Intelligent transport vehicle for large pressure steel pipes and using method of intelligent transport vehicle

Abstract

The invention discloses an intelligent transport vehicle for large pressure steel pipes and a using method thereof, and belongs to the field of special transport equipment for water conservancy and hydropower engineering. The transport vehicle comprises a traction vehicle head, a trapezoidal trailer frame, a hydraulic system and an intelligent monitoring system, a rear axle drives a swing mechanism through a hydraulic motor to achieve 90-degree rotation, during loading and unloading, the axis of a tire is parallel to a vehicle body so as to enter a steel pipe, and during transportation, the tire is locked to be in a vertical state; the front / rear jacking mechanism adopts double locking of a hydraulic lead screw and a hydraulic lock and is matched with a multidirectional jacking and fixing mechanism, so that stable lifting and skid resistance of the pressure steel pipe are ensured. According to the loading and unloading method, through alternate jacking of the auxiliary wheels, rotation of the rear axle and intelligent guiding, single-person operation is achieved, and manual dependence and the accident rate are greatly reduced. The invention solves the problems of complex loading and unloading, unstable fixation, dependence on large machinery and the like in the traditional transportation mode, has the characteristics of high efficiency, safety and strong adaptability, and is particularly suitable for transportation of large pressure steel pipes with the diameter of 3-6m.

Description

Technical Field

[0001] The present invention relates to the technical field of special transportation equipment for water conservancy and hydropower projects, and specifically to a large-sized penstock intelligent transport vehicle and its usage method. Background Technique

[0002] In water conservancy and hydropower projects, large-sized penstocks (with a diameter of 3 meters to 6 meters and a length of 3.5 meters to 5 meters) are core components of the water diversion system. Their transportation needs to overcome technical problems such as being over-wide, over-high, and having an unstable center of gravity. The traditional method is to use a crane to hoist the penstock onto a flatbed transport vehicle and then fix it with electric welding or rigging. After arriving at the destination, the fixing is removed and the penstock is hoisted off the vehicle. This method of penstock transportation has a high center of gravity, requires a high level of road flatness, has poor stability in the fixing method, a large amount of loading and unloading work, and requires the assistance of a large crane. When loading and unloading, 3 to 4 people need to cooperate. Among them, 1 person operates the chassis lifting, rear axle rotation, hydraulic jacking, etc. at the trailer, 1 person drives the tractor, and 1 to 2 people observe and direct. It has the following defects: (1) Poor fixing stability: The steel pipe is only simply tied and fixed, and it is easy to shift or even overturn due to the bumps during driving, and it requires an extremely high level of road flatness; (2) Low loading and unloading efficiency: It depends on manual operation of the chassis lifting, rear axle rotation, and jacking mechanism, which is difficult to coordinate, and it is easy to cause accidents due to signal errors; (3) High safety risk: There is a lack of real-time status monitoring, and it is difficult to give early warnings in time when the center of gravity of the steel pipe shifts, the vehicle rolls over, or rubs against height-limiting obstacles; (4) Insufficient adaptability: The rear axle of the existing transport vehicle cannot be rotated and adjusted, it is difficult to enter the interior of the steel pipe for loading and unloading, and it depends on auxiliary equipment.

[0003] Although existing patents (such as ZL201110026225.0) have optimized some problems through the structure of a special trailer, there are still bottlenecks such as low intelligence level, insufficient stability of the hydraulic system, and complex operation. Therefore, there is an urgent need for a transportation solution that integrates intelligent monitoring, automated operation, and structural innovation to improve safety, efficiency, and working condition adaptability. Summary of the Invention

