Horizontal Automated Transportation Device and Usage Method in Large Precision Equipment Workshop

Abstract

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. It 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 movement; a supporting unit arranged on the moving unit to support 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; and an adjusting unit movably connected to the leveling unit for supporting the storage tank and enabling the storage tank to rotate. The leveling unit includes a jacking hydraulic cylinder fixed at one end of the moving unit and an adjusting hydraulic cylinder hinged to the other end of the moving unit, and the output ends of the jacking hydraulic cylinder and the adjusting hydraulic cylinder are both hinged to the adjusting frame. The present invention provides a horizontal automatic transportation device in a large-scale precision equipment workshop to realize the automatic transportation of storage tanks.

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), 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, it mainly relies on the following methods:

[0004] Adopt traditional manual or semi-mechanized transportation and installation. Use a flatbed truck for transportation, transport it to the designated position by the flatbed truck, 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 through 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.

[0005] Disadvantages:

[0006] 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.

[0007] 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.

[0008] Difficult process control: It is difficult to precisely 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.

[0009] Difficult to guarantee precision: Completely relying on manual adjustment, the final installation precision (position, level, vertical, etc.) is difficult to meet high-standard requirements.

[0010] Not applicable to clean or precision environments: The operation process may cause pollution or vibration and is not applicable to workshops with special environmental requirements. Summary of the Invention

[0011] 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 the automatic transportation of storage tanks, and avoid manual handling.

[0012] The horizontal automatic transportation device in a large-scale precision equipment workshop described in the present invention includes:

[0013] A moving unit for driving the storage tank to move;

[0014] A leveling unit arranged on the moving unit to keep the two ends of the storage tank horizontal during the moving process;

[0015] A supporting unit arranged on the moving unit for supporting the moving unit;

[0016] A clamping unit movably connected to the leveling unit for clamping the storage tank;

[0017] A pushing unit movably connected to the rear end of the horizontal unit for positioning the rear end of the storage tank;

[0018] An adjusting unit movably connected to the leveling unit for supporting the storage tank and enabling the storage tank to rotate.

[0019] The leveling unit includes a jacking hydraulic cylinder fixed at 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] Furthermore, lifting hydraulic cylinders are installed on both the bottom plate Ⅰ and the bottom plate Ⅱ, and the output ends of the lifting hydraulic cylinders are respectively connected to the top plate Ⅰ and the top plate Ⅱ.

[0026] Furthermore, transverse sliding rails are horizontally arranged on the upper end surfaces of the top plate Ⅰ and the top plate Ⅱ. The transverse sliding rails are connected with hinge blocks through transverse sliders. The hinge blocks are arranged corresponding to both sides horizontally. On the upper end surfaces of the top plate Ⅰ and the top plate Ⅱ, screw rods for driving the hinge blocks are provided, and the screw rods are connected with motors.

[0027] The using method of the horizontal automatic transportation device in the large-scale precision equipment workshop of the present invention includes:

[0028] Step 1: Confirmation of storage tank parameters and adaptation analysis;

[0029] Step 2: Three-dimensional modeling and map drawing of the workshop environment;

[0030] Step 3: System configuration and path planning of the horizontal automatic transportation device in the large-scale precision equipment workshop;

[0031] Step 4: Formulation of safety regulations and emergency plans;

[0032] Step 5: Loading the storage tank onto the horizontal automatic transportation device in the large-scale precision equipment workshop;

[0033] Step 6: Starting the automatic transportation task;

[0034] Step 7: Navigation and obstacle avoidance during travel;

[0035] Step 8: Reaching the target installation point and precise positioning;

[0036] Step 9: Unloading the storage tank;

[0037] Step 10: Ending the task and resetting the status.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] The present invention realizes the full-automatic horizontal transportation of large storage tanks from the loading point to the installation point through the mobile unit (such as the AGV chassis) combined with the automatic navigation system (based on three-dimensional modeling and path planning), 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.

[0040] By setting the leveling unit (including the jacking hydraulic cylinder and the adjustment hydraulic cylinder driving the adjustment frame), the attitude of the storage tank can be adjusted in real time or in advance during the movement, especially to keep both ends of it horizontal, which is crucial for the precision storage tank with liquid inside or strict requirements for horizontal installation, effectively avoiding the equipment tilt, internal stress change or damage caused by uneven ground or moving bumps.

