Traction transportation device and transportation method

Abstract

According to the traction transportation device and method, at least one traction rod is arranged below a towed object, at least one traction unit is arranged to correspond to the traction rod, and when the traction unit travels to the position close to the traction rod of the towed object, a locking device of a hooking device is in an open state; the traction unit comprises a moving platform which is a traction transportation moving main body; the hitching device is arranged in the mobile platform, the hitching device encircles the traction rod, the mobile platform transmits traction force to the traction rod through the hitching device, and then traction of the towed object is achieved; the visual sensor is arranged on the moving platform or the hooking device, the traction rod is provided with a direction pattern used for direction recognition, and the visual sensor obtains the relative angle relation between the traction unit and a towed object by recognizing the direction pattern and adjusts the state of the traction unit; the traction unit moves to complete a traction task. The traction transportation unit is convenient and easy to use, high in traction capacity and flexible and efficient in transportation mode.

Description

Technical Field

[0001] The invention belongs to the technical field of traction transportation, and in particular relates to a traction transportation device and a transportation method. Background Art

[0002] In today's society, with the rapid development of logistics and transportation industries, traction transport devices play an increasingly important role in cargo transportation. A traction transport device is a device used to tow or transport cargo, and has many types and application scenarios. However, existing traction transport devices still have some problems and challenges, which need to be further improved and perfected.

[0003] In traditional traction transporter devices, the vehicle's traction and braking systems are usually implemented by mechanical or hydraulic systems. These systems may have problems such as slow response, low accuracy, and high energy consumption in some cases, affecting the vehicle's transportation efficiency and safety. In addition, traditional traction transporter devices also have problems such as high maintenance costs, high failure rates, and high noise, which need further improvement.

[0004] With the continuous advancement of science and technology, electrification and intelligent technologies are gradually being applied to tractor transport devices. For example, new energy vehicles such as electric vehicles and fuel cell vehicles have gradually replaced traditional fuel vehicles, making tractor transport devices more environmentally friendly and energy-saving. At the same time, the application of intelligent technology also enables tractor transport devices to achieve automated control and remote monitoring, improving transportation efficiency and management level.

[0005] In addition, as the demand for cargo transportation continues to increase, tractor-trailer devices also need to adapt to more complex and diverse application scenarios. At the same time, in application scenarios such as urban freight and express delivery, tractor-trailer devices need to be more flexible and convenient to meet the needs of rapid response and efficient transportation.

[0006] According to the requirements of transporting the main beam of wind turbine blades, the main beam can be up to 100m long. The main beam is carried on a tooling with the same length as itself, and the tooling is supported by universal wheels. Previous transportation solutions: Solution 1: Use multiple people to push the tooling for transfer. The disadvantage is that it requires a lot of people (10 people) to participate, which has high labor costs, slow transfer, and high work intensity. Multiple people push together at a long distance. If someone falls or other situations occur, the tooling can easily crush the operator, which is extremely unsafe.

[0007] Solution 2. Transfer through multiple transport units. It is impossible to achieve controllable automatic coordinated action between multiple vehicles, and they need to rely on manual control of each vehicle. This solution has low operating efficiency. Inaccurate manual operation can easily cause the transport vehicle to pull the tooling, causing damage to the tooling or workpiece, and low transportation efficiency. This solution requires manual hooking, which is inconvenient for the transport vehicle to enter and exit. Summary of the invention

[0008] In order to solve the above problems, the present invention proposes a traction and transportation device and a transportation method. The traction and transportation unit is convenient and easy to use, has a strong traction capacity, and a flexible and efficient transportation method.

[0009] To achieve the above object, the technical solution adopted by the present invention is: a traction transport device, wherein at least one traction rod is arranged below the towed object, and at least one traction unit is arranged corresponding to the traction rod, and the traction unit comprises: Mobile platform, for traction and transportation of mobile entities; A hooking device is arranged in the mobile platform, the hooking device embraces the traction rod, and the mobile platform transmits the traction force to the traction rod through the hooking device, thereby achieving traction of the towed object; and a visual sensor, which is arranged on a mobile platform or a hooking device. The traction rod has a direction pattern for direction identification. The visual sensor obtains the relative angle relationship between the traction unit and the towed object by identifying the direction pattern.