[0004] In view of the above problems, the purpose of the present invention is to provide a large-sized penstock intelligent transport vehicle and its usage method, which solve the core problems of the traditional transportation method such as low efficiency, high risk, and poor adaptability, and provide an efficient, safe, and economical solution for the transportation of large-sized penstocks. The technical solution is as follows: A large-sized penstock intelligent transport vehicle includes a tractor head, a trapezoidal trailer frame, a jacking mechanism, a fixing mechanism, a rear axle slewing mechanism, a rear axle, auxiliary wheel B, auxiliary wheel A, a hydraulic system, an electric control operation panel, and an intelligent monitoring system; The front end of the trapezoidal trailer is connected to the tractor head through a traction connection disc; the jacking mechanism is arranged on the trapezoidal trailer and is used to drive the vertical lifting of the penstock through a hydraulic system; the fixing mechanism is also arranged on the trapezoidal trailer and is used to fix the penstock through a hydraulic system drive; The rear axle is connected to the lower part of the tail of the trapezoidal trailer through a rear axle slewing mechanism; the rear axle slewing mechanism includes a slewing component and a locking pin driven by a hydraulic system, and is used to drive the rear axle to rotate 90° around the vertical axis, and can lock the rear axle in the transportation state so that the tire connection line is perpendicular to the vehicle body axis, or unlock the rear axle in the loading and unloading state so that the tire axis is parallel to the vehicle body axis to enter the inside of the penstock; The auxiliary wheel B and the auxiliary wheel A are arranged one in front of the other below the middle of the trapezoidal trailer, and the lifting of the auxiliary wheel B and the auxiliary wheel A is controlled by a lifting hydraulic system, so that they work together with the rear axle, and alternately jack up the trailer frame during the loading and unloading process, so that the rear axle tires leave the ground and enter the inside of the penstock; The intelligent monitoring system includes a sensor group, a camera group and an intelligent monitoring computer, which real-time monitors the posture, force, vehicle speed and obstacles of the transport vehicle, and realizes automatic operation and alarm prompt through an electric control operation panel.

[0005] A method for using a large-scale penstock intelligent transport vehicle includes the following steps: Loading steps: Step 1: Align the transport vehicle with the penstock through the loading, unloading and penstock monitoring rear view camera group; Step 2: Start the hydraulic system, lower the auxiliary wheel A to jack up the frame, and lift the rear axle so that the rear wheels reach the suspended height; Step 3: Unlock the rear axle slewing mechanism, drive the rear axle to rotate 90° and lock it; Step 4: Reverse the transport vehicle so that the rear axle and the auxiliary wheel B enter the penstock; Step 5: Alternately lower the auxiliary wheel B and lift the auxiliary wheel A until the rear axle completely passes through the penstock; Step 6: Swing the rear axle to the driving direction and lock it; Step 7: Jack up the front jacking mechanism and the rear jacking mechanism, adjust the height of the penstock and fix it; Step 8: Operate the front fixing mechanism, the rear fixing mechanism and the rear limiting mechanism to lock the position of the penstock; Unloading steps: Perform the opposite operation to the loading steps, and exit the penstock through the alternate support of the auxiliary wheels and the slewing of the rear axle.

[0006] The beneficial effects of the present invention are: The large-scale penstock intelligent transport vehicle and its using method of the present invention have the following significant advantages compared with the traditional technology: 1) Efficient and convenient operation: By integrating the control function of the hydraulic system through an electric control operation panel, a single driver can complete the entire loading and unloading process (traditionally requiring 3 to 4 people to cooperate), reducing manual dependence and improving efficiency; the rear axle slewing mechanism and the auxiliary wheels work together to achieve a 90° rotation of the rear axle and the rapid lifting of the tires off the ground, greatly shortening the loading and unloading time.

[0007] 2) Comprehensive improvement in safety performance: The double locking mechanism of the hydraulic lock and the hydraulic lead screw completely eliminates the risk of accidental sliding of the pressure steel pipe after jacking up, avoiding ground contact accidents; the intelligent monitoring system continuously detects the center of gravity deviation, vehicle body inclination and obstacles, and actively warns of dangers such as rollover and rubbing through sound and light alarms and screen prompts, greatly reducing the accident rate.

[0008] 3) Significantly enhanced fixing stability: The front / rear fixing mechanisms adopt a multi-directional tightening design, combined with a sensor group to dynamically adjust the tightening pressure, ensuring that the steel pipe has no displacement under bumpy road conditions and improving the fixing reliability; the rear limiting mechanism adaptively adjusts the clamping range through a guide rail and a pressing oil cylinder, compatible with steel pipes of different lengths from 3 meters to 6 meters, with a wider applicability.

[0009] 4) Optimization of intelligence and adaptability: The camera group combined with the contour marking algorithm provides real-time loading and unloading guidance for the driver, reducing operation errors. The rear axle slewing mechanism enables the transport vehicle to enter the interior of the steel pipe for loading and unloading, getting rid of the dependence on large cranes for assistance, especially suitable for narrow or complex construction site scenarios.

[0010] 5) Outstanding economy: It reduces labor costs and investment in auxiliary equipment, and reduces the comprehensive operation and maintenance costs; the optimized design of the trailer counterweight and the trapezoidal trailer frame extends the service life of the equipment and reduces the maintenance frequency.

