A traction transportation device and a transportation method

Abstract

The present invention discloses a traction transportation device and a transportation method, including: at least one traction rod is provided below the object to be towed, and at least one traction unit is provided corresponding to the traction rod. The traction unit travels near the traction rod of the object to be towed, and the locking device of the hitch device is in an open state; the traction unit includes: a mobile platform, which is the mobile main body for traction transportation; a hitch device, which is arranged in the mobile platform. The hitch device surrounds the traction rod, and the mobile platform transmits the traction force to the traction rod through the hitch device, thereby realizing the traction of the object to be towed; and a vision sensor, which is arranged on the mobile platform or the hitch device. There is a direction pattern for direction recognition on the traction rod. The vision sensor obtains the relative angle relationship between the traction unit and the object to be towed by recognizing the direction pattern, and adjusts the state of the traction unit; the traction unit moves to complete the traction task. The traction transportation unit of the present invention is convenient and easy to use, has strong traction ability, and the transportation method is flexible and efficient.

Description

Technical Field

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

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

[0003] In traditional traction transport vehicle devices, the traction and braking systems of the vehicle are usually implemented by mechanical or hydraulic systems. These systems may have problems such as slow response, low precision, and high energy consumption in some cases, which affect the transportation efficiency and safety of the vehicle. In addition, traditional traction transport vehicle devices also have problems such as high maintenance costs, high failure rates, and high noise, which need to be further improved.

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

[0005] In addition, with the continuous increase in the demand for cargo transportation, traction transport vehicle 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, traction transport vehicle devices need to be more flexible and convenient to meet the requirements of rapid response and efficient transportation.

[0006] According to the demand for transporting the main beam of a wind power blade, the length of the main beam can reach 100 m. The main beam is carried on a tooling that is equivalent to its own length, and the tooling is supported by universal wheels. The previous transportation solutions are as follows:

[0007] Solution 1. Transfer the tooling by pushing it manually by multiple people. The disadvantage is that a large number of people (10 people) are required to participate, resulting in high labor costs, slow transfer speed, and high work intensity for the personnel. When multiple people cooperate to push at a relatively long distance apart, when someone falls or other situations occur, it is easy to cause the tooling to crush the operators, and the safety is extremely low.

[0008] Solution 2. Transfer is carried out through multiple transportation units. Controllable automatic collaborative actions cannot be achieved between multiple vehicles, and manual control of each vehicle is required. The operation efficiency of this solution is low. When manual operation is inaccurate, it is easy to cause the transport vehicle to pull the tooling, resulting in damage to the tooling or workpiece, and the transport efficiency is low. This solution requires manual connection, which is inconvenient for the transport vehicle to enter and exit. Summary of the Invention

[0009] In order to solve the above problems, the present invention proposes a traction transport device and a transport method. The traction transport unit is convenient to use, has strong traction ability, and the transport method is flexible and efficient.

[0010] To achieve the above object, the technical solution adopted by the present invention is: a traction transport device, at least one traction rod is provided below the object to be towed, and at least one traction unit is provided corresponding to the traction rod. The traction unit includes:

[0011] A mobile platform, which is the main body for traction transport movement;

[0012] A hanging device is arranged in the mobile platform. The hanging device surrounds the traction rod, and the mobile platform transmits the traction force to the traction rod through the hanging device, thereby realizing the traction of the object to be towed.

[0013] And a visual sensor is arranged on the mobile platform or the hanging device. The traction rod has a direction pattern for direction recognition. The visual sensor obtains the relative angle relationship between the traction unit and the object to be towed by recognizing the direction pattern.

[0014] Furthermore, a groove is provided on the mobile platform to facilitate the traction rod to enter the hanging device from the side;

[0015] One side of the hanging device corresponding to the groove has an openable and closable locking device;

[0016] When the locking device is in the open state, operate the mobile platform to actively approach the traction rod, so that the traction rod enters the hanging device through the open locking device along the groove on the mobile platform, and then lock the locking device, and the traction rod is restricted inside the hanging device.

[0017] Furthermore, there is a gap between the hanging device and the traction rod.

[0018] Furthermore, the mobile platform is an integral differential gear train.

[0019] Furthermore, the integral differential gear train includes four driving wheels.

[0020] Furthermore, at least two traction units are provided, and each traction unit is configured for linkage;

[0021] 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.

[0022] 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.

[0023] On the other hand, the present invention also provides a traction transportation method, comprising the steps of:

[0024] 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;

[0025] 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;

[0026] 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;

[0027] S40, the traction unit moves to complete the traction task.

