Horizontal automatic transportation device in large precision equipment plant and use method

Abstract

The invention relates to a horizontal automatic transportation device in a large precision equipment plant and a using method, and belongs to the technical field of storage tank carrying. Comprising a moving unit for driving a storage tank to move; the leveling unit is arranged on the moving unit, and the two ends of the storage tank are kept horizontal in the moving process; the supporting unit is arranged on the moving unit and used for supporting the moving unit; the clamping unit is movably connected to the leveling unit and used for clamping the storage tank; the pushing unit is movably connected to the rear end of the horizontal unit and used for positioning the rear end of the storage tank; the adjusting unit is movably connected to the leveling unit and used for supporting the storage tank and enabling the storage tank to rotate. The leveling unit comprises a jacking hydraulic cylinder fixed to one end of the moving unit and an adjusting hydraulic cylinder hinged to the other end of the moving unit, and the output end of the jacking hydraulic cylinder and the output end of the adjusting hydraulic cylinder are both hinged to the adjusting frame. The invention provides a horizontal automatic transportation device in a large precision equipment plant. The horizontal automatic transportation device achieves automatic storage tank transportation.

Description

Technical Field

[0001] The present invention relates to a horizontal automatic transportation device and a usage method in a large-scale precision equipment workshop, belonging to the technical field of storage tank handling. Background Art

[0002] The production operation of chemical plants highly depends on various storage tanks for storing raw materials, intermediate products, final products, and various auxiliary media. Especially during new project construction or process transformation, it is necessary to install large storage tanks inside existing or newly built workshops. These storage tanks usually have the characteristics of large volume, heavy weight (empty tank or with accessories), and high precision requirements (such as the orientation, levelness, and perpendicularity of interface flanges), and the installation environment is often restricted by the existing structures, equipment, pipelines, and specific safety (such as explosion-proof and anti-corrosion) and cleanliness requirements inside the workshop.

[0003] Currently, when installing large storage tanks inside chemical plant workshops, the following methods are mainly relied on: Adopt traditional manual or semi-mechanized transportation and installation, use a flatbed cart for transportation, transport it to the designated position by the flatbed cart, and then use lifting equipment: such as installing an electric hoist above the lifting port. This is a relatively common method. First, transport the storage tank to the workshop entrance or the designated lifting area by an external transportation tool, then use the electric hoist to lift it, slowly move it above the installation foundation, and then perform alignment and landing.

[0004] Disadvantages: Extremely high labor intensity and extremely low efficiency: For large storage tanks, this method is time-consuming and laborious, and requires a large number of experienced workers to cooperate.

[0005] Extremely high safety risks: During the operation process, accidents such as extrusion, tipping, and equipment falling are likely to occur, posing a serious threat to the safety of personnel and equipment.

[0006] Difficult process control: It is difficult to accurately control the moving speed, direction, and attitude (especially the levelness) of the storage tank, and it is easy to cause damage to the storage tank body or the foundation.

[0007] Difficult to guarantee precision: Completely relying on manual adjustment, the final installation precision (position, level, perpendicular, etc.) is difficult to meet high-standard requirements.

[0008] Not applicable to clean or precision environments: The operation process may generate pollution or vibration and is not applicable to workshops with special environmental requirements. Summary of the Invention

[0009] The technical problem to be solved by the present invention is: To overcome the deficiencies of the prior art, provide a horizontal automatic transportation device in a large-scale precision equipment workshop, realize automatic transportation of storage tanks, and avoid manual handling.

[0010] The horizontal automatic transportation device in a large-scale precision equipment workshop according to the present invention includes: A moving unit for driving the storage tank to move; A leveling unit arranged on the moving unit to keep the two ends of the storage tank horizontal during the moving process; A supporting unit arranged on the moving unit for supporting the moving unit; A clamping unit movably connected to the leveling unit for clamping the storage tank; A pushing unit movably connected to the rear end of the horizontal unit for positioning the rear end of the storage tank; An adjusting unit movably connected to the leveling unit for supporting the storage tank and enabling the storage tank to rotate.

[0011] The leveling unit includes a jacking hydraulic cylinder fixed to one end of the moving unit and an adjusting hydraulic cylinder hinged to the other end of the moving unit. The output ends of the jacking hydraulic cylinder and the adjusting hydraulic cylinder are both hinged to the adjusting frame.

