An intelligent engine installation vehicle and its working method

Abstract

The present invention discloses an intelligent engine installation vehicle and its working method, including: a vehicle body, a lifting mechanism arranged at the top of the vehicle body and connected to the top of the vehicle body for lifting the engine; a vision alignment system arranged at the top of the vehicle body and connected to the rear of the vehicle body for adjusting the attitude 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 for judging whether there are cables and oil pipes that may cause interference in the lifting platform frame area; a mechanical feedback system arranged at the top of the lifting mechanism and connected to the top of the lifting mechanism for feedback the pressure value of the fixed point; a vision centering system for adjusting the attitude of the lifting mechanism. The overall structure of the present invention is simple, with a high degree of intelligence and strong practicability. The vision alignment system of this device automatically adjusts the vehicle body, and through algorithms, precise control of the relative position between the vehicle body and the test bench or other devices is achieved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent testing and installation equipment for engines, and particularly to an intelligent engine installation vehicle and its working method. Background Art

[0002] Common engine installation vehicles are mainly manual, and there are also those with Mecanum wheels and other controls and vision controls, but there are certain limitations, such as low automation, low alignment accuracy, and unknown force conditions, making it impossible to smoothly disassemble and assemble. This results in difficult engine installation operations, low installation efficiency, and safety risks.

[0003] In practical applications, the present invention mainly solves problems such as low intelligence in the application scenario, uncontrollable force conditions of the engine, and low calibration accuracy, which lead to low installation efficiency, difficult operation, and the need for many operators of the engine. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent engine installation vehicle to solve the foregoing problems existing in the prior art.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] An intelligent engine installation vehicle, comprising:

[0007] A vehicle body,

[0008] A lifting mechanism, arranged at the top of the vehicle body and connected to the top of the vehicle body, for lifting the engine;

[0009] A vision alignment system, arranged at the top of the vehicle body and connected to the rear of the vehicle body; for adjusting the vehicle body posture;

[0010] A cable detection system, arranged at the front end of the vehicle body and connected to the front of the vehicle body, for determining whether there are cables and oil pipes that may cause interference in the lifting platform frame area;

[0011] A mechanical feedback system, arranged at the top of the lifting mechanism and connected to the top of the lifting mechanism, for feeding back the pressure value of the fixed point;

[0012] A vision centering system, for adjusting the posture of the lifting mechanism.

[0013] Preferably, the lifting mechanism includes:

[0014] A plurality of electric cylinders, arranged at the top of the vehicle body and fixedly connected to the top of the vehicle body;

[0015] A lifting platform, arranged at the 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.

[0016] Preferably, the lifting platform is in a "U" shape.

[0017] Preferably, the vision alignment system includes:

[0018] An alignment vision camera and an alignment target; the alignment target is arranged on the top of the alignment vision camera.

[0019] Preferably, the vision centering system includes: a left load-bearing fulcrum and a right load-bearing fulcrum;

[0020] The left load-bearing fulcrum is arranged at the top end of the lifting platform and is fixedly connected to one end of the left side of the lifting platform near the vision alignment system;

[0021] The right load-bearing fulcrum is arranged at the top end 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 near the vision alignment system.

[0022] Preferably, a left front pressure sensor is arranged at the top end of the left load-bearing fulcrum;

[0023] A right front pressure sensor is arranged at the top end of the right load-bearing fulcrum.

[0024] Preferably, it further includes: a ram's horn is arranged at one end of the lifting platform far from the vision alignment system and is fixedly connected to the top end of the lifting platform;

[0025] A pressure sensor display module is arranged at the top end of the ram's horn;

[0026] A rear pressure sensor is arranged at one end of the ram's horn close to the left load-bearing fulcrum.

[0027] Preferably, the vision centering system further includes: a centering vision camera, a centering target and an engine;

[0028] There are two centering vision cameras. 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.

[0029] Preferably, it further includes:

[0030] An 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;

[0031] A wire-pulling sensor, which is fixed on the upper surface of the vehicle body of the engine installation vehicle.

[0032] A working method of an intelligent engine installation vehicle based on the same concept includes the following steps:

[0033] S100. Move the vehicle body equipped with the engine to the front of the lifting platform frame;

[0034] S200. Start the cable detection system to determine whether there are cables and oil pipes in the lifting platform frame area that may cause interference. If so, manually remove the interfering objects and then move to below the lifting platform frame; if not, the vehicle body continues to move to below the lifting platform frame;

[0035] S300. Continue to move the vehicle body until the visual alignment system can identify the target area, and start the visual alignment system to adjust the attitude of the vehicle body until the attitude of the vehicle body is aligned to meet the preset set value, then the alignment is completed;

[0036] S400. Start the lifting mechanism to 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. Adjust the platform attitude by the vehicle body and the electric cylinder through the feedback of the visual centering system until the visual centering reaches the preset value to complete automatic centering, and pin and install each fixed point of the engine;

[0037] S500. Record the pressure values of each sensor when smoothly pinning and installing each fixed point through the mechanical feedback system as a reference for the next installation or disassembly, and complete the installation.

