Intelligent transport vehicle-mounted rigid connection mechanism and connection method

Abstract

The present invention discloses a rigid connection mechanism and connection method for intelligent transport vehicles, which uses distance sensors to measure distance, sense the actual position between vehicles, control the relative position relationship between vehicles on the horizontal and vertical planes, and monitor the vehicle position status in real time, so that multiple vehicles are fully controlled during the transportation process, solving the problem that the actual position of multiple vehicles cannot be judged and the connection position cannot be judged, and at the same time, it meets the transportation difficulties caused by the over-length and over-size of large parts, and guarantees the stability and safety requirements during the transportation of large parts by splicing and compensating the length and width of universal transport vehicles. The structure is easy to operate and has strong adaptability. It can connect multiple universal transport vehicles in series to the length and width required for transportation, and can also be directly promoted to the transportation technology field of multiple vehicles in other logistics industries and over-length and over-size parts.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transportation of large aircraft components in the aviation manufacturing industry, and specifically to a rigid connection mechanism and a connection method for intelligent linkage of multiple vehicles used for transportation of large aircraft fuselages and wings. Background Art

[0002] In recent years, with the upgrading of intelligent manufacturing demand and the development of basic technologies, the logistics and transportation technology of heavy and large-sized workpieces has developed rapidly. The use of transportation products has become more and more perfect, and the entire transportation production line has gradually changed from the early single-vehicle operation to the synchronous operation of multiple vehicles. Multi-vehicle linkage transportation as the main assembly line can adapt to production needs such as multi-variety mixed-line production, flexible production line layout, production line information interconnection, and free switching between fixed-point assembly and uniform speed assembly mode. The assembly production line has the advantages of less ground construction, good flexibility, high degree of automation, and green environmental protection. It is the development trend of assembly production lines in the future.

[0003] At present, the domestic dual-vehicle linkage project is still in a rapid development stage, while the technology of foreign transport vehicle coordination and synchronization projects has been applied to many fields such as energy, aerospace, power construction, metallurgy, chemical industry, warehousing and logistics. Nowadays, China already has dual-vehicle linkage with unlimited data transmission of dual-vehicle intersection signals, but due to technical limitations, huge initial investment and cumbersome later debugging, the stability of unlimited signal transmission and control cannot be guaranteed, and such technology cannot be used on a large scale in intelligent assembly production. The dual-vehicle linkage project has extremely high requirements for the overall stability and vehicle position error of the transport vehicle during transportation. Therefore, in order to meet the special requirements of the transportation of large parts such as aircraft fuselages and wings, we seek a simple and convenient vehicle-mounted rigid connection mechanism to transform single-vehicle operation into multi-vehicle linkage to meet the production needs of assembly production. Summary of the invention

[0004] The purpose of the present invention is to provide a rigid connection mechanism and connection method for an intelligent transport vehicle. According to the needs of transporting products, the connection structure can be used at any time to carry out technical modifications such as lengthening and widening of the general transport vehicle to meet the actual needs of transporting large components such as aircraft fuselages and wings, and to ensure the stability and consistency of the transport vehicle during the linkage of multiple vehicles.

[0005] The technical solution adopted by the present invention to solve its technical problems is: an intelligent transport vehicle-mounted rigid connection structure and connection method, comprising a transport vehicle, a distance measuring sensor, and a connection mechanism. Two transport vehicles are connected end to end and connected in the middle by a connection mechanism. A distance measuring sensor is installed at the outermost position of the rear end of the front transport vehicle, and a distance measuring sensor is installed at the outermost position of the front end of the rear transport vehicle. The bodies of the front and rear transport vehicles are rigid bodies. The front transport vehicle tail and the rear transport vehicle head are both rigid flat plates, each of which is equipped with a connecting mechanism. The connecting mechanism is composed of a guide groove, a guide end, a connecting hook end and a connecting fixed end. The upper ends of the two sides of the rear vehicle along the central axis in the length direction of the vehicle body are respectively equipped with a guide end and a guide groove, and the lower ends are respectively equipped with a guide groove and a guide end. The guide bottom plate is a fixed base for the guide groove, and a rigid concave guide plate is fixed on the front of the guide bottom plate. The guide back plate is a fixed base for the guide end. Two rigid plate-shaped fixing plates are fixed on the upper and lower sides of the front center of the guide back plate, and two guide wheels are fixed on both sides near the top between the two fixing plates. The guide wheels and the fixing plates are connected in the form of axle pins, and the connecting hook ends and the connecting fixed ends are respectively installed at the positions extending outward on both sides. The bottom plate serves as a base for the connecting hook end, and two fixing blocks are fixed on both sides of the front center of the bottom plate. The fixing block is a A rigid concave block has a rotating pin installed at the inner position of the protruding upper and lower ends. The middle position of the two rotating pins passes through the round hole at the lower end of the middle of the hook. The hook is a semicircular rigid hook with a groove at the front end. A pulley is fixed in the small groove in the form of an axle pin. A groove is opened at the upper end of the middle position of the hook, which is connected to the protruding end of the electric push rod in the form of an axle pin. The rear end of the hook is a rigid boss. The two hooks are connected by two connecting rods. The fixing flange of the electric push rod is fixed at the top center position of the bottom plate. When the protruding end of the electric push rod is retracted, the two hooks are driven to rotate counterclockwise around the pin. When the protruding end of the electric push rod is fully extended, the two hooks are driven to rotate clockwise around the pin. The back plate serves as a base for connecting the fixed end, and the back side is installed at the rear position of the vehicle body. Two clamping blocks are fixed on both sides of the front center of the back plate. The clamping block is a rigid concave block. Locking pins are installed at the inner position of the protruding upper and lower ends.