[0012] Further, a pushing unit, a first group of clamping units, a first group of adjusting units, a second group of adjusting units, and a second group of clamping units are sequentially movably connected to the adjusting frame.

[0013] Further, the pushing unit includes a pushing frame hinged to the end of the adjusting frame. A pushing plate for clamping is provided on the pushing frame, and the pushing plate can move horizontally on the pushing frame.

[0014] Further, the clamping unit plate is slidably connected to the bottom plate Ⅰ on the adjusting frame. A top plate Ⅰ that can move up and down is connected to the bottom plate Ⅰ. An arc-shaped locking plate for clamping is provided on the top plate Ⅰ, and the arc-shaped locking plate can move horizontally on the top plate.

[0015] Further, the adjusting unit plate is slidably connected to the bottom plate Ⅱ on the adjusting frame. A top plate Ⅱ that can move up and down is connected to the bottom plate Ⅱ. A wheel set for supporting is provided on the top plate Ⅱ, and the wheel set can move horizontally on the top plate.

[0016] Further, longitudinal slide rails arranged longitudinally are provided on the adjusting frame. At least two longitudinal slide rails are arranged in parallel. Longitudinal sliders are installed on the bottom plate Ⅰ and the bottom plate Ⅱ corresponding to the longitudinal slide rails. Driving mechanisms are provided on the lower end faces of the bottom plate Ⅰ and the bottom plate Ⅱ.

[0017] Further, lifting hydraulic cylinders are installed on both the bottom plate Ⅰ and the bottom plate Ⅱ. The output ends of the lifting hydraulic cylinders are respectively connected to the top plate Ⅰ and the top plate Ⅱ.

[0018] Further, transverse slide rails are horizontally arranged on the upper end faces of the top plate Ⅰ and the top plate Ⅱ. Hinge blocks are connected to the transverse slide rails through transverse sliders. The hinge blocks are arranged correspondingly on both sides in the transverse direction. Screws for driving the hinge blocks are provided on the upper end faces of the top plate Ⅰ and the top plate Ⅱ, and the screws are connected to motors.

[0019] The usage method of the horizontal automatic transportation device in a large-scale precision equipment workshop according to the present invention includes: Step : Confirmation of storage tank parameters and adaptation analysis; Step : Three-dimensional modeling and map drawing of the workshop environment; Step : System configuration and path planning of the horizontal automatic transportation device in a large-scale precision equipment workshop; Step : Formulation of safety regulations and emergency plans; Step : Loading the storage tank onto the horizontal automatic transportation device in a large-scale precision equipment workshop; Step : Starting the automatic transportation task; Step : Navigation and obstacle avoidance during travel; Step : Arriving at the target installation point and precise positioning; Step : Unloading the storage tank; Step : End of the task and reset of the status.

[0020] Compared with the prior art, the beneficial effects of the present invention are: Through the mobile unit (such as an AGV chassis) combined with an automatic navigation system (based on three-dimensional modeling and path planning), the present invention realizes the fully automatic horizontal transportation of large storage tanks from the loading point to the installation point, without manual intervention in the handling process, significantly reducing the labor intensity and avoiding the operation errors and personal safety risks that may be brought by manual handling.

[0021] By setting a leveling unit (including a jacking hydraulic cylinder and an adjusting hydraulic cylinder to drive an adjusting frame), the attitude of the storage tank can be adjusted in real time or in advance during the movement process, especially to keep both ends of it horizontal, which is crucial for a precision storage tank with liquid inside or strict requirements for horizontal installation, effectively avoiding equipment tilting, internal stress changes or damage caused by uneven ground or moving bumps.

[0022] The specially designed clamping unit (with an arc-shaped locking plate) and adjusting unit (with a wheel set support) can be adaptively adjusted according to the size and shape of the storage tank (through longitudinal, lateral movement and lifting mechanisms), providing firm clamping and stable support to ensure that the storage tank will not shift or be damaged during transportation, lifting, rotation (if necessary). The pushing unit assists in rear-end positioning, further enhancing the stability of loading and transportation. Description of the Drawings