[0010] Furthermore, the mobile platform is provided with a groove which facilitates the towing rod to enter the hooking device from the side; The hooking device has a lockable locking device on one side corresponding to the groove; When the locking device is in the open state, the mobile platform is operated to actively approach the traction rod, so that the traction rod enters the hook device through the opened locking device along the groove on the mobile platform, and then the locking device is locked, and the traction rod is restricted inside the hook device.

[0011] Furthermore, there is a gap between the hitch device and the towing rod.

[0012] Furthermore, the mobile platform is an integral differential gear train.

[0013] Furthermore, the integral differential gear train includes four powered wheels.

[0014] Furthermore, at least two traction units are provided, and each traction unit is configured in linkage; Each traction unit is respectively connected to a traction rod, and uses its own visual sensor to identify the angle relationship with the towed object, and adjusts the rotation angle of each traction unit in conjunction with the detection direction to achieve linkage configuration.

[0015] Furthermore, when each traction unit obtains the relative position and real-time angle with the towed object, each traction unit realizes automatic linkage and overall synchronous motion control through automatic solution of the motion model.

[0016] On the other hand, the present invention also provides a traction transportation method, comprising the steps of: S10, the traction unit moves to the vicinity of the traction rod of the towed object, and the locking device of the hitch device is in an open state; S20, the traction unit moves under the towed object, so that the traction rod moves along the groove on the mobile platform into the hook device, and the locking device is locked, so that the traction rod is restricted inside the hook device; S30, the visual sensor obtains the relative angle relationship between the traction unit and the towed object by identifying the direction pattern, and completes the state adjustment of the traction unit; S40, the traction unit moves to complete the traction task.

[0017] Furthermore, at least two traction units are provided, and each traction unit is configured in linkage; After the first traction unit executes steps S10-S20, other traction units execute steps S10-S20 in sequence, and each traction unit is respectively connected to a traction rod; The traction units use their own visual sensors to identify the angle relationship with the towed object, and the rotation angles of the traction units are adjusted in conjunction with the detection direction to achieve linkage configuration.

[0018] Furthermore, when each traction unit obtains the relative position and real-time angle with the towed object, each traction unit realizes automatic linkage and overall synchronous motion control through automatic solution of the motion model.

[0019] Step 1, input the actual distance p between the geometric centers of the two independent traction units into the motion controller of the traction unit; Step 2: The motion controller translates the motion geometric center of the motion model of the single traction unit along the Y axis by ±p / 2 according to the input result, so that the motion geometric centers of the two single traction units coincide with one point; Step 3: During the subsequent linkage movement, the two traction units will move as a whole due to the coincidence of the geometric centers of motion; Step 4: by adjusting the rotation angle of each traction unit, the line passing through the center of each traction unit horizontally always intersects at the same point, and the linear speed of each wheel is proportional to the distance from the wheel to the line connecting the intersection points.

[0020] The beneficial effects of adopting this technical solution are: The present invention has an openable and closable hooking device, which is convenient for the transport vehicle to enter and exit; it is convenient for the transport vehicle to transfer between traction rods, and to transfer from one towed object to another. The present invention has a visual sensor for identifying angles, which can monitor the relative angle relationship between the transport unit and the towed object in real time, and realize the automatic adjustment function. When a single vehicle is used, the movement posture can be controlled. When multiple vehicles are linked, automatic synchronous and coordinated movements of multiple vehicles can be realized. The traction transport unit proposed by the present invention is convenient and easy to use, has a strong traction capacity, and is flexible and efficient in transportation. The transport vehicle has a simple structure, low cost, and great economic benefits.

[0021] The present invention is adjustably connected to the towing object through an openable and closable hook device, and the state of the towing unit is adjusted by identifying the angle through a visual sensor, which can: improve transportation stability: the angle-adjustable towing transport vehicle can adjust the towing angle according to the road conditions and transportation needs during transportation, thereby improving the stability and safety of transportation; reduce wear and impact: by adjusting the towing angle, the impact and friction between the towing vehicle and the towed vehicle can be reduced, the wear of the vehicle can be reduced, and the service life can be extended; flexibly respond to different road conditions: the angle-adjustable towing transport vehicle can adjust the towing angle according to different road conditions and transportation needs, thereby achieving more flexible and reliable transportation; improve transportation efficiency: by reasonably adjusting the towing angle, the balance between traction and resistance can be optimized, thereby improving transportation efficiency. In short, an angle-adjustable towing transport vehicle can improve transportation stability, reduce wear and impact, flexibly respond to different road conditions, improve transportation efficiency and other beneficial effects, and is an efficient and safe mode of transportation.