[0011] Summary: Through structural innovation and intelligent integration, the present invention solves the core problems of traditional transportation methods such as low efficiency, high risk, and poor adaptability, providing an efficient, safe, and economical solution for the transportation of large-diameter steel pipes. Brief Description of the Drawings

[0012] Figure 1 It is a side view of the structure of the intelligent transport vehicle for large-diameter steel pipes of the present invention.

[0013] Figure 2 It is a front view of the front fixing mechanism.

[0014] Figure 3 It is a front view of the front jacking mechanism.

[0015] Figure 4 It is a hydraulic system diagram.

[0016] Figure 5 It is the hydraulic and electric control wiring diagram.

[0017] Figure 6 It is the distribution diagram of the sensor positions of the intelligent detection system.

[0018] Figure 7 It is the wiring diagram of the sensors of the intelligent detection system.

[0019] Figure 8A It is the schematic diagram of the loading process of the intelligent transporter for penstocks - the transporter aligns with the penstock.

[0020] Figure 8B It is the schematic diagram of the loading process of the intelligent transporter for penstocks - lower the auxiliary wheel A and lift the main rear wheel.

[0021] Figure 8C It is the schematic diagram of the loading process of the intelligent transporter for penstocks - the rear axle rotates 90°.

[0022] Figure 8D It is the schematic diagram of the loading process of the intelligent transporter for penstocks - the rear axle and the auxiliary wheel enter the penstock.

[0023] Figure 8E It is the schematic diagram of the loading process of the intelligent transporter for penstocks - lower the auxiliary wheel B and lift the auxiliary wheel A.

[0024] Figure 8F It is the schematic diagram of the loading process of the intelligent transporter for penstocks - the rear axle completely passes through the penstock.

[0025] Figure 8G It is the schematic diagram of the loading process of the intelligent transporter for penstocks - rotate the rear axle to the driving direction.

[0026] Figure 8H It is the schematic diagram of the loading process of the intelligent transporter for penstocks - retract the auxiliary wheel B and the main rear wheel touches the ground.

[0027] Figure 8I (1) is the schematic diagram of the loading process of the intelligent transporter for penstocks - adjust the height of the penstock.

[0028] Figure 8I (2) is the side view of the jacking mechanism when adjusting the height of the penstock in the schematic diagram of the loading process of the intelligent transporter for penstocks.

[0029] Figure 8J It is the schematic diagram of the loading process of the intelligent transporter for penstocks - lock the position of the penstock.