[0028] Furthermore, at least two traction units are provided, and each traction unit is configured in linkage;

[0029] 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;

[0030] 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.

[0031] 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.

[0032] 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;

[0033] 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;

[0034] Step 3: During subsequent linked movement, since the geometric centers of movement coincide, the two traction units will move as a whole;

[0035] Step 4: By adjusting the rotation angles of each traction unit, the line passing horizontally through the center of each traction unit always intersects at the same point, and the linear velocity of each wheel is proportional to the distance from the wheel to the intersection point.

[0036] Beneficial effects of adopting this technical solution:

[0037] The present invention has an openable and closable hitching device, which facilitates the entry and exit of the transport vehicle; it is convenient for the transport vehicle to transfer between the towing rods and to transfer from one towed object to another. The present invention has a vision sensor for identifying angles, which can monitor the relative angle relationship between the transport unit and the towed object in real time, realizing an automatic adjustment function. When it is a single vehicle, the movement posture is controllable. When multiple vehicles are linked, multi-vehicle automatic synchronous cooperative actions can be achieved. The traction transport unit proposed by the present invention is convenient to use, has strong traction ability, and has flexible and efficient transportation methods. The transport vehicle has a simple structure and low cost, and has great economic benefits.

[0038] The present invention is adjustably connected to the towed object through an openable and closable hitching device, and the state of the traction unit is adjusted by identifying the angle through a vision sensor, which can: improve transportation stability: the angle-adjustable traction transport vehicle can adjust the traction angle according to road conditions and transportation requirements during transportation, improving the stability and safety of transportation; reduce wear and impact: by adjusting the traction angle, the impact and friction between the towing vehicle and the towed vehicle can be reduced, vehicle wear can be reduced, and the service life can be extended; flexibly cope with different road conditions: the angle-adjustable traction transport vehicle can adjust the traction angle according to different road conditions and transportation requirements to achieve more flexible and reliable transportation; improve transportation efficiency: by reasonably adjusting the traction angle, the balance between traction force and resistance can be optimized, and transportation efficiency can be improved. In short, an angle-adjustable traction transport vehicle can achieve beneficial effects such as improving transportation stability, reducing wear and impact, flexibly coping with different road conditions, and improving transportation efficiency, and is an efficient and safe transportation method.

[0039] The present invention can improve transportation efficiency: The linked traction transport vehicle adopts the method of linking multiple tractors, which can achieve continuous transportation and improve transportation efficiency. The present invention can reduce transportation costs: The linked traction transport vehicle is jointly towed by multiple tractors, reducing the traction force requirement for each tractor, thereby reducing transportation costs. The present invention improves safety: The linked traction transport vehicle is jointly towed by multiple tractors, increasing the number of tractors and improving transportation safety. The present invention has strong adaptability: The linked traction transport vehicle can adapt to different road conditions and transportation requirements, and can achieve efficient, safe and reliable transportation. The present invention has strong scalability: The linked traction transport vehicle can increase or decrease the number of tractors according to needs, facilitating expansion and adjustment. In short, a linked traction transport vehicle can achieve beneficial effects such as improving transportation efficiency, reducing transportation costs, improving safety, strong adaptability, and strong scalability, and is an efficient, safe and reliable transportation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a schematic structural diagram of a traction transport device of the present invention;

[0041] Figure 2 is a schematic flow diagram of a traction transport method of the present invention;

[0042] Figure 3 is a schematic structural diagram of a hitch device in an embodiment of the present invention;

[0043] Figure 4 is a schematic bottom view of an object to be towed in an embodiment of the present invention;

[0044] Figure 5 is a schematic diagram of the state when the traction unit travels to near the drawbar of the object to be towed in an embodiment of the present invention;

[0045] Figure 6 is a schematic diagram of the state when the traction unit travels under the object to be towed and locks the locking device in an embodiment of the present invention;

[0046] Figure 7 is a schematic diagram of the state when the traction unit travels forward with the angle adjusted in an embodiment of the present invention;

[0047] Figure 8 is a schematic diagram of the state when the traction unit travels laterally with the angle adjusted in an embodiment of the present invention;

[0048] Figure 9 is a schematic diagram of the state when the traction unit travels obliquely with the angle adjusted in an embodiment of the present invention;

[0049] Figure 10 is a schematic diagram of the state of double-vehicle linkage in an embodiment of the present invention;

[0050] Among them, 1 is the object to be towed, 2 is the towing rod, 3 is the towing unit, 31 is the moving platform, 32 is the hitch device, 33 is the vision 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 power blade. Detailed implementation manners

[0051] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described below with reference to the accompanying drawings.