[0038] The beneficial effects of the present invention are:

[0039] The present invention discloses an intelligent engine installation vehicle and its working method, including: a vehicle body,

[0040] a lifting mechanism, a visual alignment system, a cable detection system, a mechanical feedback system, and a visual centering system. The overall structure of the present invention is simple, with a high degree of intelligence and strong practicability. The visual alignment system of this device automatically adjusts the vehicle body, and through algorithms, it precisely controls the relative position of the vehicle body and the lifting platform frame or other devices. Through the centering visual camera and the centering target, the relative position of the vehicle body and the engine bearing pin holes is precisely adjusted for the second time. The cable detection system detects the interference factors on both sides of the lifting platform frame through lidar, and eliminates whether cables, oil pipes, pump valves, etc. within the defined area cause bumps to the engine. The mechanical feedback system, based on the calibration and invocation of 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, is used as a comparison reference for the next assembly and disassembly, so as to automatically determine the force situation by the system and adjust the attitude to achieve intelligent disassembly and assembly of the engine. This solution solves the problems of low intelligence, uncontrollable engine force situation, low calibration accuracy, etc. of the current engine installation vehicle in the actual application scenario, resulting in low engine installation efficiency, difficult operation, a large number of operators required, and a risk of damage to the engine. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a schematic structural diagram of an intelligent engine installation vehicle of the present invention;

[0042] Figure 2 It is a schematic structural diagram of another embodiment of an intelligent engine installation vehicle of the present invention;

[0043] Figure 3 It is a schematic structural diagram of yet another embodiment of an intelligent engine installation vehicle of the present invention;

[0044] Figure 4 It is a schematic structural diagram of yet another embodiment of an intelligent engine installation vehicle of the present invention;

[0045] Figure 5 It is a schematic structural diagram of the vision alignment system of an intelligent engine installation vehicle of the present invention;

[0046] Figure 6 It is a schematic structural diagram of the vision centering system of an intelligent engine installation vehicle of the present invention;

[0047] Figure 7 It is a working flow chart of an intelligent engine installation vehicle of the present invention;

[0048] Figure 8 It is a working flow chart of an intelligent engine installation vehicle of the present invention.

[0049] In the drawings, 1. vehicle body; 2. mechanical feedback system; 3. cable detection system; 4. vision alignment system; 5. lifting platform; 6. left load-bearing fulcrum; 7. right load-bearing fulcrum; 8. inclination sensor; 9. wire-pulling 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. knuckle; 18. pressure sensor digital display module; 19. centering vision camera; 20. centering target; 21. engine; 22. alignment vision camera; 23. alignment target. Detailed implementation manners

[0050] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only used to explain the present invention and are not used to limit the present invention.

[0051] Refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 An intelligent engine 21 installation vehicle shown, comprising:

[0052] Vehicle body 1, a lifting mechanism, which is arranged at the top end of the vehicle body 1 and connected to the top end of the vehicle body 1 for lifting the engine 21; a vision alignment system 4, which is arranged at the top end of the vehicle body 1 and connected to the rear end of the vehicle body 1 for adjusting the attitude of the vehicle body 1; a 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 for judging whether there are cables and oil pipes that may cause interference in the area of the lifting platform 5; a mechanical feedback system 2, which is arranged at the top end of the lifting mechanism and connected to the top end of the lifting mechanism for feedback the pressure value of the fixed point; a vision centering system for adjusting the attitude of the lifting mechanism.

[0053] In this embodiment, the present application includes an omnidirectional intelligent mobile vehicle body 1, a mechanical feedback system 2, a cable detection system 3, a vision alignment system 4, a vision centering system 5 and other accessory parts to solve the problems of low installation efficiency, large operation difficulty and many operators caused by low intelligence level in the application scenario, uncontrollable force on the engine 21 resulting in damage to the engine 21, and low calibration accuracy.

[0054] Preferably, the lifting mechanism includes: electric cylinders, which are multiple and arranged at the top end of the vehicle body 1 and fixedly connected to the top end 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.

[0055] A lifting platform 5 is arranged at the end of the electric cylinder far 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.

[0056] Preferably, the lifting platform 5 is in a "U" shape.

[0057] Preferably, the vision alignment system 4 includes:

[0058] An alignment vision camera 22 and an alignment target 23; the alignment target 23 is arranged on the top of the alignment vision camera 22.

