device; and the anti-collision sensor is arranged on the peripheral wall of the vehicle body. The wind power blade conveying device can ensure that the wind power blades are conveyed more smoothly, safely and efficiently.

Description

Technical Field

[0001] This utility model belongs to the field of transport vehicle technology, and in particular relates to a wind turbine blade transport vehicle. Background Technology

[0002] In the field of wind turbine blade transportation, existing AGV transport vehicles generally use a single drive drive wheel, which has defects such as a large turning radius and inability to move laterally, which brings many obstacles to the blade transportation process.

[0003] Meanwhile, their environmental perception systems mostly rely on single-line lidar or ultrasonic sensors, which have significant blind spots in their detection range (especially in the overhanging areas at the ends of ultra-long blades), easily leading to collision risks. These problems severely restrict the safe and efficient transportation of ultra-long blades (over 80 meters). Utility Model Content

[0004] In order to overcome the shortcomings of existing technologies, the purpose of this utility model is to propose a wind turbine blade transport vehicle that can ensure smoother, safer and more efficient transportation of wind turbine blades.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: a wind turbine blade transport vehicle, comprising:

[0006] Vehicle body;

[0007] The active drive wheel is located in the middle of the vehicle body and is connected to the vehicle body via a slewing bearing.

[0008] The driven wheel is positioned around the driving wheel;

[0009] The airfoil-shaped lifting bracket is mounted on the vehicle body to support the wind turbine blade tooling bracket; the anti-collision sensor is mounted on the perimeter wall of the vehicle body.

[0010] Magnetic navigation sensors are located on both sides of the active drive wheel;

[0011] Laser navigation sensors are installed at the front, front left, rear right, and left and right telescopic devices of the vehicle body;

[0012] Collision avoidance sensors are installed on the vehicle's perimeter walls.

[0013] Furthermore, the active drive wheel uses a differential drive wheel.

[0014] Furthermore, the driven wheel is a caster wheel.

[0015] Furthermore, the anti-collision sensor includes an anti-collision strip and a lidar embedded in the anti-collision strip.

[0016] Furthermore, the airfoil lifting bracket is pushed by a lifting cylinder or an electric cylinder and guided by a guide rail to rise or fall, thereby lifting the tooling bracket installed above.

[0017] Furthermore, a suspension mechanism is provided on the active drive wheel to adapt to the unevenness of the ground.

[0018] Furthermore, a lifting device is provided on the suspension mechanism.

[0019] The beneficial effects of adopting this technical solution are:

[0020] Wind turbine blades, ranging from 80 to 100 meters in length, possess a mechanical structure capable of withstanding significant axial tensile (compressive) stress, but are particularly sensitive to lateral compressive stress; even minor lateral compressive stress can induce plastic deformation. This invention utilizes an active drive wheel located in the center of the vehicle body, connected via a slewing bearing, and simultaneously cooperating with surrounding driven wheels. During dual-vehicle operation, the vehicle body remains relatively stationary to the tooling support, while the active drive wheel, through angular displacement with the vehicle body, propels the vehicle body in any direction. When transporting blades using dual-vehicle operation, only two sets of active drive wheel units contact the ground. This means that while the 80-100 meter long wind turbine blade appears to be supported by two vehicles, it is actually supported by two hinges. The wind turbine blade only experiences tensile (compressive) stress along the line connecting the centers of the two hinges (the wind turbine blade's axial direction), without any lateral compressive stress, thus ensuring the structural safety of the wind turbine blade.