[0006] A method for rigid connection of an intelligent transport vehicle comprises the following steps:

[0007] Step 1: The front transport vehicle moves backward and the rear transport vehicle moves forward, and the distance sensor installed on the front vehicle senses the position feedback of the distance sensor installed on the rear vehicle;

[0008] Step 2: The front transport vehicle approaches the rear transport vehicle, and the distance sensor feeds back the distance between the transport vehicles in real time until the front and rear transport vehicles are within the docking distance range;

[0009] Step 3: The front transport vehicle and the rear transport vehicle enter the required distance for docking, and the hook on the connecting hook end of the front transport vehicle is pulled backward and lifted upward by the electric push rod, and the hook on the connecting hook end of the rear transport vehicle is lifted in the same way;

[0010] Step 4: The front transport vehicle and the rear transport vehicle enter the designated docking position, and the electric push rod drives the hooks on the hook ends of the front and rear transport vehicles forward and locks them forward, fixing the two transport vehicles to form a rigid connection between the two vehicles and running them synchronously;

[0011] Step 5: Cancelling the rigid connection and synchronization is done in the reverse manner of this step.

[0012] Beneficial effects: The present invention proposes a kind of intelligent transport vehicle-mounted rigid connection mechanism and connection method, which uses distance sensors to measure the actual position between vehicles, controls the relative position relationship between vehicles on the horizontal and vertical planes, and monitors the vehicle position status in real time, so that the multi-vehicle linkage vehicles are fully controlled during the transportation process, solving the practical problems that the actual position of the multi-vehicle linkage cannot be judged and the connection position cannot be judged. At the same time, it meets the transportation difficulties caused by the over-length and over-size of large aircraft parts, and ensures the stability and safety requirements during the transportation of large aircraft parts by splicing and compensating the length and width of general-purpose transport vehicles. The structure is easy to operate and has strong adaptability. It can connect a variety of general-purpose transport vehicles in series to the length and width required for transporting products. It can also be directly promoted to the technical fields of multi-vehicle linkage and over-length and over-size parts transportation in other logistics industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Overall schematic diagram of the rigid connection mechanism on the intelligent transport vehicle

[0014] Figure 2 Connection mechanism diagram

[0015] Figure 3 Schematic diagram of the movement of the connecting hook end

[0016] Figure 4 Connection diagram of fixed end

[0017] Figure 5 Guide groove diagram

[0018] Figure 6 Guide end diagram

[0019] Figure 7 Partial schematic diagram of the connection of double transport vehicles

[0020] Explanation of the numbers in the figure: 1 transport vehicle; 2 distance measuring sensor; 3 connecting mechanism; 4 connecting fixed end; 5 connecting hook end; 6 guide end; 7 guide groove; 8 bottom plate; 9 electric push rod; 10 hook; 11 pulley; 12 connecting rod; 13 fixed block; 14 back plate; 15 clamping block; 16 locking pin shaft; 17 guide bottom plate; 18 guide plate; 19 guide back plate; 20 fixed plate; 21 guide wheel.

[0021] The present application is described in further detail below in conjunction with the accompanying drawings of the embodiments. DETAILED DESCRIPTION

[0022] Referring to the accompanying drawings, the present invention provides a rigid connection mechanism and connection method for an intelligent transport vehicle.

[0023] from Figure 1 In the middle, two transport vehicles 1 are connected end to end and connected in the middle by a connecting mechanism 3. Distance measuring sensors 2 are installed at both ends of the rear of the front transport vehicle 1, and distance measuring sensors 2 are installed at both ends of the front of the rear transport vehicle 1.