[0023] Figure 1 is one of the structural schematic diagrams of Embodiment 1 of the present invention; Figure 2 is the rear view of Embodiment 1 of the present invention; Figure 3 is Figure 2Partial enlarged view of area A in Figure 4 is Figure 2 Partial enlarged view of area B in Figure 5 is the second structural schematic diagram of Embodiment 1 of the present invention; Figure 6 is Figure 5 Partial enlarged view of area C in Figure 7 is the first structural schematic diagram of the upper part of the adjustment frame of Embodiment 1 of the present invention; Figure 8 is the second structural schematic diagram of the upper part of the adjustment frame of Embodiment 1 of the present invention; In the figure: 1. Moving unit; 2. Leveling unit; 21. Adjusting hydraulic cylinder; 22. Adjustment frame; 23. Lifting hydraulic cylinder; 24. Longitudinal slide rail; 25. Longitudinal slider; 3. Pushing unit; 31. Pushing frame; 32. Pushing plate; 321. Positioning plate; 4. Clamping unit; 41. Bottom plate I; 411. Driving mechanism; 42. Top plate I; 421. Transverse slide rail; 422. Transverse slider; 43. Arc locking plate; 5. Adjusting unit; 51. Bottom plate II; 52. Top plate II; 53. Wheel set; 6. Supporting unit; 7. Lifting hydraulic cylinder; 8. Motor; 81. Bevel gear transmission; 82. Screw; 83. Hinge block; 9. Inclination sensor. Detailed implementation manners

[0024] Embodiment 1 As Figures 1 to 8 shown, the horizontal automatic transportation device in the large-scale precision equipment workshop of the present invention includes: A moving unit 1, which uses an existing large-scale AGV vehicle to drive the storage tank to move; A leveling unit 2, which is arranged on the moving unit 1 to keep the two ends of the storage tank horizontal during the moving process; A supporting unit 6, which is arranged on the moving unit 1 and is used to support the moving unit 1. The supporting unit 6 is hydraulic legs installed at the four corners of the moving unit 1 and is used to support the moving unit 1 when turning. When the wheels finish turning, it is lowered again, avoiding scratching the floor during the transportation process of large weights; A clamping unit 4, which is movably connected to the leveling unit 2 and is used to clamp the storage tank; A pushing unit 3, which is movably connected to the rear end of the horizontal unit and is used to position the rear end of the storage tank; The adjustment unit 5 is movably connected to the leveling unit 2 for supporting the storage tank and enabling the storage tank to rotate.

[0025] The leveling unit 2 includes a jacking hydraulic cylinder 23 fixed to one end of the moving unit 1 and an adjusting hydraulic cylinder 21 hinged to the other end of the moving unit 1. The output ends of the jacking hydraulic cylinder 23 and the adjusting hydraulic cylinder 21 are both hinged to the adjusting frame 22.

[0026] A pushing unit, a first set of clamping units 4, a first set of adjustment units 5, a second set of adjustment units 5, and a second set of clamping units 4 are successively movably connected to the adjusting frame 22.

[0027] The pushing unit 3 includes a pushing frame 31 hinged to the end of the adjusting frame 22. A pushing plate 32 for clamping is provided on the pushing frame 31, and the pushing plate 32 can move horizontally on the pushing frame 31.

[0028] A positioning plate 321 is provided at the rear end of the pushing plate 32, and the positioning plate 321 is used to lift the bottom of the storage tank.

[0029] When reaching the designated position, it is necessary to pull the storage tank by the front lifting position through the forward movement of the moving unit 1. The positioning plate 321 then pushes the storage tank forward, and at the same time, the storage tank is gradually lifted by means of the hinge to enter the installation opening.

[0030] The clamping unit 4 includes a bottom plate Ⅰ 41 slidably connected to the adjusting frame 22. A top plate Ⅰ 42 that can move up and down is connected to the bottom plate Ⅰ 41. An arc-shaped locking plate 43 for clamping is provided on the top plate Ⅰ 42, and the arc-shaped locking plate 43 can move horizontally on the top plate.

[0031] Anti-slip rubber pads are provided on the inner sides of the arc-shaped locking plate 43 and the pushing plate 32.

[0032] The adjustment unit 5 includes a bottom plate Ⅱ 51 slidably connected to the adjusting frame 22. A top plate Ⅱ 52 that can move up and down is connected to the bottom plate Ⅱ 51. A wheel set 53 for supporting is provided on the top plate Ⅱ 52, and the wheel set 53 can move horizontally on the top plate.

[0033] The wheel set 53 can be driven by a servo motor to lift the storage tank through the lifting hydraulic cylinder 7, so as to realize the rotation of the storage tank, thereby adjusting the position of the flange on the storage tank.

