Intelligent engine mounting vehicle and working method thereof

Abstract

The invention discloses an intelligent engine mounting vehicle and a working method thereof. The intelligent engine mounting vehicle comprises a vehicle body, a lifting mechanism arranged at the top end of the vehicle body, connected with the top end of the vehicle body and used for lifting an engine; the visual alignment system is arranged at the top end of the vehicle body and is connected with the tail part of the vehicle body; the vehicle body posture is adjusted; the cable detection system is arranged at the front end of the vehicle body, connected with a vehicle head of the vehicle body and used for judging whether a cable oil pipe possibly generating interference exists in the lifting platform frame area or not; the mechanical feedback system is arranged at the top end of the lifting mechanism, connected with the top end of the lifting mechanism and used for feeding back the pressure value of the fixed point; and the visual centering system is used for adjusting the posture of the lifting mechanism. The device is simple in overall structure, high in intelligent degree and high in practicability, the visual alignment system of the device automatically adjusts the vehicle body, and accurate control over the relative positions of the vehicle body and the test bench or other devices is achieved through an algorithm.

Description

Technical Field

[0001] The present invention relates to the field of intelligent engine testing and installation equipment, and in particular to an intelligent engine installation vehicle and a working method thereof. Background Art

[0002] Common engine installation vehicles are mainly manual, and there are also those controlled by McLennan and other methods and visual control, but they have certain limitations, such as low automation, low alignment accuracy, unknown force conditions and inability to smoothly disassemble and assemble, etc. This makes engine installation difficult, with low installation efficiency and safety risks.

[0003] In practical applications, the present invention mainly solves the problems of low intelligence level in application scenarios, uncontrollable engine stress conditions, low calibration accuracy, etc., which cause low engine installation efficiency, great operating difficulty, and large number of operators. Summary of the invention

[0004] The object of the present invention is to provide an intelligent engine installation vehicle, thereby solving the above-mentioned problems existing in the prior art.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows: An intelligent engine installation vehicle, comprising: Car body, A lifting mechanism is arranged at the top of the vehicle body and connected to the top of the vehicle body, and is used for lifting and lowering the engine; The visual alignment system is installed at the top of the vehicle body and connected to the rear of the vehicle body; it is used to adjust the posture of the vehicle body; The cable detection system is arranged at the front end of the vehicle body and connected to the front of the vehicle body to determine whether there are cable oil pipes that may interfere in the lifting platform frame area; A mechanical feedback system is arranged at the top of the lifting mechanism and connected to the top of the lifting mechanism to feedback the pressure value of the fixed point; Visual centering system, used to adjust the posture of the lifting mechanism.

[0006] Preferably, the lifting mechanism comprises: There are multiple electric cylinders, which are arranged on the top of the vehicle body and fixedly connected to the top of the vehicle body; The lifting platform is arranged at one end of the electric cylinder away from the vehicle body, and the telescopic rod of the electric cylinder is fixedly connected to the bottom end of the lifting platform.

[0007] Preferably, the lifting platform is "U" shaped.

[0008] Preferably, the visual alignment system comprises: Align the vision camera and the alignment target; the alignment target is set on the top of the alignment vision camera.

[0009] Preferably, the visual centering system comprises: a left load-bearing fulcrum and a right load-bearing fulcrum; The left load-bearing fulcrum is arranged at the top of the lifting platform and is fixedly connected to one end of the left side of the lifting platform adjacent to the visual alignment system; The right load-bearing fulcrum is arranged at the top of the lifting platform and is symmetrically arranged with the left load-bearing fulcrum. The right load-bearing fulcrum is fixedly connected to one end of the right side of the lifting platform adjacent to the visual alignment system.

[0010] Preferably, a left front pressure sensor is provided at the top end of the left load-bearing fulcrum; A right front pressure sensor is arranged on the top end of the right load-bearing fulcrum.

[0011] Preferably, the invention further comprises: a ram horn is arranged at one end of the lifting platform away from the visual alignment system and is fixedly connected to the top of the lifting platform; A pressure sensor display module is provided at the top of the sheep's horn; A rear pressure sensor is arranged at one end of the horn adjacent to the left load-bearing fulcrum.