[0024] like Figure 2 As shown, the body of the transport vehicle 1 is a rigid body, and the rear end is a rigid flat plate. On both sides of the rear end of the central axis along the length direction of the body, guide ends 6 and guide grooves 7 are installed at the upper ends, and guide grooves 7 and guide ends 6 are installed at the lower ends. Connecting hook ends 5 and connecting fixed ends 4 are installed at the positions extending outward on both sides, and ranging sensors 2 are installed at the outermost positions.

[0025] like Figure 3 As shown, the bottom plate 8 serves as a base for connecting the hook end, and the back side is installed at the rear position of the vehicle body. Two fixed blocks 13 are fixed on both sides of the center of the front side of the bottom plate 8. The fixed block 13 is a rigid concave block, and a rotating pin is installed at the inner side of the protruding upper and lower ends. The middle position of the two rotating pins passes through the round hole at the middle lower end of the hook 10. The hook 10 is a semicircular rigid hook with a groove at its front end. A pulley 11 is fixed in the small groove in the form of an axle pin. A groove is opened at the upper end of the middle position of the hook 10, which is connected to the extended end of the electric push rod 9 in the form of an axle pin. The rear end of the hook 10 is a rigid boss, and the two hooks are connected by two connecting rods 12. The fixing flange of the electric push rod 9 is fixed at the top center position of the bottom plate 8. When the extended end of the electric push rod 9 is retracted, the two hooks 10 are driven to rotate counterclockwise around the pin. When the extended end of the electric push rod 9 is fully extended, the two hooks 10 are driven to rotate clockwise around the pin.

[0026] like Figure 4As shown, the back plate 14 serves as a base for connecting the fixed end, and the back side is installed at the rear position of the vehicle body. Two clamping blocks 15 are fixed on both sides of the center of the front side of the back plate 14. The clamping block 15 is a rigid concave block, and a locking pin shaft 16 is installed at the inner side of the protruding upper and lower ends.

[0027] like Figure 5 As shown, the guide base plate 17 is a fixed base of the guide groove, and its back side is installed at the rear of the vehicle body. A rigid concave guide plate 18 is fixed on the front side of the guide base plate 17 .

[0028] like Figure 6 As shown, the guide back plate 18 is a fixed base of the guide end, and its back side is installed at the rear position of the vehicle body. Two rigid plate-shaped fixing plates 20 are fixed on the upper and lower sides of the center of the front side of the guide back plate 18, and two guide wheels 21 are fixed between the two fixing plates 20 near the top sides. The guide wheels 21 and the fixing plates 20 are connected by axle pins.

[0029] like Figure 7 As shown, two transport vehicles 1 are connected end to end. The front vehicle is provided with guide ends 6 and guide grooves 7 on both sides of the rear of the central axis along the length direction of the vehicle body, and the guide grooves 7 and guide ends 6 are installed on the upper ends, and the guide grooves 7 and guide ends 6 are installed on the lower ends. The corresponding positions of the rear vehicle are provided with guide grooves 7 and guide ends 6 on the upper ends, and the guide ends 6 and guide grooves 7 are installed on the lower ends, so as to ensure the accurate positioning of the front vehicle and the rear vehicle in the horizontal and vertical directions. The positions extending outward on both sides of the front vehicle are provided with connecting hook ends 5 and connecting fixed ends 4, and the outermost positions are provided with distance measuring sensors 2, and the positions extending outward on both sides of the rear vehicle are provided with connecting fixed ends 4 and connecting hook ends 5, and the outermost positions are provided with distance measuring sensors 2.

[0030] A method for rigid connection of an intelligent transport vehicle comprises the following steps:

[0031] Step 1: The front transport vehicle moves backward and the rear transport vehicle moves forward, and the distance sensor installed on the front vehicle senses the position feedback of the distance sensor installed on the rear vehicle;

[0032] Step 2: The front transport vehicle approaches the rear transport vehicle, and the distance sensor feeds back the distance between the transport vehicles in real time until the front and rear transport vehicles are within the docking distance range;

[0033] Step 3: The front transport vehicle and the rear transport vehicle enter the required distance for docking, and the hook on the connecting hook end of the front transport vehicle is pulled backward and lifted upward by the electric push rod, and the hook on the connecting hook end of the rear transport vehicle is lifted in the same way;

[0034] Step 4: The front transport vehicle and the rear transport vehicle enter the designated docking position, and the electric push rod drives the hooks on the hook ends of the front and rear transport vehicles forward and locks them forward, fixing the two transport vehicles to form a rigid connection between the two vehicles and running them synchronously;

[0035] Step 5: Cancelling the rigid connection and synchronization is done in the reverse manner of this step.