[0059] Preferably, the vision centering system includes: a left load-bearing fulcrum 6 and a right load-bearing fulcrum 7;

[0060] The left load-bearing fulcrum 6 is arranged at the top end of the lifting platform 5 and fixedly connected to one end of the left side of the lifting platform 5 near the vision alignment system 4;

[0061] The right load-bearing fulcrum 7 is arranged at the top end 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 near the vision alignment system 4.

[0062] Preferably, a left front pressure sensor 15 is arranged at the top end of the left load-bearing fulcrum 6;

[0063] A right front pressure sensor 16 is provided at the top of the right load-bearing fulcrum 7.

[0064] Preferably, it further includes: The ram's horn 17 is arranged at one end of the lifting platform 5 away from the vision alignment system 4 and is fixedly connected to the top of the lifting platform 5;

[0065] A pressure sensor display module is provided at the top of the ram's horn 17;

[0066] A rear pressure sensor 14 is arranged at one end of the ram's horn 17 close to the left load-bearing fulcrum 6.

[0067] Preferably, the vision alignment system further includes: an alignment vision camera 19, an alignment target 20, and an engine 21;

[0068] There are two alignment vision cameras 19, the engine 21 is arranged between the two alignment vision cameras 19, there are two alignment targets 20, and the alignment targets 20 are inserted at both ends of the engine 21; the alignment targets 20 and the alignment vision cameras 19 are on the same axis.

[0069] Preferably, it further includes:

[0070] An inclination sensor 8; the inclination sensor 8 is arranged between the ram's horn 17 and the left load-bearing fulcrum 6 and is fixedly connected to the lifting platform 5;

[0071] A wire-pulling sensor 9 is fixed on the upper surface of the vehicle body 1 of the engine 21 installation vehicle. The wire-pulling sensor 9 is fixed on the upper surface of the vehicle body 1 of the engine 21 installation vehicle, is fixed to the sheet metal on the upper side of the vehicle body 1 with sheet metal screws, and the wire-pulling end is fixed to the lifting platform 5. When the platform needs to adjust the height and pitch according to the vision feedback, the wire-pulling sensor 9 gives a feedback value through measurement and feedback.

[0072] A working method of an intelligent engine 21 installation vehicle based on the same concept includes the following steps:

[0073] S100. Move the vehicle body with the engine 21 to the front of the lifting platform 5 frame;

[0074] S200. Start the cable detection system 3 to judge whether there are cables and oil pipes that may cause interference in the area of the lifting platform 5 frame. If so, manually remove the interfering objects and then move to under the lifting platform 5 frame; if not, the vehicle body continues to move to under the lifting platform 5 frame;

[0075] S300. Continue to move the vehicle body to the area where the vision alignment system 4 can recognize the target, start the vision alignment system 4 to adjust the attitude of the vehicle body until the attitude of the vehicle body is aligned to meet the preset set value, then the alignment is completed;

[0076] 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;

[0077] 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.

[0078] Working principle of the present invention:

[0079] The specific solutions are:

[0080] 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.

[0081] How ForceFeedback 2 works:

[0082] Appendix Figure 2 、 Figure 4 The figure shows the rear pressure sensor 14, the left front pressure sensor 15, and the right front pressure sensor 16 in the appendix. By calibrating the force data when the pins and load-bearing pins of the knuckle 17 are in a smooth state during testing of installation and disassembly, it serves as the basis for installing and disassembling the pins and load-bearing pins of the knuckle 17 of the engine 21. When installing and disassembling the engine 21, through 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 with the calibrated values, within the allowable error range of the calibrated values, a smooth state is achieved.

[0083] Working principle of the cable detection system 3:

[0084] Appendix Figure 2 As shown in the figure in the appendix, for the cable detection system 3, the cable detection sensor will detect obstacles inside the test bench. The detection distance is 4 meters, and the width is defined according to the actual allowable obstacle area. The minimum resolution is <20 mm, and the angular resolution is 0.33°. It checks whether there are cables not retracted, sets and calibrates the distance within the frame. Through algorithm analysis, if there are obstacles within the set range, it will give an audible and visual alarm prompt, stop the installation work of the engine 21, and manually check and deal with the obstacles to prevent damage to the cables or the engine 21 caused by entry.

[0085] Working principle of the vision alignment system 4:

[0086] Appendix Figure 5 As shown in the figure in the appendix, through testing and calibration of the relative position values between the vehicle body and the target, position calibration is carried out. When the vehicle body travels to the area where the alignment vision camera 22 in the vision alignment system 4 can recognize the alignment target 23, the vision alignment system 4 is automatically started. Through the analysis of the relative position of the alignment target 23 recognized by the vision camera, the relative position of the vehicle body is adjusted until the calibrated value is met.