[0012] Preferably, the visual centering system further comprises: a centering visual camera, a centering target and an engine; Two centering vision cameras are provided, and the engine is arranged between the two centering vision cameras. Two centering targets are provided, and the centering targets are inserted at two ends of the engine; the centering targets and the centering vision cameras are on the same axis.

[0013] Preferably, it also includes: Inclination sensor; the inclination sensor is arranged between the ram's horn and the left load-bearing fulcrum and is fixedly connected to the lifting platform; The wire sensor is fixed to the upper surface of the vehicle body where the engine is installed.

[0014] A working method of an intelligent engine installation vehicle based on the same concept includes the following steps: S100, moving the vehicle body equipped with the engine to the front of the lifting platform; S200, start the cable detection system to determine whether there is any cable or oil pipe that may interfere with the lifting platform frame area. If so, remove the interference manually and move under the lifting platform frame; otherwise, the vehicle body continues to move under the lifting platform frame; S300, the vehicle body is continued to move until the visual alignment system can identify the target area, and the visual alignment system is started to adjust the posture of the vehicle body until the posture alignment of the vehicle body meets the preset setting value, and the alignment is completed; S400, start the lifting mechanism, raise the test platform until the visual centering system can identify the target area, start the visual centering system, the visual camera identifies the target, and performs centering correction. The platform posture is adjusted based on the feedback of the visual centering system to the vehicle body and the electric cylinder action until the visual centering reaches the preset value to complete the automatic centering, and the engine is pinned to each fixed point; S500, the pressure value of each sensor when smoothly installing each fixed point is recorded through the mechanical feedback system, which is used as a reference for the next installation or removal, thereby completing the installation.

[0015] The beneficial effects of the present invention are: The invention discloses an intelligent engine installation vehicle and a working method thereof, comprising: a vehicle body, Lifting mechanism, visual alignment system, cable detection system, mechanical feedback system, and visual centering system. The overall structure of the present invention is simple, highly intelligent, and highly practical. The visual alignment system of the device automatically adjusts the vehicle body, and realizes precise control of the relative position between the vehicle body and the lifting platform frame or other devices through algorithms. Through the centering visual camera and the centering target, the secondary precise adjustment of the relative position of the vehicle body and the engine load-bearing pin hole is achieved. The cable detection system detects the interference factors on both sides of the lifting platform frame through laser radar, and eliminates the factors that cables, oil pipes, pumps and valves in the defined area may cause collisions to the engine. The mechanical feedback system calibrates and calls the actual force values ​​of the rear pressure sensor, the left front pressure sensor, and the right front pressure sensor during smooth disassembly and assembly, and serves as a comparison reference for the next assembly and disassembly, so as to realize the system's automatic determination of the force conditions, posture adjustment, and intelligent disassembly and assembly of the engine. This solution uses various intelligent systems in the solution to solve the problems of low intelligence level of current engine installation vehicles in actual application scenarios, uncontrollable engine stress conditions, low calibration accuracy, etc., which cause low engine installation efficiency, great operation difficulty, large number of operators and risk of damage to the engine. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of an intelligent engine installation vehicle of the present invention; Figure 2 is a structural schematic diagram of another embodiment of an intelligent engine installation vehicle of the present invention; Figure 3 It is a structural schematic diagram of another embodiment of an intelligent engine installation vehicle of the present invention; Figure 4 It is a structural schematic diagram of another embodiment of an intelligent engine installation vehicle of the present invention; Figure 5 It is a structural schematic diagram of a visual alignment system of an intelligent engine installation vehicle of the present invention; Figure 6It is a structural schematic diagram of a visual centering system of an intelligent engine installation vehicle of the present invention; Figure 7 It is a smart engine installation vehicle workflow diagram of a smart engine installation vehicle of the present invention; Figure 8 The present invention discloses a work flow chart of an intelligent engine installation vehicle.