[0021] This invention features multiple protective radars and a wheel suspension mechanism adapted to uneven surfaces, improving the transportation safety of wind turbine blades. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of a wind turbine blade transport vehicle according to the present invention;

[0023] Figure 2 This is a schematic diagram of the bottom structure of a wind turbine blade transport vehicle according to the present invention;

[0024] Figure 3 This is a schematic diagram showing the arrangement of all laser navigation radars in this embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the airfoil-shaped lifting device in an embodiment of this utility model;

[0026] Figure 5 This is a schematic diagram of the retracted state of the airfoil lifting device in an embodiment of this utility model;

[0027] Figure 6This is a schematic diagram of the lifting state of the airfoil lifting device in an embodiment of this utility model;

[0028] Figure 7 This is a schematic diagram of the dual-vehicle linkage transportation of wind turbine blades in an embodiment of this utility model;

[0029] Figure 8 This is a schematic diagram of the coordinated operation of two vehicles under the protection of four anti-collision sensors on both sides in this embodiment of the present invention;

[0030] Among them, 1 is the vehicle body, 2 is the wing-shaped lifting device, 3 is the tooling bracket, 4 is the anti-collision sensor, 5 is the telescopic arm entrance / exit, 6 is the laser navigation radar, 7 is the active drive wheel, 8 is the driven omnidirectional wheel, 9 is the magnetic navigation sensor, 10 is the telescopic arm; 21 is the lifting cylinder or electric cylinder, and 22 is the guide rail. Detailed Implementation

[0031] To make the purpose, technical solution and advantages of this utility model clearer, the present utility model will be further described below with reference to the accompanying drawings.

[0032] In this embodiment, see Figure 1 and Figure 2 As shown, a wind turbine blade transport vehicle includes:

[0033] Vehicle body;

[0034] The active drive wheel is located in the middle of the vehicle body and is connected to the vehicle body via a slewing bearing.

[0035] The driven wheel is positioned around the driving wheel;

[0036] The airfoil-shaped lifting bracket is mounted on the vehicle body to support the wind turbine blade tooling bracket; the anti-collision sensor is mounted on the perimeter wall of the vehicle body.

[0037] Magnetic navigation sensors are located on both sides of the active drive wheel;

[0038] The laser navigation sensors are located at the front, front left, rear right, and left and right telescopic devices of the vehicle body;

[0039] Collision avoidance sensors are installed on the perimeter walls of the vehicle.

[0040] Laser navigation sensors are installed at the front, left front, right rear, and left and right telescopic devices of the vehicle body, forming a light curtain on both sides and in front of and behind the wind turbine blades. Since each vehicle body does not rotate relative to the frame, the position of the light curtain relative to the blade is fixed after the relative position of the light curtain to the frame is fixed, which can play a safety protection role for the wind turbine blades.

[0041] Preferably, the active drive wheel is a differential drive wheel, which can rotate relative to the transport vehicle.

[0042] Preferably, the driven wheel is a caster wheel.

[0043] The wheel system consists of a driving wheel and driven wheels. The driving wheel is located in the middle of the vehicle body and can rotate relative to the transport vehicle. Each vehicle has only one set of driving wheels, which can rotate relative to the frame.

[0044] like Figure 6 As shown, when using the wind turbine blade transport vehicle proposed in this utility model to transport wind turbine blades, two wind turbine blade transport vehicles are used together to transport the wind turbine blades, one placed at the front end of the wind turbine blade and the other placed at the rear end of the wind turbine blade.

[0045] The structural design of this utility model can bring the following advantages:

[0046] 1. The frame can remain at the same angle relative to the workpiece, but the vehicle can be moved in any direction by changing the angle of the drive wheel system relative to the frame.

[0047] 2. This utility model device utilizes an active drive wheel located in the middle of the vehicle body, connected to the vehicle body via a slewing bearing, and simultaneously cooperating with the surrounding driven wheels. When the two vehicles are linked, the vehicle body does not move relative to the tooling support, while the active drive wheel moves the vehicle body in any direction due to angular displacement with the vehicle body. When the two vehicles are linked to transport the blades, only two sets of active drive wheel units of the two vehicles are in contact with the ground. That is to say, although the wind turbine blade, which is 80 to 100 meters long, appears to be supported by two vehicles, it is actually supported by two hinges. The wind turbine blade will only bear tensile (compressive) stress along the line connecting the centers of the two hinges (the wind turbine blade axis), and will not be subjected to any lateral compressive stress, thereby ensuring the structural safety of the wind turbine blade.