[0034] Longitudinal slide rails 24 arranged longitudinally are provided on the adjusting frame 22. At least two longitudinal slide rails 24 are arranged in parallel. Longitudinal sliders 25 are installed on the bottom plate Ⅰ 41 and the bottom plate Ⅱ 51 corresponding to the longitudinal slide rails 24. Driving mechanisms 411 are provided on the lower end faces of the bottom plate Ⅰ 41 and the bottom plate Ⅱ 51. The driving mechanisms 411 can adopt four-wheel drive trolleys and are respectively installed at the lower ends of the bottom plate Ⅰ 41 and the bottom plate Ⅱ 51, and move longitudinally on the bottom plate Ⅰ 41 and the bottom plate Ⅱ 51 by means of friction with the adjusting frame 22.

[0035] Lifting hydraulic cylinders 7 are installed on both the bottom plate Ⅰ 41 and the bottom plate Ⅱ 51, and the output ends of the lifting hydraulic cylinders 7 are respectively connected to the top plate Ⅰ 42 and the top plate Ⅱ 52.

[0036] Transverse slide rails 421 are horizontally arranged on the upper end faces of the top plate Ⅰ 42 and the top plate Ⅱ 52. An articulated block 83 is connected to the transverse slide rails 421 through a transverse slider 422. The articulated blocks 83 are arranged corresponding to both sides horizontally. Screw rods 82 for driving the articulated block 83 are provided on the upper end faces of the top plate Ⅰ 42 and the top plate Ⅱ 52. The screw rods 82 are connected to a motor 8. Taking the top plate Ⅰ 42 as an example, the motor 8 is installed on the lower end face of the top plate Ⅰ 42, and the output shaft passes through the top plate Ⅰ 42 and is connected to the upper end. The output shaft is respectively connected to the screw rods 82 on both sides through bevel gear transmission 81, so as to rotate the screw rods 82, thereby driving the articulated block 83 to reciprocate.

[0037] The usage method of the horizontal automatic transportation device in a large-scale precision equipment workshop includes: Phase 1: Preliminary preparation and environmental modeling Step 1: Confirmation of storage tank parameters and analysis of device adaptation 1.1 Collect detailed data of the storage tank: Obtain the accurate dimensions (length, width, height), weight, center of gravity position, material, and structural characteristics (such as the shape of the bottom support surface, side wall curvature, flange position, etc.) of the storage tank.

[0038] 1.2 Confirm the transportation posture of the storage tank: It is clear that the storage tank is transported in a horizontal posture.

[0039] 1.3 Matching of the load-bearing capacity of the mobile unit 1 (AGV): Check whether the maximum load and dimensions of the mobile unit 1 meet the requirements of the total weight and dimensions of the storage tank to ensure there is sufficient safety margin.

[0040] 1.4 Adaptation of the storage tank to this device: Evaluate the contact adaptability between the bottom of the storage tank and the positioning plate 321 of the pushing unit 3.

[0041] Evaluate whether the shapes and dimensions of the side wall (or specific reinforcing ribs, support rings) of the storage tank and the arc locking plate 43 of the clamping unit 4 match and can achieve stable clamping. Confirm that the anti-slip rubber pad inside the arc locking plate 43 can provide sufficient friction and does not damage the tank body.

[0042] Evaluate the contact method between the bottom or the lower side of the storage tank and the wheel set 53 of the adjustment unit 5 to ensure that the wheel set 53 can effectively support and allow necessary fine-tuning rotation.

[0043] Confirm that the lateral movement range of the pushing plate 32 of the confirmation pushing unit 3, the arc locking plate 43 of the clamping unit 4, and the wheel set 53 of the adjustment unit 5 (driven by the motor 8 to drive the screw rod 82 to drive the articulated block 83 to move on the lateral sliding rail 421) is sufficient to adapt to the diameter of the storage tank.

[0044] Confirm that the longitudinal adjustment range of the clamping unit 4 and the adjustment unit 5 (driven by the drive mechanism 411 to drive the bottom plate I 41 / bottom plate II 51 to move on the longitudinal sliding rail 24) can cover the key support / clamping points of the storage tank, while avoiding interference with the flange connection ports on the storage tank.

[0045] Confirm that the stroke of the lifting hydraulic cylinder 7 can meet the requirements of the height of the storage tank from the ground and the unloading docking height.