[0041] The specially designed clamping unit (with an arc-shaped locking plate) and adjustment unit (with a pulley group 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, and rotation (if required). The pushing unit assists in rear-end positioning, further enhancing the stability of loading and transportation. Brief Description of the Drawings

[0042] Figure 1 is one of the schematic structural diagrams of Embodiment 1 of the present invention;

[0043] Figure 2 is the rear view of Embodiment 1 of the present invention;

[0044] Figure 3 is Figure 2 the partial enlarged view at A in

[0045] Figure 4 is Figure 2 the partial enlarged view at B in

[0046] Figure 5 is the second schematic structural diagram of Embodiment 1 of the present invention;

[0047] Figure 6 is Figure 5 the partial enlarged view at C in

[0048] Figure 7 is the first schematic structural diagram of the upper part of the adjustment frame of Embodiment 1 of the present invention;

[0049] Figure 8 is the second schematic structural diagram of the upper part of the adjustment frame of Embodiment 1 of the present invention;

[0050] In the figure:

[0051] 1. Moving unit;

[0052] 2. Leveling unit; 21. Adjusting hydraulic cylinder; 22. Adjustment frame; 23. Jacking hydraulic cylinder; 24. Longitudinal slide rail; 25. Longitudinal slider;

[0053] 3. Pushing unit; 31. Pushing frame; 32. Pushing plate; 321. Positioning plate;

[0054] 4. Clamping unit; 41. Bottom plate Ⅰ; 411. Driving mechanism; 42. Top plate Ⅰ; 421. Transverse slide rail; 422. Transverse slider; 43. Arc-shaped locking plate;

[0055] 5. Adjustment unit; 51. Bottom plate Ⅱ; 52. Top plate Ⅱ; 53. Pulley group;

[0056] 6. Support unit;

[0057] 7. Lifting hydraulic cylinder;

[0058] 8. Motor; 81. Bevel gear drive; 82. Screw; 83. Hinge block;

[0059] 9. Tilt sensor. Detailed implementation mode

[0060] Embodiment 1

[0061] As Figures 1 to 8 shown, the horizontal automatic transportation device in the large-scale precision equipment workshop of the present invention includes:

[0062] Moving unit 1, the moving unit 1 adopts an existing large-scale AGV vehicle and is used to drive the storage tank to move;

[0063] Leveling unit 2, which is arranged on the moving unit 1 and keeps both ends of the storage tank horizontal during the moving process;

[0064] Support unit 6, which is arranged on the moving unit 1 and is used to support the moving unit 1. The support unit 6 is a hydraulic leg installed at the four corners of the moving unit 1 and is used to support the moving unit 1 when turning. When the wheel rotation is completed, it is lowered to avoid scratching the floor during the transportation process of large weights;

[0065] Clamping unit 4, which is movably connected to the leveling unit 2 and is used to clamp the storage tank;

[0066] 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;

[0067] Adjusting unit 5, which is movably connected to the leveling unit 2 and is used to support the storage tank and enable the storage tank to rotate.

[0068] The leveling unit 2 includes a jacking hydraulic cylinder 23 fixed at 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.

[0069] The adjusting frame 22 is sequentially movably connected with a pushing unit, a first group of clamping units 4, a first group of adjusting units 5, a second group of adjusting units 5 and a second group of clamping units 4.

[0070] 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 arranged on the pushing frame 31, and the pushing plate 32 can move horizontally on the pushing frame 31.

[0071] A positioning plate 321 is arranged at the rear end of the pushing plate 32, and the positioning plate 321 is used to support the bottom of the storage tank.

[0072] When reaching the specified position, it is necessary to move the front end of the moving unit 1 forward to pull the storage tank at the front-end hoisting position, and the positioning plate 321 pushes the storage tank forward. At the same time, the storage tank is gradually lifted through the hinge to enter the installation port.

[0073] The plate of the clamping unit 4 is slidably connected to the bottom plate I 41 on the adjusting frame 22. The bottom plate I 41 is connected with a top plate I 42 that can move up and down. The top plate I 42 is provided with an arc-shaped locking plate 43 for clamping, and the arc-shaped locking plate 43 can move horizontally on the top plate.

[0074] Anti-slip rubber pads are provided on the inner sides of both the arc-shaped locking plate 43 and the pushing plate 32.

[0075] The plate of the adjusting unit 5 is slidably connected to the bottom plate II 51 on the adjusting frame 22. The bottom plate II 51 is connected with a top plate II 52 that can move up and down. The top plate II 52 is provided with a wheel set 53 for support, and the wheel set 53 can move horizontally on the top plate.