[0048] Meanwhile, the transport vehicle body does not move relative to the tooling support, which meets the necessary conditions for installing laser navigation radar for fully automated AGV operation.

[0049] Preferably, the anti-collision sensor includes an anti-collision strip and a lidar embedded in the anti-collision strip.

[0050] As an optimized embodiment of the above, the telescopic sensor includes: telescopic arms installed on both sides of the vehicle body, and a lidar installed on the end of the telescopic wall. Figure 6 As shown, the telescopic arm of the lidar can extend and retract to both sides; after extension, depending on the length of the extended arm, it can adapt to the light curtain position requirements of blades of different widths, such as... Figure 8 As shown; after shrinking, it facilitates the entry and exit of AGV vehicles from the workbench.

[0051] The vehicle is equipped with a laser navigation radar for four-corner positioning and radar navigation.

[0052] As an optimization of the above embodiments, such as Figure 4 As shown, the wing-shaped lifting bracket rises or falls under the push of a lifting cylinder or electric cylinder and guided by a guide rail, thereby lifting the workpiece and the work frame. Figure 5 and Figure 6 As shown.

[0053] As an optimization of the above embodiment, a suspension mechanism is provided on the active drive wheel to adapt to the unevenness of the ground.

[0054] As an optimization of the above embodiment, a lifting device (e.g., a hydraulic cylinder) is provided on the suspension mechanism, which can lift the vehicle off the ground. This allows the entire vehicle to be supported only on the driven wheels, facilitating external towing for breakdown rescue.

[0055] To better understand this utility model, the working principle of this utility model will be described in detail below:

[0056] Step 1: The wind turbine blade transport vehicle enters the initial state, including: lowering the lifting support and retracting the telescopic boom;

[0057] Step two: The active drive wheel works to move the vehicle body, while the driven wheel rotates in coordination to achieve stable operation and then stops the vehicle body when it is under the workpiece carrying the fan blades.

[0058] Step 3: The airfoil lifting support rises, lifting the wind turbine blade workpiece;

[0059] Step four: The telescopic arms extend, and the two laser navigation radars on the left and right telescopic arms work simultaneously with the three laser navigation radars on the front of the vehicle, the left front of the vehicle, and the right rear of the vehicle. This not only provides route navigation for the two vehicles working together, but also detects obstacles around the vehicle.

[0060] Step five involves using collision avoidance sensors to detect obstacles in the surrounding area. Simultaneously, the active drive wheels operate, moving the vehicle body, while the driven wheels rotate to transport the wind turbine blades. When steering is required, the active drive wheels rotate, and the driven wheels cooperate to generate angular displacement.

[0061] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A wind turbine blade transport vehicle, characterized in that, include: Vehicle body; The active drive wheel is located in the middle of the vehicle body and is connected to the vehicle body via a slewing bearing. The driven wheel is positioned around the driving wheel; Airfoil-shaped lifting bracket, mounted on the vehicle body, supports the tooling bracket for wind turbine blades; Magnetic navigation sensors are located on both sides of the active drive wheel; The laser navigation sensors are located at the front, front left, rear right, and left and right telescopic devices of the vehicle body; Collision avoidance sensors are installed on the perimeter walls of the vehicle.

2. The wind turbine blade transport vehicle according to claim 1, characterized in that, The active drive wheel uses a differential drive wheel.

3. The wind turbine blade transport vehicle according to claim 1, characterized in that, The driven wheel is a swivel wheel.

4. A wind turbine blade transport vehicle according to claim 1, characterized in that, The anti-collision sensor includes an anti-collision strip and a lidar embedded in the anti-collision strip.

5. A wind turbine blade transport vehicle according to claim 1, characterized in that, The airfoil lifting bracket rises or falls under the push of the lifting cylinder or electric cylinder and the guidance of the guide rail, thereby lifting the tooling bracket installed above.

6. A wind turbine blade transport vehicle according to claim 1, characterized in that, A suspension mechanism is provided on the active drive wheel.

7. A wind turbine blade transport vehicle according to claim 6, characterized in that, A lifting device is provided on the suspension mechanism.

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