[0022] The present invention can improve transportation efficiency: the linkage traction transport vehicle adopts a linkage mode of multiple tractors, which can realize continuous transportation and improve transportation efficiency. The present invention can reduce transportation costs: the linkage traction transport vehicle adopts multiple tractors to pull together, which reduces the traction force requirement of each tractor, thereby reducing transportation costs. The present invention improves safety: the linkage traction transport vehicle adopts multiple tractors to pull together, which increases the number of tractors and improves transportation safety. The present invention has strong adaptability: the linkage traction transport vehicle can adapt to different road conditions and transportation needs, and can realize efficient, safe and reliable transportation. The present invention has strong scalability: the linkage traction transport vehicle can increase or decrease the number of tractors as needed, which is convenient for expansion and adjustment. In short, a linkage traction transport vehicle can improve transportation efficiency, reduce transportation costs, improve safety, and has strong adaptability and scalability and other beneficial effects, and is an efficient, safe and reliable mode of transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a traction transport device of the present invention; Figure 2 It is a schematic flow chart of a traction transportation method of the present invention; Figure 3 This is a schematic diagram of the structure of the hooking device in an embodiment of the present invention; Figure 4 is a bottom schematic diagram of a towed object in an embodiment of the present invention; Figure 5 It is a schematic diagram of a state in which a traction unit according to an embodiment of the present invention travels to the vicinity of a traction rod of a towed object; Figure 6 It is a schematic diagram of a state in which the traction unit according to an embodiment of the present invention moves under the towed object and locks the locking device; Figure 7 This is a schematic diagram of a forward driving state with the traction unit angle adjusted in an embodiment of the present invention; Figure 8 This is a schematic diagram of a state of lateral travel with the traction unit angle adjusted in an embodiment of the present invention; Fig. 9 It is a schematic diagram of the state of oblique driving under the angle adjustment of the traction unit in an embodiment of the present invention; Fig.10 This is a schematic diagram of the state of dual-vehicle linkage in an embodiment of the present invention; Among them, 1 is the towed object, 2 is the towing rod, 3 is the towing unit, 31 is the mobile platform, 32 is the hooking device, 33 is the visual sensor, 34 is the direction pattern, 35 is the groove, and 36 is the gear train; 4 is the towing unit A, 5 is the towing unit B, and 6 is the wind turbine blade. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described below with reference to the accompanying drawings.

[0025] In this embodiment, see Figure 1 As shown, the present invention proposes a traction transport device, wherein at least one traction rod 2 is arranged below the towed object 1, and at least one traction unit 3 is arranged corresponding to the traction rod 2, and the traction unit 3 includes: The mobile platform 31 is a mobile body for traction and transportation; The hook device 32 is arranged in the mobile platform 31. The hook device 32 embraces the traction rod 2. The mobile platform 31 transmits the traction force to the traction rod 2 through the hook device 32, thereby achieving traction of the traction object 1. And a visual sensor 33 is arranged on the hook device 32. The traction rod 2 has a direction pattern 34 for direction identification. The visual sensor 33 obtains the relative angle relationship between the traction unit 3 and the towed object 1 by identifying the direction pattern 34.

[0026] Preferably, Figure 3 and Figure 4As shown, the visual sensor 33 is arranged below the hitch device 32 and installed upward. A direction pattern 34 for direction identification is provided below the tow bar 2 , and the visual sensor 33 identifies the direction pattern 34 .

[0027] As an optimization solution of the above embodiment, the mobile platform 31 is provided with a groove 35 for facilitating the towing rod 2 to enter the hook device 32 from the side; The hooking device 32 has a lockable locking device on one side corresponding to the groove 35; The user moves closer to the traction rod 2 , so that the traction rod 2 passes through the opened locking device along the groove 35 on the moving platform 31 and enters into the hooking device 32 . The locking device is then locked, and the traction rod 2 is confined inside the hooking device 32 .

[0028] Preferably, there is a gap between the hooking device 32 and the traction rod 2, which can adapt to the height and angle changes of the traction rod 2 relative to the transport unit during traction within a certain range, so that the transport unit can perform effective traction operations on irregular uneven ground.