[0030] The explanations of the labels in the figure are as follows: 01 - Tractor head; 02 - Trapezoidal trailer frame; 03 - Trailer counterweight; 04 - Front limiting mechanism; 05 - Front fixing mechanism; 06 - Front lifting mechanism; 07 - Rear lifting mechanism; 08 - Rear fixing mechanism; 09 - Rear axle slewing mechanism; 10 - Rear axle; 11 - Rear limiting mechanism; 12 - Auxiliary wheel B; 13 - Auxiliary wheel A; 14 - Leg; 15 - Towing connection plate; 051 - Tightening piston; 052 - Lower bracket of tightening cylinder; 053 - Tightening cylinder; 054 - Upper bracket of tightening cylinder; 061 - Lifting hydraulic screw rod; 062 - Lifting conduit; 063 - Lifting beam; 064 - Support bracket of lifting hydraulic screw rod; 065 - Coaxial guide post; 21 - Rear axle slewing solenoid valve; 22 - Rear axle slewing motor; 23 - Rear axle locking solenoid valve; 24 - Rear axle locking hydraulic cylinder; 25 - Front lifting solenoid valve; 26 - Front lifting hydraulic lock; 27 - Front lifting hydraulic screw rod; 28 - Rear lifting solenoid valve; 29 - Rear lifting hydraulic lock; 30 - Rear lifting hydraulic screw rod; 31 - Auxiliary wheel B solenoid valve; 32 - Auxiliary wheel B hydraulic lock; 33 - Auxiliary wheel B hydraulic cylinder; 34 - Auxiliary wheel A solenoid valve; 35 - Auxiliary wheel A hydraulic lock; 36 - Auxiliary wheel A hydraulic cylinder; 37 - Rear limiting solenoid valve; 38 - Left rear limiting hydraulic lock; 39 - Left rear limiting hydraulic cylinder; 40 - Right rear limiting hydraulic lock; 41 - Right rear limiting hydraulic cylinder; 42 - Left front fixing solenoid valve; 43 - Left front fixing hydraulic lock; 44 - Left front fixing hydraulic cylinder; 45 - Right front fixing solenoid valve; 46 - Right front fixing hydraulic lock; 47 - Right front fixing hydraulic cylinder; 48 - Left rear fixing solenoid valve; 49 - Left rear fixing hydraulic lock; 50 - Left rear fixing hydraulic cylinder; 51 - Right rear fixing solenoid valve; 52 - Right rear fixing hydraulic lock; 53 - Right rear fixing hydraulic cylinder; 54 - Hydraulic loading solenoid valve; 55 - Hydraulic overflow valve; 56 - Hydraulic pump; 60 - Sensor group of front fixing mechanism; 601 - Left front fixing hydraulic cylinder extension length sensor; 602 - Left front fixing hydraulic cylinder pressure sensor; 603 - Right front fixing hydraulic cylinder extension length sensor; 604 - Right front fixing hydraulic cylinder pressure sensor; 61 - Sensor of front lifting mechanism; 62 - Sensor of rear lifting mechanism; 63 - Sensor group of rear fixing mechanism; 631 - Left rear fixing hydraulic cylinder extension length sensor; 632 - Left rear fixing hydraulic cylinder pressure sensor; 633 - Right rear fixing hydraulic cylinder extension length sensor; 634 - Right rear fixing hydraulic cylinder pressure sensor; 64 - Sensor group of rear axle slewing mechanism; 641 - Left pressure sensor group of rear axle load; 642 - Right pressure sensor group of rear axle load; 643 - Rear axle slewing angle sensor; 65 - Sensor group of rear wheel height; 651 - Left rear wheel height sensor; 652 - Right rear wheel height sensor; 66 - Vehicle speed measuring sensor; 67 - Sensor group of rear limiting mechanism; 671 - Rear limiting mechanism tightening hydraulic cylinder extension length sensor; 672 - Rear limiting mechanism tightening hydraulic cylinder pressure sensor; 68 - Auxiliary wheel B height sensor;69 - Auxiliary Wheel A Height Sensor; 70 - Trapezoidal Trailer Frame Attitude Sensor Group; 701 - Trapezoidal Trailer Frame Horizontal Inclination Sensor; 702 - Trapezoidal Trailer Frame Ground Clearance Sensor; 71 - Towing Connection Disk Sensor Group; 711 - Towing Connection Disk Load Left Pressure Sensor Group; 712 - Towing Connection Disk Angle Sensor; 75 - Front Head Obstacle Detection Camera Group; 76 - Loading and Pressure Steel Pipe Monitoring Rear View Camera Group; 77 - Height Limit Monitoring Camera; 80 - Electric Control Operation Panel; 81 - Intelligent Monitoring Computer; 82 - Communication Bus; 83 - Network Cable or Optical Fiber; 751 - Left Front Camera; 752 - Right Front Camera; 761 - Left Rear Camera; 762 - Right Rear Camera; 800 - Microprocessor; 821 - Rear Axle Rotary Switch; 823 - Rear Axle Unlock Switch; 825 - Front Part Lifting Switch; 828 - Rear Part Lifting Switch; 831 - Auxiliary Wheel B Lifting Switch; 834 - Auxiliary Wheel A Lifting Switch; 837 - Rear Part Limit Operation Switch; 842 - Left Front Part Fixing Mechanism Switch; 845 - Right Front Part Fixing Mechanism Switch; 848 - Left Rear Part Fixing Mechanism Switch; 851 - Right Rear Part Fixing Mechanism Switch; 854 - Loading Switch; Detailed Implementation Manner

[0031] The following further elaborates on the present invention in detail in conjunction with the accompanying drawings and specific embodiments.

[0032] Figure 1 It is a side view of the structure of a large - scale pressure steel pipe intelligent transport vehicle, which is composed of a towing head 01, a trapezoidal trailer frame 02, a trailer counterweight 03, a front part limit mechanism 04, a front part fixing mechanism 05, a front part lifting mechanism 06, a rear part lifting mechanism 07, a rear part fixing mechanism 08, a rear axle rotary mechanism 09, a rear axle 10, a rear part limit mechanism 11, an auxiliary wheel B 12, an auxiliary wheel A 13, a support leg 14, and a towing connection disk 15.

[0033] The trapezoidal trailer frame 02 is composed of an upper left beam, an upper right beam, a lower left beam, a lower right beam, diagonal braces, and inter - beam connecting beams.