[0076] The wheel set 53 can be driven by a servo motor. The storage tank is lifted by the lifting hydraulic cylinder 7 to realize the rotation of the storage tank, so as to adjust the position of the flange on the storage tank.

[0077] The adjusting frame 22 is provided with longitudinally arranged longitudinal slide rails 24. 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, which are respectively installed at the lower ends of the bottom plate I 41 and the bottom plate II 51, and the bottom plate I 41 and the bottom plate II 51 are longitudinally moved by friction with the adjusting frame 22.

[0078] Lifting hydraulic cylinders 7 are installed on both the bottom plate I 41 and the bottom plate II 51. The output ends of the lifting hydraulic cylinders 7 are respectively connected to the top plate I 42 and the top plate II 52.

[0079] Transverse slide rails 421 are horizontally arranged on the upper end faces of the top plate I 42 and the top plate II 52. Articulated blocks 83 are connected to the transverse slide rails 421 through transverse sliders 422. The articulated blocks 83 are arranged corresponding to both sides horizontally. Screws 82 for driving the articulated blocks 83 are provided on the upper end faces of the top plate I 42 and the top plate II 52. The screws 82 are connected with motors 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 screws 82 on both sides through bevel gear transmissions 81, so that the screws 82 rotate, and then drive the articulated blocks 83 to move reciprocally.

[0080] The usage method of the horizontal automatic transportation device in the large-scale precision equipment workshop includes:

[0081] Phase 1: Preliminary Preparation and Environment Modeling

[0082] Step 1: Confirmation of Storage Tank Parameters and Analysis of Device Adaptability

[0083] 1.1 Collect detailed data of the storage tank: Obtain the precise dimensions (length, width, height), weight, center of gravity position, material, and structural characteristics (such as the shape of the bottom support surface, sidewall curvature, flange position, etc.) of the storage tank.

[0084] 1.2 Confirm the transportation posture of the storage tank: Specify that the storage tank is transported in a horizontal posture.

[0085] 1.3 Matching of the load-bearing capacity of Mobile Unit 1 (AGV): Check whether the maximum load and dimensions of Mobile Unit 1 meet the requirements of the total weight and dimensions of the storage tank to ensure sufficient safety margin.

[0086] 1.4 Adaptability of the storage tank to this device:

[0087] Evaluate the contact adaptability between the bottom of the storage tank and the positioning plate 321 of Pushing Unit 3.

[0088] Evaluate whether the shapes and dimensions of the sidewall (or specific reinforcing ribs, support rings) of the storage tank and the arc locking plate 43 of the clamping unit 4 match to achieve stable clamping. Confirm that the anti-slip rubber pad inside the arc locking plate 43 can provide sufficient friction without damaging the tank body.

[0089] 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.

[0090] Confirm that the lateral movement range of the pushing plate 32 of 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 82 to drive the articulated block 83 to move on the lateral slide rail 421) is sufficient to adapt to the diameter of the storage tank.

[0091] 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 slide 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.

[0092] Confirm that the stroke of the lifting hydraulic cylinder 7 can meet the requirements of the storage tank's ground clearance and unloading docking height.

[0093] 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, ensuring that the storage tank remains stable during entry.

[0094] Step 2: 3D Modeling and Map Drawing of the Workshop Environment

[0095] 2.1 Planning the Scanning Area: Define the workshop scope that covers the storage tank receiving area, the target installation points, and all potential transportation paths.

[0096] 2.2 Cleaning the Scanning Environment: Remove temporary obstacles on the paths.

[0097] 2.3 Selecting the Scanning Equipment: Use a high-precision 3D laser scanner.

[0098] 2.4 Performing 3D Scanning: Conduct multi-site and multi-angle scanning to ensure data integrity.

[0099] 2.5 Point Cloud Data Processing: Import, denoise, and precisely stitch to form a complete high-precision point cloud model of the workshop.

[0100] 2.6 Generating a Map Available for Mobile Unit 1 (AGV):

[0101] Extract navigation features such as walls, columns, and fixed equipment from the point cloud.

[0102] Create a map containing precise 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.

[0103] Precisely mark the starting point of the storage tank, the target installation points (including precise X, Y, Z coordinates and final pose requirements), charging positions, no-go areas, etc.

[0104] Convert the map to a format compatible with the control system of Mobile Unit 1 (AGV) and import it.

[0105] Step 3: System Configuration and Path Planning of this Device

[0106] 3.1 Basic Settings of Mobile Unit 1 (AGV): Configure the network and basic motion parameters.