[0029] As an optimization solution of the above embodiment, the mobile platform 31 is an integral differential gear train 36, which can achieve forward and reverse movement, turning, and rotation in place by adjusting the speed of the left and right wheels.

[0030] Preferably, the integral differential gear train 36 includes four powered wheels, which can convert the deadweight of the transport unit into producible traction to the greatest extent.

[0031] The present invention adopts a wheel system to convert the deadweight of the transport unit into the traction force that can be generated to the greatest extent. Under the same deadweight, the transport vehicle can tow a heavier towed object 1. The same towed object 1 can be towed by a lighter transport unit with a smaller volume. The operation is more efficient and energy-saving.

[0032] To cooperate with the implementation of the device of the present invention, based on the same inventive concept, such as Figure 2 As shown, the present invention also provides a traction transportation method, comprising the steps of: S10, the traction unit 3 moves to the vicinity of the traction rod 2 of the towed object 1, and the locking device of the hitch device 32 is in the open state, such as Figure 5 As shown; S20, the traction unit 3 moves to the bottom of the towed object 1, so that the traction rod 2 enters the hook device 32 along the groove 35 on the mobile platform 31, and the locking device is locked, so that the traction rod 2 is restricted inside the hook device 32. Figure 6 As shown; S30, the visual sensor 33 obtains the relative angle relationship between the traction unit 3 and the traction object 1 by identifying the direction pattern 34, and completes the state adjustment of the traction unit 3, such as Figure 7-Figure 9 As shown; S40, the traction unit 3 moves to complete the traction task.

[0033] Specific embodiment 1: a traction unit 3 is set to be hooked with a traction rod 2. The traction unit 3 moves to the vicinity of the traction rod 2 of the towed object 1, and the locking device of the hook device 32 is in the open state; the traction unit 3 moves to the bottom of the towed object 1, so that the traction rod 2 passes through the groove 35 on the mobile platform 31 and enters the hook device 32, and the locking device is locked, and the traction rod 2 is restricted inside the hook device 32; the visual sensor 33 obtains the relative angle relationship between the traction unit 3 and the towed object 1 by identifying the direction pattern 34, and completes the state adjustment of the traction unit 3; the traction unit 3 moves to complete the traction task.

[0034] Specific embodiment 2: Fig.10 As shown, the two traction units 3 include A and B, and the wind turbine blades 6 are carried by traction unit A4 and traction unit B5, and the two traction units 3 are configured in linkage.

[0035] After the first traction unit A4 executes steps S10-S20, the second traction unit B5 executes steps S10-S20. The two traction units A4 and B5 are respectively connected to a traction rod 2. The traction units A4 and B5 use their own visual sensors 33 to identify the angle relationship with the towed object 1, and adjust the rotation angles of the traction units A4 and B5 in conjunction with the detection direction to achieve linkage configuration.

[0036] When both traction units A4 and B5 obtain the relative position and real-time angle with the towed object 1, the two traction units A4 and B5 automatically solve the motion model to realize automatic linkage and overall synchronous motion control, including forward and backward straight travel, turning, oblique movement, lateral movement and rotation, etc. The operator or the upper system only needs to understand the two traction units A4 and B5 and the towed object 1 as a whole for operation, and the two traction units A4 and B5 automatically realize synchronous coordinated motion.

[0037] Step 1, the actual distance p between the geometric centers of the two traction units A4 and B5 is input into the motion controller; Step 2: The motion controller translates the motion geometric center of the motion model of the traction unit A4 and / or the traction unit B5 along the Y axis by ±p / 2 according to the input result, so that the motion geometric centers of the two traction units A4 and B5 coincide with one point; Step 3, during the subsequent linkage movement, due to the coincidence of the geometric centers of motion, the two traction units A4 and B5 will form a whole to move; Step 4, by adjusting the rotation angles of traction unit A4 and traction unit B5, the lines passing through the center of each traction unit 3 horizontally always intersect at the same point, and the linear speed of each wheel is proportional to the distance from the wheel to the intersection line.

[0038] Specific embodiment 3: Four traction units 3, the four traction units 3 are configured in linkage.