[0046] Confirm that the leveling angle and response speed of the leveling unit 2 (controlled by the jacking hydraulic cylinder 23 and the adjustment hydraulic cylinder 21 to control the adjustment frame 22) can meet the leveling requirements for transportation and installation. The production workshop is usually higher than the external ground to ensure that the storage tank remains stable during entry.

[0047] Step 2: 3D Modeling and Map Drawing of the Workshop Environment 2.1 Plan the scanning area: Define the workshop scope that covers the storage tank receiving area, the target installation point, and all potential transportation paths.

[0048] 2.2 Clean the scanning environment: Remove temporary obstacles on the path.

[0049] 2.3 Select the scanning device: Use a high-precision 3D laser scanner.

[0050] 2.4 Perform 3D scanning: Scan from multiple stations and angles to ensure data integrity.

[0051] 2.5 Process the point cloud data: Import, denoise, and accurately splice to form a complete high-precision point cloud model of the workshop.

[0052] 2.6 Generate a map available for the mobile unit 1 (AGV): Extract navigation features such as walls, columns, and fixed equipment from the point cloud.

[0053] Create a map containing accurate 3D information (such as a 3D grid map or a feature map with height information), which is used not only for navigation but also for spatial judgment during subsequent obstacle avoidance.

[0054] Accurately mark the starting point of the storage tank, the target installation point (including accurate X, Y, Z coordinates and final attitude requirements), the charging position, the no-go area, etc.

[0055] Convert the map into a format compatible with the control system of the mobile unit 1 (AGV) and import it.

[0056] Step 3: System Configuration and Path Planning of This Device 3.1 Basic Settings of Mobile Unit 1 (AGV): Configure the network and basic motion parameters.

[0057] 3.2 Load the Environment Map: Load the precise 3D map generated in Step 2.6 into the navigation control system of Mobile Unit 1 (AGV).

[0058] 3.3 Position Calibration of Mobile Unit 1 (AGV): Conduct initial positioning of Mobile Unit 1 in the workshop map.

[0059] 3.4 Set Task Points: Define the precise coordinates and postures of the starting pick-up point of the storage tank and the final target installation point.

[0060] 3.5 Preliminary Path Planning: The system automatically generates the optimal path considering the overall 3D envelope size of this device (including the storage tank) based on the 3D map, task points, and driving rules.

[0061] 3.6 Configure Obstacle Avoidance Strategy: Configure the fusion of sensors (lidar, vision, etc.) of Mobile Unit 1 (AGV) with the loaded 3D map data.

[0062] Static Obstacle Recognition: Based on the 3D map.

[0063] Dynamic Obstacle Detection: Set the sensor sensitivity.

[0064] Define Obstacle Avoidance Behavior Logic: Deceleration, stop, detour. Special emphasis: When making a detour decision, use the 3D map information to judge whether there is sufficient 3D space on the side and above this device (including the storage tank and the leveling unit in motion) to achieve a more intelligent and safer detour.

[0065] Configure the Linkage between Leveling Unit 2 and the Obstacle Avoidance System: When braking suddenly or steering quickly to avoid obstacles, Leveling Unit 2 may need to adjust its strategy to maintain the stability of the storage tank.

[0066] 3.7 Simulation Test: Simulate the complete transportation process of this device (including the storage tank) to test the path, leveling, and obstacle avoidance logic.

[0067] Step 4: Formulate Safety Regulations and Emergency Response Plans 4.1 Formulate Operating Specifications: Clarify the responsibilities of operators.

[0068] 4.2 Demarcate Safety Areas: Set warnings along the path.

[0069] 4.3 Define Communication Protocols: Establish communication between the status of this device and the central control or personnel.

[0070] 4.4 Formulate an emergency plan: including the handling procedures for failures of the mobile unit 1, failures of the leveling unit 2 (inability to level), failures of the clamping unit 4 (insufficient clamping force or inability to release), failures of the pushing unit 3 / adjusting unit 5, failures of the support unit 6 (if any), sensor failures, emergency stops, inability to avoid obstacles, abnormal storage tank postures (leveling unit 2 alarms), sudden environmental changes, etc.

[0071] Phase II: Automated transportation execution Step 5: Load the storage tank onto this device 5.1 The mobile unit 1 (AGV) is in place: It automatically travels to the precise positioning point at the loading area of the receiving area. The support unit 6 can extend as needed to increase stability.