[0017] In the attached drawings, 1. vehicle body; 2. mechanical feedback system; 3. cable detection system; 4. visual alignment system; 5. lifting platform; 6. left load-bearing fulcrum; 7. right load-bearing fulcrum; 8. inclination sensor; 9. wire sensor; 10. first electric cylinder; 11. second electric cylinder; 12. third electric cylinder; 14. rear pressure sensor; 15. left front pressure sensor; 16. right front pressure sensor; 17. ram horn; 18. pressure sensor digital display module; 19. centering visual camera; 20. centering target; 21. engine; 22. alignment visual camera; 23. alignment target. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation methods described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The intelligent engine 21 installation vehicle shown includes: The vehicle body 1, the lifting mechanism, which is arranged at the top of the vehicle body 1 and connected to the top of the vehicle body 1, is used to lift the engine 21; the visual alignment system 4, which is arranged at the top of the vehicle body 1 and connected to the rear of the vehicle body 1; is used to adjust the posture of the vehicle body 1; the cable detection system 3, which is arranged at the front end of the vehicle body 1 and connected to the front of the vehicle body 1, is used to determine whether there are cables and oil pipes that may interfere with the lifting platform 5 area; the mechanical feedback system 2, which is arranged at the top of the lifting mechanism and connected to the top of the lifting mechanism, is used to feedback the pressure value of the fixed point; the visual centering system is used to adjust the posture of the lifting mechanism.

[0020] In this embodiment, the present application includes an omnidirectional intelligent mobile body 1, a mechanical feedback system 2, a cable detection system 3, a visual alignment system 4, a visual centering system 5 and other auxiliary accessories to solve the problems of low intelligence level in application scenarios, uncontrollable force conditions of the engine 21 causing damage to the engine 21, low calibration accuracy, etc., which cause low installation efficiency of the engine 21, great operating difficulty, and requiring a large number of operators.

[0021] Preferably, the lifting mechanism includes: a plurality of electric cylinders, which are arranged at the top of the vehicle body 1 and fixedly connected to the top of the vehicle body 1. It should be noted here that there are four electric cylinders, which are respectively installed at the four corners of the bottom end of the lifting platform 5. The electric cylinders include a first electric cylinder 10, a second electric cylinder 11, a third electric cylinder 12 and a fourth electric cylinder.

[0022] The lifting platform 5 is arranged at one end of the electric cylinder away from the vehicle body 1 , and the telescopic rod of the electric cylinder is fixedly connected to the bottom end of the lifting platform 5 .

[0023] Preferably, the lifting platform 5 is in a "U" shape.

[0024] Preferably, the visual alignment system 4 comprises: Align the vision camera 22 and the target 23 ; the target 23 is arranged on the top of the vision camera 22 .

[0025] Preferably, the visual centering system comprises: a left load-bearing fulcrum 6 and a right load-bearing fulcrum 7; The left load-bearing fulcrum 6 is arranged at the top of the lifting platform 5 and is fixedly connected to one end of the left side of the lifting platform 5 adjacent to the visual alignment system 4; The right load-bearing fulcrum 7 is arranged at the top of the lifting platform 5 and is symmetrically arranged with the left load-bearing fulcrum 6 . The right load-bearing fulcrum 7 is fixedly connected to one end of the right side of the lifting platform 5 adjacent to the visual alignment system 4 .

[0026] Preferably, a left front pressure sensor 15 is provided at the top of the left load-bearing fulcrum 6; A right front pressure sensor 16 is arranged at the top end of the right load-bearing fulcrum 7 .

[0027] Preferably, it also includes: a ram horn 17 is arranged at one end of the lifting platform 5 away from the visual alignment system 4, and is fixedly connected to the top of the lifting platform 5; A pressure sensor display module is provided at the top of the horn 17; A rear pressure sensor 14 is provided at one end of the horn 17 adjacent to the left load-bearing fulcrum 6 .

[0028] Preferably, the visual centering system further comprises: a centering visual camera 19, a centering target 20 and an engine 21; Two centering vision cameras 19 are provided, and the engine 21 is provided between the two centering vision cameras 19 . Two centering targets 20 are provided, and the centering targets 20 are inserted at both ends of the engine 21 . The centering targets 20 and the centering vision cameras 19 are on the same axis.