[0107] 3.2 Loading the Environment Map: Load the precise 3D map generated in Step 2.6 into the navigation control system of Mobile Unit 1 (AGV).

[0108] 3.3 Position Calibration of Mobile Unit 1 (AGV): Conduct initial positioning of Mobile Unit 1 in the workshop map.

[0109] 3.4 Setting Task Points: Define the precise coordinates and poses of the starting pick-up point of the storage tank and the final target installation point.

[0110] 3.5 Preliminary Path Planning: The system automatically generates an optimal path considering the 3D envelope size of the entire device (including the storage tank) based on the 3D map, task points, and driving rules.

[0111] 3.6 Configure obstacle avoidance strategy:

[0112] Configure the sensors (lidar, vision, etc.) of the mobile unit 1 (AGV) to fuse with the loaded 3D map data.

[0113] Static obstacle recognition: Based on the 3D map.

[0114] Dynamic obstacle detection: Set the sensor sensitivity.

[0115] Define the obstacle avoidance behavior logic: deceleration, stop, detour. It is especially emphasized that when making a detour decision, use the 3D map information to judge whether there is enough 3D space on the side and above of this device (including the storage tank and the leveling unit in motion) to achieve a more intelligent and safer detour.

[0116] Configure the linkage between the leveling unit 2 and the obstacle avoidance system: When braking suddenly or turning quickly to avoid obstacles, the leveling unit 2 may need to adjust the strategy to maintain the stability of the storage tank.

[0117] 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.

[0118] Step 4: Develop safety regulations and emergency plans

[0119] 4.1 Develop operating specifications: Clearly define the responsibilities of the operators.

[0120] 4.2 Demarcate the safety area: Set warnings along the path.

[0121] 4.3 Define the communication protocol: Establish communication between the status of this device and the central control or personnel.

[0122] 4.4 Develop an emergency plan: Include the handling procedures for situations such as the failure of the mobile unit 1, the failure of the leveling unit 2 (inability to level), the failure of the clamping unit 4 (insufficient clamping force or inability to release), the failure of the pushing unit 3 / adjustment unit 5, the failure of the support unit 6 (if any), sensor failure, emergency stop, inability to avoid obstacles, abnormal posture of the storage tank (alarm from the leveling unit 2), environmental mutation, etc.

[0123] Phase II: Automated transportation execution

[0124] Step 5: Load the storage tank onto this device

[0125] 5.1 The mobile unit 1 (AGV) takes its place: Automatically drive to the precise positioning at the loading point in the receiving area. The support unit 6 can extend as needed to increase stability.

[0126] 5.2 Docking and fixing of the storage tank:

[0127] 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 are moved to the predetermined loading position on the longitudinal slide rail 24 through the driving mechanism 411.

[0128] 5.2.2 Storage tank placement / positioning: The storage tank (possibly with temporary tooling) is lifted by an external device (such as a crane) above this device, or the moving unit 1 directly drives under the storage tank (if the storage tank is temporarily supported).

[0129] 5.2.3 Bottom positioning and lifting: The pushing plate 32 of the pushing unit 3 moves horizontally in place, and the positioning plate 321 thereon 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.

[0130] 5.2.4 Support and clamping:

[0131] 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.

[0132] The wheel set 53 of the adjusting unit 5 moves on the transverse slide rail 421 through the motor 8 / screw 82 and is adjusted to the appropriate horizontal support position. At this time, the wheel set 53 supports and rotates the storage tank to the appropriate position.

[0133] 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.

[0134] 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.

[0135] 5.3 Status confirmation: Sensors (pressure, position, vision) confirm that the storage tank has been correctly, firmly positioned, supported and clamped by the pushing unit 3, the clamping unit 4, and the adjusting unit 5, and the leveling unit 2 has leveled the storage tank. The support unit 6 can be retracted as needed.

[0136] 5.4 Send ready signal: This device sends a loading completion signal to the central control system.

[0137] Step 6: Start the automated transportation task

[0138] 6.1 Receive task instructions: This device receives transportation instructions.

[0139] 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).

[0140] 6.3 Send startup signal / warning: The mobile unit 1 gives an audible and visual prompt.

[0141] 6.4 Start autonomous navigation: The mobile unit 1 drives the whole device to start moving along the planned path.

[0142] Step 7: Navigation, leveling and obstacle avoidance during movement

[0143] 7.1 Real-time positioning: The mobile unit 1 (AGV) continuously locates using the navigation system and the 3D map.

[0144] 7.2 Follow the path: The control system drives the mobile unit 1 to move along the path.