[0072] 5.2 Docking and fixing of the storage tank: 5.2.1 Initial positioning of each unit: The pushing plate 32 of the pushing unit 3, the bottom plate I 41 of the clamping unit 4, and the bottom plate II 51 of the adjusting unit 5 move to the predetermined loading position on the longitudinal slide rail 24 through the driving mechanism 411.

[0073] 5.2.2 Placement / alignment of the storage tank: The storage tank (possibly with temporary tooling) is lifted by an external device (such as a crane) above this device, or the mobile unit 1 directly drives under the storage tank (if the storage tank is temporarily supported).

[0074] 5.2.3 Bottom positioning and lifting: The pushing plate 32 of the pushing unit 3 moves horizontally into place, and the positioning plate 321 on it aligns and gently lifts the rear end of the bottom of the storage tank through the angle adjustment of the pushing frame 31 or in cooperation with the lifting hydraulic cylinder 7.

[0075] 5.2.4 Support and clamping: The lifting hydraulic cylinder 7 drives the top plate I 42 of the clamping unit 4 and the top plate II 52 of the adjusting unit 5 to rise and contact the storage tank.

[0076] The wheel sets 53 of the adjusting unit 5 move on the transverse slide rail 421 through the motor 8 / screw 82 and are adjusted to the appropriate transverse support position. At this time, the wheel sets 53 support and rotate the storage tank to the appropriate position.

[0077] The arc locking plate 43 of the clamping unit 4 moves on the transverse slide rail 421 through the motor 8 / screw 82, aligns with the clamping point on the side wall of the storage tank, and then clamps. The anti-slip rubber pad provides stable friction. If necessary, multiple clamping units 4 may clamp from different directions.

[0078] 5.2.5 Preliminary leveling: The leveling unit 2 is started, and the attitude of the adjusting frame 22 is adjusted through the jacking hydraulic cylinder 23 and the adjusting hydraulic cylinder 21 to make the storage tank reach the initial horizontal state.

[0079] 5.3 Status Confirmation: The sensors (pressure, position, vision) confirm that the storage tank has been correctly, stably positioned, supported and clamped by the pushing unit 3, the clamping unit 4, and the adjustment unit 5, and the leveling unit 2 has leveled the storage tank. The support unit 6 can be retracted as needed.

[0080] 5.4 Send Ready Signal: This device sends a loading completion signal to the central control system.

[0081] Step 6: Start the automated transportation task 6.1 Receive Task Instructions: This device receives transportation instructions.

[0082] 6.2 Path Confirmation and System Self-Check: The moving unit 1 confirms the path and conducts a functional self-check on itself and all upper units (leveling, clamping, pushing, adjusting).

[0083] 6.3 Send Start Signal / Alert: The moving unit 1 gives an audible and visual prompt.

[0084] 6.4 Start Autonomous Navigation: The moving unit 1 drives the entire device to start moving along the planned path.

[0085] Step 7: Navigation, Leveling and Obstacle Avoidance during Travel 7.1 Real-Time Positioning: The moving unit 1 (AGV) continuously locates using the navigation system and the 3D map.

[0086] 7.2 Follow the Path: The control system drives the moving unit 1 to move along the path.

[0087] 7.3 Dynamic Leveling: During travel, the leveling unit 2 continuously operates. It uses the built-in tilt sensor 9 to continuously sense the tilt of the vehicle body (caused by uneven ground), and dynamically adjusts the attitude of the adjustment frame 22 through the lifting hydraulic cylinder 23 and the adjustment hydraulic cylinder 21, always keeping the storage tank in an accurate horizontal state.

[0088] 7.4 Dynamic Obstacle Detection and Avoidance: 7.4.1 Continuous Environment Sensing: The sensors on the moving unit 1 scan the environment.

[0089] 7.4.2 Data Comparison and Analysis: Compare the real-time data with the 3D map to identify obstacles not on the map.

[0090] 7.4.3 Trigger Obstacle Avoidance Logic: Execute deceleration, stop or detour.

[0091] 7.4.4 Intelligent Detour Decision: Use the 3D map and real-time sensor data to evaluate the 3D space around the obstacle, ensure that the device (including the storage tank being dynamically leveled) can pass safely, and then execute a detour.

[0092] 7.5 Status Monitoring and Reporting: This device reports the location, speed, power, the level status of the storage tank (data of the leveling unit 2), the working status of each unit, etc. in real time.