[0036] The present invention uses distance measurement sensing technology to control the rigid connection between two or more transport vehicles, so that the original single-vehicle transport is changed to multiple-vehicle synchronous transport of large-sized workpieces, changing the original production mode of overhead crane transport and rail vehicle transport, solving many problems such as low safety factor, low positioning accuracy, and poor flexibility. At the same time, it increases the safety of operations, takes into account the safety of personnel and the protection of aircraft, improves the original complex operation process of multiple people, and realizes the rapid transfer of the aircraft before assembly and delivery. In addition, any vehicle in the multiple transports can be used as a single vehicle, which can be controlled separately to realize the transportation of small parts. It can be directly used in the field of aviation and aerospace large parts transportation, and can also be directly extended to other logistics and assembly transportation fields.

Claims

1. A rigid connection mechanism on an intelligent transport vehicle, characterized in that The invention comprises a group of connecting hook ends and connecting fixed ends, two distance measuring sensors, two groups of guide ends and guide grooves. The upper ends are respectively provided with guide ends and guide grooves on both sides of the rear end of the vehicle along the central axis in the length direction of the vehicle body, and the corresponding positions of the lower ends are respectively provided with guide grooves and guide ends. The upper and lower guide ends and guide grooves are perpendicular to each other. The positions on both sides of the guide ends and the guide grooves are respectively provided with a connecting hook end and a connecting fixed end which can be mutually connected with a group of connecting hook ends and connecting fixed ends on the front of another transport vehicle. Two distance measuring sensors are fixed on the outer sides of the connecting hook ends and the connecting fixed ends. The guide end comprises a guide back plate, a fixing plate and a guide wheel. The guide back plate is a fixed base of the guide end, and its back side is installed at the rear position of the vehicle body. Two rigid plate-shaped fixing plates are fixed on the upper and lower sides of the front center of the guide back plate. Two guide wheels are respectively fixed on both sides of the two fixing plates near the top end, and the guide wheels are connected to the fixing plates in the form of axle pins. The guide groove comprises a guide bottom plate and a guide plate. The guide bottom plate is a fixed base of the guide groove, and its back side is installed at the rear position of the vehicle body. Position, a guide plate with a rigid groove is fixed on the front of the guide base plate, and the groove is used in conjunction with the guide wheel of the guide end. The connecting hook end comprises a base plate, a fixed block, a hook, a pulley, an electric push rod and a connecting rod. The base plate is a base for connecting the hook end, and the back is installed at the rear position of the vehicle body. Two fixed blocks are fixed on both sides of the front center of the base plate. The fixed block is a rigid concave block, and a rotating pin is installed at the inner position of the protruding upper and lower ends. The middle position of the two rotating pins passes through the round hole at the middle lower end of the hook. The hook is a semicircular rigid hook with a groove at its front end, and a pulley is fixed in the groove in the form of an axle pin. A groove is opened at the upper end of the middle position of the hook, which is connected to the extended end of the electric push rod in the form of an axle pin. The rear end of the hook is a rigid boss, and the two hooks are connected by two connecting rods. The fixing flange of the electric push rod is fixed at the top center position of the base plate. When the extended end of the electric push rod is retracted, the two hooks are driven to rotate counterclockwise around the pin. When the extended end of the electric push rod is fully extended, the two hooks are driven to rotate clockwise around the pin.

2. The intelligent transport vehicle-mounted rigid connection mechanism according to claim 1 is characterized in that The connecting hook end includes a back plate, a clamping block and a locking pin shaft. The back plate serves as the base for connecting the fixed end, and the back side is installed at the rear position of the vehicle body. Two clamping blocks are fixed on both sides of the center of the front side of the back plate. The clamping block is a rigid concave block, and the locking pin shaft is installed on the protruding inner sides of the upper and lower ends.

3. A method for connecting using the rigid connection mechanism on an intelligent transport vehicle according to claim 1, characterized in that The steps include: Step 1: The front transport vehicle moves backward and the rear transport vehicle moves forward, and the distance sensor installed on the front vehicle senses the position feedback of the distance sensor installed on the rear vehicle; Step 2: The front transport vehicle approaches the rear transport vehicle, and the distance sensor feeds back the distance between the transport vehicles in real time until the front and rear transport vehicles are within the docking distance range; Step 3: The front transport vehicle and the rear transport vehicle enter the required distance for docking, and the hook on the connecting hook end of the front transport vehicle is pulled backward and lifted upward by the electric push rod, and the hook on the connecting hook end of the rear transport vehicle is lifted in the same way; Step 4: The front transport vehicle and the rear transport vehicle enter the designated docking position, and the electric push rod drives the hooks on the hook ends of the front and rear transport vehicles forward and locks them forward, fixing the two transport vehicles to form a rigid connection between the two vehicles and running them synchronously; Step 5: Cancelling the rigid connection and synchronization is done in the reverse manner of this step.

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