[0145] 7.3 Dynamic leveling: During movement, the leveling unit 2 continuously works, and according to the built-in inclination sensor 9, it continuously senses the inclination 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.

[0146] 7.4 Dynamic obstacle detection and avoidance:

[0147] 7.4.1 Continuous environment perception: The sensors on the mobile unit 1 scan the environment.

[0148] 7.4.2 Data comparison and analysis: Compare the real-time data with the 3D map to identify obstacles not on the map.

[0149] 7.4.3 Trigger obstacle avoidance logic: Execute deceleration, stop or detour.

[0150] 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.

[0151] 7.5 Status monitoring and reporting: The device reports the position, speed, power, storage tank level status (data of the leveling unit 2), working status of each unit, etc. in real time.

[0152] Step 8: Reach the target installation point and perform precise positioning adjustment

[0153] 8.1 Approach the target area: The mobile unit 1 decelerates and approaches the installation point.

[0154] 8.2 Preliminary positioning: The mobile unit 1 uses the navigation system for preliminary positioning.

[0155] 8.3 Precision attitude and position adjustment (reflecting the core advantage of this device):

[0156] 8.3.1 Coarse adjustment by the mobile unit 1: Rough alignment of the X, Y coordinates and the heading angle (Yaw) is completed. The support unit 6 can extend again to provide maximum stability.

[0157] 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.

[0158] 8.3.3 Precision fine-tuning of the X / Y / Z axes:

[0159] Longitudinal (X-axis) fine-tuning: The bottom plate Ⅰ41 of the clamping unit 4 and the bottom plate Ⅱ51 of the adjustment unit 5 are precisely controlled by the drive mechanism 411 to move synchronously and slightly on the longitudinal slide rail 24.

[0160] Transverse (Y-axis) fine-tuning: The arc locking plate 43 of the clamping unit 4 and the wheel set 53 of the adjustment unit 5 are precisely controlled by the motor 8 / screw 82 to move synchronously and slightly on the transverse slide rail 421.

[0161] Vertical (Z-axis) fine-tuning: By precisely controlling the lifting hydraulic cylinder 7, the heights of the top plate Ⅰ42 of the clamping unit 4 and the top plate Ⅱ52 of the adjustment unit 5 are fine-tuned to precisely align the storage tank interface with the foundation or the pipeline flange.

[0162] 8.3.4 Rotation (Yaw) fine-tuning (if necessary and supported by the wheel set 53): It may be achieved by making a slight rotation through the wheel set 53 of the adjustment unit 5, or by differential fine-tuning of the X and Y axes.

[0163] 8.4 Position confirmation: The position (X, Y, Z) and attitude (Roll, Pitch, Yaw) of the storage tank are confirmed to fully meet the installation accuracy requirements through high-precision sensors (such as laser trackers, vision systems) or docking sensors with the installation reference.

[0164] 8.5 Send in-place signal: This device sends a signal of "Precise positioning completed, ready for unloading".

[0165] Phase Three: Unloading and Task Completion

[0166] Step 9: Docking for Storage Tank Unloading

[0167] 9.1 Receive the unloading instruction.

[0168] 9.2 Release clamping and support:

[0169] 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).

[0170] 9.2.2 Release clamping: The arc locking plate 43 of the clamping unit 4 is loosened and retracted laterally.

[0171] 9.2.3 Pushing Support: The mobile 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.

[0172] 9.2.4 Unit Return: After the installation is completed, the moving parts of the clamping unit 4, the adjusting unit 5, and the pushing unit 3 may return to the initial or safe position according to the program.

[0173] 9.3 Withdrawal of the Mobile Unit 1 (AGV): After confirming the safety and stability of the storage tank, (retract the support unit 6) the mobile unit 1 slowly and safely drives out of the installation area.

[0174] 9.4 Confirmation of Unloading Completion: The system records the completion of unloading.

[0175] Step 10: Task End and Status Reset

[0176] 10.1 The Mobile Unit 1 Receives a New Instruction: Return to the standby area, charge, or execute a new task.

[0177] 10.2 Automatic Return / Charging: The mobile unit 1 performs automatic navigation.

[0178] 10.3 Clear Task Status: The status of all units of this device is reset.

[0179] 10.4 System Record: Record the complete task log including precise leveling and adjustment this time.

[0180] 10.5 Site Restoration: Remove the temporary safety signs.

[0181] In the present invention, the description of the directions and relative positional relationships of the structures, such as the descriptions of front, back, left, right, up, and down, does not constitute a limitation on the present invention and is only for convenience of description.