[0029] Preferably, it also includes: The inclination sensor 8 is disposed between the horn 17 and the left load-bearing fulcrum 6 and is fixedly connected to the lifting platform 5; The cable sensor 9 is fixed to the upper surface of the vehicle body 1 of the vehicle on which the engine 21 is installed. The cable sensor 9 is fixed to the upper surface of the vehicle body 1 of the vehicle on which the engine 21 is installed, and is fixed to the sheet metal screws on the upper side of the vehicle body 1. The cable end is fixed to the lifting platform 5. When the platform adjusts the height and pitch according to the visual feedback, the cable sensor 9 gives a feedback value by measuring the feedback.

[0030] A working method of a smart engine 21 installation vehicle based on the same concept includes the following steps: S100, moving the vehicle body equipped with the engine 21 to the front of the lifting platform 5; S200, start the cable detection system 3, determine whether there is a cable oil pipe that may interfere with the lifting platform 5, if so, remove the interference manually and move under the lifting platform 5; if not, the vehicle body continues to move under the lifting platform 5; S300, the vehicle body continues to move until the visual alignment system 4 can identify the target area, and the visual alignment system 4 is started to adjust the posture of the vehicle body until the posture alignment of the vehicle body meets the preset setting value, and the alignment is completed; S400, start the lifting mechanism, raise the test platform until the visual centering system can identify the target area, start the visual centering system, the visual camera identifies the target, and performs centering correction. The platform posture is adjusted according to the vehicle body and electric cylinder action through the feedback of the visual centering system until the visual centering reaches the preset value to complete the automatic centering, and the engine 21 is pinned to each fixed point; S500, recording the pressure values ​​of each sensor when each fixed point is smoothly installed through the mechanical feedback system 2, as a reference for the next installation or removal, and completing the installation.

[0031] Working principle of the present invention: The specific solutions are: In the actual use process, the omnidirectional intelligent vehicle body is manipulated to move to the designated area through the control handle, the hoisting engine 21 is placed on the vehicle body, and fixed to the vehicle body through the left load-bearing fulcrum 6, the right load-bearing fulcrum 7 and the horn 17. The operating handle controls the vehicle body to move under the lifting platform 5 or other docking devices. When it reaches the predetermined distance, the cable detection system 3 is started to determine whether there are interference objects under the lifting platform 5 or other devices within the defined range, and a continued driving or alarm signal is given according to the determination result for manual investigation and processing. After the vehicle body continues to drive to the visual range of the visual camera of the visual alignment system 4, the system gives a voice prompt, and the one-button automatic alignment is started at this time. The alignment visual camera 22 reads the alignment target 23, and the relative position correction of the vehicle body and the lifting platform 5 or other devices is completed through the visual algorithm. When the correction accuracy reaches ≤0.1mm, a voice prompt is given that the visual alignment is completed. Start the one-key lifting function. The lifting platform 5 lifts the engine 21 under the action of the four electric cylinders until it is within the visible area of ​​the visual centering system camera. A voice prompt is given to start the one-key centering. The centering visual camera 19 reads the centering target 20 and adjusts the visual centering through the visual algorithm. The vehicle body adjusts the horizontal movement, left and right flipping, front and back pitching of the vehicle body according to the feedback information of the visual algorithm through the interaction of the four electric cylinders, the tilt sensor 8, and the wire sensor 9 until the centering accuracy reaches the set value ≤ 0.05mm and stops. The centering is completed and the order is followed. The engine 21 is fixed by pins, and the values ​​of the rear pressure sensor 14, the left front pressure sensor 15, and the right front pressure sensor 16 are recorded during smooth assembly. The pressure sensor digital display module 18 displays the actual force values ​​of the three groups of sensors in real time. The computer system end records and calibrates according to the force values ​​of smooth assembly, and uses the pressure values ​​of the rear pressure sensor 14, the left front pressure sensor 15, and the right front pressure sensor 16 as a comparison reference when the engine 21 is disassembled and assembled next time, so as to realize the system to automatically determine the force situation and adjust the posture to realize the intelligent disassembly and assembly of the engine 21.