[0093] Step 8: Reach the target installation point and perform precise positioning and adjustment 8.1 Approach the target area: The mobile unit 1 decelerates and approaches the installation point.

[0094] 8.2 Preliminary positioning: The mobile unit 1 uses the navigation system for preliminary positioning.

[0095] 8.3 Precision attitude and position adjustment (the core advantage of this device is reflected): 8.3.1 Coarse adjustment by the mobile unit 1: Complete the rough alignment of the X, Y coordinates and the heading angle (Yaw). The support unit 6 can extend again to provide the highest stability.

[0096] 8.3.2 Final precise leveling: The leveling unit 2 makes precise adjustments again to ensure that the storage tank meets the extremely high level requirements for installation.

[0097] 8.3.3 Precision fine-tuning of the X / Y / Z axes: Longitudinal (X-axis) fine-tuning: Precisely control the synchronous micro-movement of the bottom plate Ⅰ 41 of the clamping unit 4 and the bottom plate Ⅱ 51 of the adjustment unit 5 on the longitudinal slide rail 24 through the drive mechanism 411.

[0098] Transverse (Y-axis) fine-tuning: Precisely control the synchronous micro-movement of the arc locking plate 43 of the clamping unit 4 and the wheel set 53 of the adjustment unit 5 on the transverse slide rail 421 through the motor 8 / screw 82.

[0099] Vertical (Z-axis) fine-tuning: Precisely control the lifting hydraulic cylinder 7 to fine-tune the height of the top plate Ⅰ 42 of the clamping unit 4 and the top plate Ⅱ 52 of the adjustment unit 5, so that the storage tank interface is precisely aligned with the foundation or the pipeline flange.

[0100] 8.3.4 Rotation (Yaw) fine-tuning (if necessary and supported by the wheel set 53): It may be achieved by making a small rotation through the wheel set 53 of the adjustment unit 5, or by differential fine-tuning of the X and Y axes.

[0101] 8.4 In-place confirmation: Confirm that the position (X, Y, Z) and attitude (Roll, Pitch, Yaw) of the storage tank fully meet the installation accuracy requirements through high-precision sensors (such as laser trackers, vision systems) or docking sensors with the installation benchmark.

[0102] 8.5 Send the in-place signal: This device sends the signal "Precise positioning completed, ready for unloading".

[0103] Phase Three: Unloading and Task Completion Step 9: Unloading and docking of the storage tank 9.1 Receive the unloading instruction.

[0104] 9.2 Release the clamping and support: 9.2.1 Confirm that the storage tank has been preliminarily fixed: The on-site personnel complete the preliminary installation and fixation of the storage tank (such as inserting some anchor bolts).

[0105] 9.2.2 Release the clamping: The arc-shaped locking plate 43 of the clamping unit 4 loosens and retracts laterally.

[0106] 9.2.3 Push the support: The moving unit 1 moves forward, and the positioning plate 321 of the pushing unit 3 pushes the storage tank into the installation opening, and the upper end of the installation opening is pulled by an electric hoist.

[0107] 9.2.4 Units return to their positions: After the installation is completed, the moving parts of the clamping unit 4, the adjustment unit 5, and the pushing unit 3 may return to their initial or safe positions according to the program.

[0108] 9.3 The moving unit 1 (AGV) evacuates: After confirming the safety and stability of the storage tank, (retract the support unit 6) the moving unit 1 slowly and safely drives out of the installation area.

[0109] 9.4 Confirm the completion of unloading: The system records the completion of unloading.

[0110] Step 10: End of the task and reset of the status 10.1 The moving unit 1 receives a new instruction: Return to the standby area, charge, or execute a new task.

[0111] 10.2 Automatic return / charging: The moving unit 1 navigates automatically.

[0112] 10.3 Clear the task status: The status of all units of this device is reset.

[0113] 10.4 System record: Record the complete task log including precision leveling and adjustment this time.

[0114] 10.5 Site restoration: Remove the temporary safety signs.

[0115] In the present invention, the description of the direction and relative position relationship of the structure, such as the description of front, back, left, right, up, and down, does not constitute a limitation to the present invention, but is only for the convenience of description.