[0039] After the first traction unit 3 executes steps S10-S20, the other traction units 3 execute steps S10-S20 in turn. The four traction units 3 are respectively connected to a traction rod 2, and the traction units 3 use their own visual sensors 33 to identify the angle relationship with the towed object 1, and adjust the rotation angle of each traction unit 3 according to the detection direction to achieve linkage configuration.

[0040] When the four traction units 3 obtain the relative position and real-time angle with the towed object 1, the four traction units 3 automatically solve the motion model to realize automatic linkage and overall synchronous motion control, including forward and backward straight travel, turning, oblique movement, lateral movement and rotation, etc. The operator or the upper system only needs to understand the four linkage units and the towed object 1 as a whole to operate the four linkage units automatically to realize synchronous coordinated motion.

[0041] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A traction transport device, characterized in that: At least one traction rod is arranged below the towed object, and at least one traction unit is arranged corresponding to the traction rod, and the traction unit includes: Mobile platform, for traction and transportation of mobile entities; A hooking device is arranged in the mobile platform, the hooking device embraces the traction rod, and the mobile platform transmits the traction force to the traction rod through the hooking device, thereby achieving traction of the towed object; and a visual sensor, which is arranged on a mobile platform or a hooking device. The traction rod has a direction pattern for direction identification. The visual sensor obtains the relative angle relationship between the traction unit and the towed object by identifying the direction pattern.

2. A traction transport device according to claim 1, characterized in that: The mobile platform is provided with a groove which facilitates the towing rod to enter the hitch device from the side; The hooking device has a lockable locking device on one side corresponding to the groove; When the locking device is in the open state, the mobile platform is operated to actively approach the traction rod, so that the traction rod enters the hook device through the opened locking device along the groove on the mobile platform, and then the locking device is locked, and the traction rod is restricted inside the hook device.

3. A traction transport device according to claim 1 or 2, characterized in that: There is a gap between the hitch device and the drawbar.

4. A traction transport device according to claim 1, characterized in that: The mobile platform is an integral differential gear train.

5. A traction transport device according to claim 4, characterized in that: The integral differential gear train includes four powered wheels.

6. A traction transport device according to claim 1, characterized in that: At least two traction units are provided, and each traction unit is configured in linkage; Each traction unit is respectively connected to a traction rod, and uses its own visual sensor to identify the angle relationship with the towed object, and adjusts the rotation angle of each traction unit in conjunction with the detection direction to achieve linkage configuration.

7. A traction transport device according to claim 6, characterized in that: When each traction unit obtains the relative position and real-time angle with the towed object, each traction unit realizes automatic linkage and overall synchronous motion control through automatic solution of the motion model.

8. A traction transportation method, characterized in that: Includes steps: S10, the traction unit moves to the vicinity of the traction rod of the towed object, and the locking device of the hitch device is in an open state; S20, the traction unit moves under the towed object, so that the traction rod moves along the groove on the mobile platform into the hook device, and the locking device is locked, so that the traction rod is restricted inside the hook device; S30, the visual sensor obtains the relative angle relationship between the traction unit and the towed object by identifying the direction pattern, and completes the state adjustment of the traction unit; S40, the traction unit moves to complete the traction task.

9. A traction transportation method according to claim 8, characterized in that: At least two traction units are provided, and each traction unit is configured in linkage; After the first traction unit executes steps S10-S20, other traction units execute steps S10-S20 in sequence, and each traction unit is respectively connected to a traction rod; The visual sensors of the traction units are used to identify the angle relationship with the towed object, and the rotation angles of the traction units are adjusted in linkage according to the detection direction to achieve linkage configuration.

10. A traction transportation method according to claim 9, characterized in that: When each traction unit obtains the relative position and real-time angle with the towed object, each traction unit realizes automatic linkage and overall synchronous motion control through automatic solution of the motion model; The solution process includes the following steps: Step 1, input the actual distance p between the geometric centers of the two independent traction units into the motion controller of the traction unit; Step 2: The motion controller translates the motion geometric center of the motion model of the single traction unit along the Y axis by ±p / 2 according to the input result, so that the motion geometric centers of the two single traction units coincide with one point; Step 3: During the subsequent linkage movement, the two traction units will move as a whole due to the coincidence of the geometric centers of motion; Step 4: by adjusting the rotation angle of each traction unit, the line passing through the center of each traction unit horizontally always intersects at the same point, and the linear speed of each wheel is proportional to the distance from the wheel to the line connecting the intersection points.

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