[0032] How ForceFeedback 2 works: Attached Figure 2 , Figure 4 The middle figure shows the rear pressure sensor 14; the left front pressure sensor 15; and the right front pressure sensor 16. The calibration of the force data of the clevis pin 17 and the load-bearing pin in a smooth state during testing and assembly is used as a basis for disassembling and assembling the clevis pin 17 and the load-bearing pin of the engine 21. When disassembling and assembling the engine 21, the algorithm comparison and analysis of the real-time feedback values ​​of the rear pressure sensor 14; the left front pressure sensor 15; and the right front pressure sensor 16 and the calibration values ​​is used to reach the allowable error range of the calibration value and achieve a smooth state.

[0033] Working principle of cable detection system 3: Attached Figure 2As shown in the figure, the cable detection system 3, the cable detection sensor will detect obstacles on the inside of the gantry, with a detection distance of 4 meters and a width defined according to the actual allowed obstacle area. The minimum resolution is less than 20 mm and the angle resolution is 0.33°. It checks whether there are any cables that have not been retracted and calibrates the distance within the frame. Through algorithm analysis, if there are obstacles within the set range, an audible and visual alarm will be issued, the engine 21 will be installed and stopped, and obstacles will be manually checked and handled to prevent entry and damage to the cables or engine 21.

[0034] How the Vision Alignment System 4 works: Attached Figure 5 As shown in the figure, the position calibration is performed by testing and calibrating the relative position value between the vehicle body and the target. When the vehicle body drives to the area where the alignment visual camera 22 can identify and align the target 23, the visual alignment system 4 is automatically started, and the relative position of the alignment target 23 is analyzed by the visual camera to adjust the relative position of the vehicle body until the calibration value is met.

[0035] Working principle of the visual centering system: Attached Figure 6 As shown in the figure in the middle, the centering visual camera 19, the centering target 20 and the engine 21 are aligned. After the visual alignment is completed, the automatic lifting is started. When the centering visual camera 19 reaches the range where the centering target 20 fixed on the engine 21 can be identified, the alignment is started. The two sets of centering visual cameras 19 and the two sets of centering targets 20 are aligned into a straight line through an algorithm, and the visual alignment is completed, so that the load-bearing pins and the engine 21 can be installed.

[0036] The beneficial effects of the present invention are: The present invention discloses an intelligent engine 21 installation vehicle and a working method thereof, comprising: a vehicle body, Lifting mechanism, visual alignment system 4, cable detection system 3, mechanical feedback system 2, visual centering system. The overall structure of the present invention is simple, intelligent and practical. The visual alignment system 4 of the device automatically adjusts the vehicle body and realizes precise control of the relative position between the vehicle body and the lifting platform 5 or other devices through algorithms. Through the centering visual camera 19 and the centering target 20, the relative position of the centering of the vehicle body and the load-bearing pin hole of the engine 21 is precisely adjusted twice. The cable detection system 3 detects the interference factors on both sides of the lifting platform 5 through laser radar to eliminate the factors that cables, oil pipes, pumps and valves in the defined area may cause collisions to the engine 21. The mechanical feedback system 2 is based on the calibration and call of the actual force values ​​of the rear pressure sensor 14, the left front pressure sensor 15, and the right front pressure sensor 16 during smooth disassembly and assembly, which are used as a comparison reference for the next assembly and disassembly, so as to realize the system's automatic determination of the force situation and posture adjustment to realize the intelligent disassembly and assembly of the engine 21. This solution uses various intelligent systems in the solution to solve the problems of low intelligence level of the current engine 21 installation vehicle in actual application scenarios, uncontrollable force conditions of the engine 21, low calibration accuracy, etc., which lead to low installation efficiency of the engine 21, great operating difficulty, large number of operators and risk of damage to the engine 21.