[0052] In this embodiment, referring to Figure 1 as shown, the present invention provides a towing and transporting device. At least one towing rod 2 is provided below the object to be towed 1, and at least one towing unit 3 is provided corresponding to the towing rod 2. The towing unit 3 includes:

[0053] A moving platform 31, which is the moving main body for towing and transporting;

[0054] A hitch device 32, which is arranged in the moving platform 31. The hitch device 32 surrounds the towing rod 2, and the moving platform 31 transmits the traction force to the towing rod 2 through the hitch device 32, thereby realizing the towing of the object to be towed 1.

[0055] And a vision sensor 33, which is arranged on the hitch device 32. The towing rod 2 has a direction pattern 34 for direction recognition. The vision sensor 33 obtains the relative angle relationship between the towing unit 3 and the object to be towed 1 by recognizing the direction pattern 34.

[0056] Preferably, as Figure 3 and Figure 4 shown, the vision sensor 33 is arranged below the hitch device 32 and installed upward. The towing rod 2 has a direction pattern 34 for direction recognition below. The vision sensor 33 recognizes the direction pattern 34.

[0057] As an optimized solution of the above embodiment, a groove 35 is provided on the moving platform 31 to facilitate the towing rod 2 to enter the hitch device 32 from the side;

[0058] One side of the hitch device 32 corresponding to the groove 35 is provided with an openable and closable locking device;

[0059] Approach the towing rod 2, so that the towing rod 2 enters the hitch device 32 along the groove 35 on the moving platform 31 through the opened locking device, and then lock the locking device. The towing rod 2 is restricted inside the hitch device 32.

[0060] Preferably, there is a gap between the hanging device 32 and the towing bar 2, which can adapt to the height and angle changes of the towing bar 2 relative to the transport unit during towing within a certain range, so as to enable the transport unit to perform effective towing operations on irregular bumpy ground.

[0061] As an optimized solution of the above embodiment, the mobile platform 31 is an integral differential gear train 36. By adjusting the speeds of the left and right wheels, forward and reverse movement, turning, and in-situ rotation movement can be achieved.

[0062] Preferably, the integral differential gear train 36 includes four powered wheels, which can maximize the conversion of the self-weight of the transport unit into the generated traction force.

[0063] The present invention adopts a gear train, which can maximize the conversion of the self-weight of the transport unit into the generated traction force. Under the same self-weight, the transport vehicle can tow a heavier towed object 1. For the same towed object 1, a lighter transport unit can be used for towing, with a more compact volume. The operation is more efficient and energy-saving.

[0064] To cooperate with the implementation of the device of the present invention, based on the same inventive concept, as Figure 2 shown, the present invention also provides a traction transportation method, including the steps:

[0065] S10. The traction unit 3 travels to the vicinity of the towing bar 2 of the towed object 1, and the locking device of the hanging device 32 is in the open state, as Figure 5 shown;

[0066] S20. The traction unit 3 travels under the towed object 1, and the towing bar 2 enters the hanging device 32 along the groove 35 on the mobile platform 31, and the locking device is locked. The towing bar 2 is restricted inside the hanging device 32, as Figure 6 shown;

[0067] S30. The vision 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, as Figures 7 - 9 shown;

[0068] S40. The traction unit 3 moves to complete the towing task.

[0069] 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.

[0070] Specific embodiment 2: Figure 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.

[0071] 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.

[0072] 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.

[0073] Step 1, the actual distance p between the geometric centers of the two traction units A4 and B5 is input into the motion controller;

[0074] 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;

[0075] 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;

[0076] 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.

[0077] Specific embodiment 3: Four traction units 3, the four traction units 3 are configured in linkage.

[0078] 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.

[0079] 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.

[0080] 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. The traction and transportation 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 transportation device according to claim 1 or 2, characterized in that, There is a gap between the hitch device and the drawbar.

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

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

6. A traction and transportation 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 transportation device according to claim 6, wherein, 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: According to the input result, the motion controller translates the motion geometric center of a single traction unit along the Y-axis by ±p / 2, so that the motion geometric centers of the two single traction units coincide at one point. Step 3: During subsequent linked motion, since the motion geometric centers coincide, the two traction units will move as a whole. Step 4: By adjusting the rotation angles of each traction unit, the lines passing through the centers of each traction unit horizontally always intersect at the same point, and the linear velocity of each wheel is proportional to the distance from the wheel to the intersection point of the lines.

Images