Claims

1. A horizontal automated transportation device in a large precision equipment factory, characterized in that: include: A moving unit (1), used to drive the storage tank to move; A leveling unit (2) is arranged on the moving unit (1) to keep both ends of the storage tank level during the movement process; A supporting unit (6), arranged on the mobile unit (1) and used to support the mobile unit (1); A clamping unit (4) movably connected to the leveling unit (2) and used for clamping the storage tank; A pushing unit (3) is movably connected to the rear end of the horizontal unit and is used to position the rear end of the storage tank; The adjustment unit (5) is movably connected to the leveling unit (2) and is used to support the storage tank and enable the storage tank to rotate.

2. The horizontal automated transportation device in a large precision equipment factory building according to claim 1 is characterized in that: The leveling unit (2) comprises a lifting hydraulic cylinder (23) fixed to one end of the moving unit (1) and an adjusting hydraulic cylinder (21) hinged to the other end of the moving unit (1); the output ends of the lifting hydraulic cylinder (23) and the adjusting hydraulic cylinder (21) are both hinged to the adjusting frame (22).

3. The horizontal automated transportation device for large precision equipment in a factory building according to claim 2 is characterized in that: The adjustment frame (22) is movably connected in sequence with a pushing unit, a first group of clamping units (4), a first group of adjustment units (5), a second group of adjustment units (5) and a second group of clamping units (4).

4. The horizontal automated transportation device in a large precision equipment factory building according to claim 3 is characterized in that: The pushing unit (3) comprises a pushing frame (31) hinged to the end of the adjusting frame (22); a pushing plate (32) for clamping is provided on the pushing frame (31); and the pushing plate (32) can move laterally on the pushing frame (31).

5. The horizontal automated transportation device for large precision equipment in a factory building according to claim 3 is characterized in that: The clamping unit (4) plate is slidably connected to a bottom plate I (41) on the adjustment frame (22), and a top plate I (42) that can move up and down is connected to the bottom plate I (41), and an arc-shaped locking plate (43) for clamping is provided on the top plate I (42), and the arc-shaped locking plate (43) can move laterally on the top plate.

6. The horizontal automated transportation device for large precision equipment in a factory building according to claim 5 is characterized in that: The plate of the adjustment unit (5) is slidably connected to a bottom plate II (51) on the adjustment frame (22); a top plate II (52) movable up and down is connected to the bottom plate II (51); a wheel group (53) for supporting is provided on the top plate II (52); and the wheel group (53) can move laterally on the top plate.

7. The horizontal automated transportation device for large precision equipment in a factory building according to claim 6, characterized in that: The adjustment frame (22) is provided with longitudinal slide rails (24) arranged longitudinally, and at least two longitudinal slide rails (24) are arranged in parallel. Longitudinal sliding blocks (25) are installed on the bottom plate I (41) and the bottom plate II (51) corresponding to the longitudinal slide rails (24). A driving mechanism (411) is provided on the lower end surface of the bottom plate I (41) and the bottom plate II (51).

8. The horizontal automated transportation device for large precision equipment in a factory building according to claim 6, characterized in that: A lifting hydraulic cylinder (7) is installed on both the bottom plate I (41) and the bottom plate II (51), and the output ends of the lifting hydraulic cylinder (7) are connected to the top plate I (42) and the top plate II (52) respectively.

9. The horizontal automated transportation device for large precision equipment in a factory building according to claim 6, characterized in that: A transverse slide rail (421) is arranged transversely on the upper end surfaces of the top plate I (42) and the top plate II (52), and a hinge block (83) is connected to the transverse slide rail (421) via a transverse slider (422). The hinge blocks (83) are arranged correspondingly on both sides of the transverse direction. A screw rod (82) for driving the hinge block (83) is arranged on the upper end surfaces of the top plate I (42) and the top plate II (52), and the screw rod (82) is connected to a motor (8).

10. A method for using the horizontal automated transportation device in a large precision equipment factory according to any one of claims 1 to 9, characterized in that: include: Step 1: Tank parameter confirmation and adaptation analysis; Step 2: 3D modeling and mapping of workshop environment; Step 3: System configuration and path planning of horizontal automated transport devices in large precision equipment plants; Step 4: Develop safety regulations and emergency plans; Step 5: The storage tanks are loaded onto the horizontal automated transport device in the large precision equipment plant; Step 6: Start the automated transportation task; Step 7: Navigation and obstacle avoidance during movement; Step 8: Arrive at the target installation point and accurately locate; Step 9: Unloading of storage tanks; Step 10: Task completion and status reset.

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