Claims

1. An intelligent engine installation vehicle, characterized in that: include: Car body, A lifting mechanism, arranged at the top of the vehicle body, connected to the top of the vehicle body, and used for lifting the engine; A visual alignment system is arranged at the top of the vehicle body and connected to the rear of the vehicle body; and is used to adjust the posture of the vehicle body; A cable detection system, arranged at the front end of the vehicle body and connected to the front of the vehicle body, is used to determine whether there is a cable oil pipe that may interfere in the lifting platform frame area; A mechanical feedback system is arranged at the top of the lifting mechanism, connected to the top of the lifting mechanism, and used to feedback the pressure value of the fixed point; Visual centering system, used to adjust the posture of the lifting mechanism.

2. The intelligent engine installation vehicle according to claim 1, characterized in that: The lifting mechanism comprises: There are multiple electric cylinders, which are arranged on the top of the vehicle body and fixedly connected to the top of the vehicle body; The lifting platform is arranged at one end of the electric cylinder away from the vehicle body, and the telescopic rod of the electric cylinder is fixedly connected to the bottom end of the lifting platform.

3. The intelligent engine installation vehicle according to claim 2, characterized in that: The lifting platform is in a "U" shape.

4. The intelligent engine installation vehicle according to claim 2, characterized in that: The visual alignment system comprises: Aligning the vision camera and the alignment target; the alignment target is arranged on the top of the alignment vision camera.

5. The intelligent engine installation vehicle according to claim 4, characterized in that: The visual centering system includes: a left load-bearing fulcrum and a right load-bearing fulcrum; The left load-bearing fulcrum is arranged at the top of the lifting platform and is fixedly connected to an end of the left side of the lifting platform adjacent to the visual alignment system; The right load-bearing fulcrum is arranged at the top of the lifting platform and is symmetrically arranged with the left load-bearing fulcrum. The right load-bearing fulcrum is fixedly connected to one end of the right side of the lifting platform adjacent to the visual alignment system.

6. The intelligent engine installation vehicle according to claim 5, characterized in that: A left front pressure sensor is arranged at the top of the left load-bearing fulcrum; A right front pressure sensor is arranged on the top end of the right load-bearing fulcrum.

7. The intelligent engine installation vehicle according to claim 6, characterized in that: It also includes: a ram horn is arranged at an end of the lifting platform away from the visual alignment system and is fixedly connected to the top of the lifting platform; A pressure sensor display module is provided at the top of the sheep horn; A rear pressure sensor is arranged at one end of the horn adjacent to the left load-bearing fulcrum.

8. The intelligent engine installation vehicle according to claim 7, characterized in that: The visual centering system also includes: a centering visual camera, a centering target and an engine; There are two centering vision cameras, and the engine is arranged between the two centering vision cameras. There are two centering targets, and the centering targets are inserted at both ends of the engine. The centering targets and the centering vision cameras are on the same axis.

9. The intelligent engine installation vehicle according to claim 8, characterized in that: Also includes: Inclination sensor; the inclination sensor is arranged between the horn and the left load-bearing fulcrum, and is fixedly connected to the lifting platform; The pull-wire sensor is fixed to the upper surface of the vehicle body of the engine-mounted vehicle.

10. A working method of an intelligent engine installation vehicle, characterized in that: The following steps are involved: S100, moving the vehicle body equipped with the engine to the front of the lifting platform; S200, start the cable detection system to determine whether there is any cable or oil pipe that may interfere with the lifting platform frame area. If so, remove the interference manually and move under the lifting platform frame; if not, the vehicle body continues to move under the lifting platform frame; S300, the vehicle body is continued to move until the visual alignment system can identify the target area, and the visual alignment system is started to adjust the posture of the vehicle body until the posture alignment of the vehicle body meets the preset setting value, and the alignment is completed; S400, start the lifting mechanism, raise the test platform until the visual centering system can identify the target area, start the visual centering system, the visual camera identifies the target, and performs centering correction. The platform posture is adjusted based on the feedback of the visual centering system to the vehicle body and the electric cylinder action until the visual centering reaches the preset value to complete the automatic centering, and the engine is pinned to each fixed point; S500, the pressure value of each sensor when smoothly installing each fixed point is recorded through the mechanical feedback system, which is used as a reference for the next installation or removal, thereby completing the installation.

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