Claims

1. A horizontal automated transportation device in a large-scale precision equipment workshop, characterized in that, Comprising: A moving unit (1) for driving the storage tank to move; A leveling unit (2) provided on the moving unit (1) to keep the two ends of the storage tank horizontal during movement; A supporting unit (6) provided on the moving unit (1) for supporting the moving unit (1); A clamping unit (4) movably connected to the leveling unit (2) for clamping the storage tank; A pushing unit (3) movably connected to the rear end of the leveling unit (2) for positioning the rear end of the storage tank; An adjustment frame (22) for maintaining horizontal is provided on the moving unit (1); The pushing unit (3) includes a pushing frame (31) hinged to the end of the adjustment 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); A positioning plate (321) is provided at the rear end of the pushing plate (32), and the positioning plate (321) is used for lifting the bottom of the storage tank; After reaching the designated position, the front lifting position of the moving unit (1) is required to pull the storage tank forward. The positioning plate (321) then pushes the storage tank forward, and at the same time, the storage tank is gradually lifted by means of hinge connection, so as to enter the installation opening; An adjustment unit (5) movably connected to the leveling unit (2) for supporting the storage tank and enabling the storage tank to rotate.

2. The horizontal automated transportation device in a large-scale precision equipment workshop according to claim 1, characterized in that, The leveling unit (2) includes a jacking hydraulic cylinder (23) fixed to one end of the moving unit (1) and an adjustment hydraulic cylinder (21) hinged to the other end of the moving unit (1). The output ends of the jacking hydraulic cylinder (23) and the adjustment hydraulic cylinder (21) are both hinged to the adjustment frame (22).

3. The horizontal automated transportation device in the large-scale precision equipment workshop according to claim 2, wherein, A pushing unit, a first group of clamping units, a first group of adjustment units, a second group of adjustment units, and a second group of clamping units are sequentially movably connected to the adjustment frame (22).

4. The horizontal automated transportation device in a large-scale precision equipment workshop according to claim 3, characterized in that The clamping unit (4) includes a bottom plate Ⅰ (41) slidably connected to the adjustment frame (22). A top plate Ⅰ (42) capable of moving 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 Ⅰ (42).

5. The horizontal automated transportation device in a large-scale precision equipment workshop according to claim 4, characterized in that, The adjustment unit (5) includes a bottom plate Ⅱ (51) slidably connected to the adjustment frame (22). A top plate Ⅱ (52) capable of moving 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 Ⅱ (52).

6. The horizontal automated transportation device in a large-scale precision equipment workshop according to claim 5, characterized in that, Longitudinal slide rails (24) arranged longitudinally are provided on the adjustment 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). A driving mechanism (411) is provided on the lower end surfaces of the bottom plate Ⅰ (41) and the bottom plate Ⅱ (51).

7. The horizontal automated transportation device in a large-scale precision equipment workshop according to claim 5, characterized in that, Lifting hydraulic cylinders (7) are installed on both the bottom plate Ⅰ (41) and the bottom plate Ⅱ (51). The output ends of the lifting hydraulic cylinders (7) are respectively connected to the top plate Ⅰ (42) and the top plate Ⅱ (52).

8. The horizontal automated transportation device in a large-scale precision equipment workshop according to claim 5, characterized in that, On the upper end faces of the top plate Ⅰ (42) and the top plate Ⅱ (52), transverse slide rails (421) are arranged horizontally. An articulated block (83) is connected to the transverse slide rail (421) through a transverse slider (422). The articulated blocks (83) are arranged correspondingly on both sides in the transverse direction. On the upper end faces of the top plate Ⅰ (42) and the top plate Ⅱ (52), there are screw rods (82) for driving the articulated block (83), and the screw rod (82) is connected to a motor (8).

9. A method for using a horizontal automated transportation device in a large-scale precision equipment workshop according to any one of claims 1-8, characterized in that, Including: Step 1: Confirmation of storage tank parameters and adaptation analysis; Step 2: Three-dimensional modeling and map drawing of the workshop environment; Step 3: Configuration and path planning of the horizontal automated transportation device system in the large-scale precision equipment workshop; Step 4: Formulation of safety regulations and emergency plans; Step 5: Loading the storage tank onto the horizontal automated transportation device in the large-scale precision equipment workshop; Step 6: Starting the automated transportation task; Step 7: Navigation and obstacle avoidance during travel; Step 8: Reaching the target installation point and precise positioning; Step 9: Unloading the storage tank; Step 10: End of the task and reset of the status.

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