[0087] Working principle of the vision centering system:

[0088] Appendix Figure 6 As shown in the figure in the appendix, for the centering vision camera 19, the centering target 20, and the engine 21, after completing the vision alignment, the automatic lifting is started. When it reaches the range where the centering vision camera 19 can recognize the centering target 20 fixed on the engine 21, the centering is started. Through algorithm analysis of the two groups of centering vision cameras 19 and the two groups of centering targets 20, a four-point straight line is achieved to complete the vision centering and realize the pin installation of the load-bearing pin and the engine 21.

[0089] The beneficial effects of the present invention are:

[0090] The present invention discloses an intelligent engine 21 installation vehicle and its working method, including: a vehicle body,

[0091] Lifting mechanism, vision alignment system 4, cable detection system 3, mechanical feedback system 2, vision centering system. The overall structure of the present invention is simple, with a high degree of intelligence and strong practicability. The vision alignment system 4 of this equipment automatically adjusts the vehicle body, and precisely controls the relative position between the vehicle body and the lifting platform 5 or other devices through algorithms. Through the centering vision camera 19 and the centering target 20, the relative position of the vehicle body and the bearing pin hole of the engine 21 is precisely adjusted for the second time. The cable detection system 3 detects the interference factors on both sides of the lifting platform 5 through lidar, and eliminates whether factors such as cables, oil pipes, pump valves, etc. within the defined area cause bumps to the engine 21. The mechanical feedback system 2, based on the calibration and invocation of the actual force values of the rear pressure sensor 14, left front pressure sensor 15, and right front pressure sensor 16 during smooth disassembly and assembly, is used as a comparison reference for the next assembly and disassembly, so as to realize the intelligent disassembly and assembly of the engine 21 by automatically determining the force situation of the system for attitude adjustment. This solution solves the problems of low installation efficiency, high operation difficulty, large number of operators required, and risk of damage to the engine 21 caused by low intelligence level, uncontrollable force situation of the engine 21, and low calibration accuracy in the actual application scenario of the current engine 21 installation vehicle through the various intelligent systems in the solution.

Claims

1. A working method of an intelligent engine installation vehicle, characterized in that: include: Vehicle 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; 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; A lifting platform is arranged at one end of the electric cylinder away from the vehicle body, and a telescopic rod of the electric cylinder is fixedly connected to the bottom end of the lifting platform; The lifting platform is in a "U" shape; the opening end of the lifting platform faces the rear end of the vehicle body; A visual alignment system, arranged at the top of the vehicle body and connected to the rear of the vehicle body, for adjusting the posture of the vehicle body; The visual alignment system comprises: an alignment visual camera and an alignment target; the alignment target is arranged on the top of the alignment visual camera; A cable detection system is arranged at the front end of the vehicle body and connected to the front of the vehicle body, and is used to detect whether there are cables or oil pipes that cause interference in the lifting platform frame area. The cable detection system includes a laser scanning module and an alarm module. When an interference risk is detected, an alarm is triggered and the lifting action is suspended; A mechanical feedback system is arranged at the top of the lifting mechanism and fixedly connected to the top of the lifting mechanism, and is used to provide real-time feedback of the pressure value of the engine fixed point; Visual centering system, used to adjust the posture of the lifting mechanism, including the left load-bearing fulcrum and the 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; A left front pressure sensor is arranged at the top of the left load-bearing fulcrum; A right front pressure sensor is arranged at the top of the right load-bearing fulcrum; The visual centering system also includes: a centering visual camera, a centering target and an engine; There are two centering vision cameras, the engine is arranged between the two centering vision cameras, there are two centering targets, the centering targets are inserted at both ends of the engine; the centering targets and the centering vision cameras are on the same axis; 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 provided at one end of the horn adjacent to the left load-bearing fulcrum; 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; A wire sensor fixed to the upper surface of the vehicle body of the engine mounting vehicle; The following steps are involved: S100, moving the vehicle body equipped with the engine to the front of the lifting platform; S200, starting the cable detection system to determine whether there are cables or oil pipes that cause interference in the lifting platform frame area, if so, manually removing the interference and moving under the lifting platform frame; if not, the vehicle body continues to move under the lifting platform frame; S300, the vehicle body is continuously moved until the visual alignment system can identify the alignment target area, and the visual alignment system is activated to adjust the posture of the vehicle body until the posture alignment of the vehicle body satisfies a preset setting value, and the alignment is completed; S400, start the lifting mechanism, raise the lifting platform until the visual centering system can identify the centering target area, start the visual centering system, the visual camera identifies the centering target, and performs centering correction. The posture of the lifting platform is adjusted by the visual centering system feedback on 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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