[0034] The trailer counterweight 03 is used to maintain the force balance of the trailer, increase the force on the rear tires of the towing vehicle, so that the pressure steel pipe is tightly pressed between the front part limit mechanism 04 and the rear part limit mechanism 11 during the driving of the towing vehicle. The front part limit mechanism 04 is used to block the front of the pressure steel pipe to prevent the pressure steel pipe from sliding forward during driving, and the rear part limit mechanism 11 is used to block the rear of the pressure steel pipe to prevent the pressure steel pipe from sliding backward during driving; the rear part limit mechanism 11 is provided with a guide rail and a pressing oil cylinder, and the pressing oil cylinder can push the limit baffle to slide back and forth, and can maintain clamping when the length of the pressure steel pipe changes within the stroke range of the pressing oil cylinder.

[0035] The front part fixing mechanism 05 and the front part lifting mechanism 06 jointly fix the front end of the pressure steel pipe to prevent the pressure steel pipe from shaking left and right and bouncing on the vehicle. Figure 2It is a front view of the front fixing mechanism 05, which is divided into two symmetrical left and right parts. The left and right parts have the same structural principle, and are composed of a tightening piston 051, a tightening cylinder lower bracket 052, a tightening cylinder 053, and a tightening cylinder upper bracket 054. The tightening cylinder lower bracket 052 and the tightening cylinder upper bracket 054 are fixed on the trapezoidal trailer frame 02. The tightening piston 051 can be controlled to retract and form a fulcrum for tightening in three different directions with the front jacking mechanism 06 to fix the front of the pressure steel pipe. The rear fixing mechanism 08 and the rear jacking mechanism 07 jointly fix the rear of the pressure steel pipe. The structural principle is exactly the same as that of the front fixing mechanism 05.

[0036] The front lifting mechanism 06 is used to lift the front end of the pressure steel pipe to keep the pressure steel pipe at a certain height from the ground. Figure 3 It is a front view of the front lifting mechanism 06, which consists of a lifting hydraulic screw 061, a lifting guide tube 062, a lifting beam 063, a lifting hydraulic screw bracket 064, and a coaxial guide column 065; the lifting guide tube 062 and the lifting hydraulic screw bracket 064 are fixed on the trapezoidal trailer frame 02, the lifting hydraulic screw 061 extends to drive the lifting beam 063 to move upward, lifting the pressure steel pipe, and the lifting hydraulic screw 061 retracts to drive the lifting beam 063 to move downward, lowering the pressure steel pipe; there is a coaxial guide column 065 in the lifting guide tube 062, the coaxial guide column 065 can make a linear motion along the lifting guide tube 062, and the coaxial guide column 065 is rigidly connected to the two ends of the lifting beam 063, so that the lifting beam 063 maintains a stable vertical lifting. The rear lifting mechanism 07 is exactly the same as the front lifting mechanism 06.

[0037] The rear axle slewing mechanism 09 can make the rear axle 10 rotate 90° around the vertical axis. When the trailer is driving, the connection line of the rear axle tires is perpendicular to the axis of the vehicle body. When loading a small-diameter pressure steel pipe, the rear axle rotates so that the tire axis is consistent with the axis of the vehicle body, so that the trailer body can enter the interior of the pressure steel pipe. The rear axle slewing mechanism 09 is driven to rotate by a hydraulic motor and is provided with a locking pin. When driving, the locking pin locks the rear axle and the vehicle body in a vertical position.

[0038] The auxiliary wheel B12 and the auxiliary wheel A13 are fixed to the lower part of the piston at the lower end of the auxiliary wheel lifting hydraulic cylinder, and the lifting and lowering are controlled by the auxiliary wheel lifting hydraulic cylinder. When the auxiliary wheel is lowered, the rear frame of the trailer can be lifted up, so that the rear wheels of the trailer leave the ground and enter the inside of the pressure steel pipe. The auxiliary wheel B12 and the auxiliary wheel A13 are alternately supported to enter the inside of the pressure steel pipe.

[0039] When the trailer is separated from the tractor, it is supported by the legs 14, which are raised and lowered by the screw. When it is necessary to release the tractor head, the handle is shaken to lower the legs to the ground, prop up the front of the trailer, and release the lock of the traction coupling plate 15, so that the tractor head can leave alone. The tractor head tows the trailer through the traction coupling plate 15.

[0040] Figure 4It is a hydraulic system diagram. The hydraulic system includes a hydraulic pump 56, a hydraulic overflow valve 55, a hydraulic lock group (front lifting hydraulic lock 26, rear lifting hydraulic lock 29, auxiliary wheel B hydraulic lock 32, auxiliary wheel A hydraulic lock 35, left rear limit hydraulic lock 38, right rear limit hydraulic lock 40, left front fixed hydraulic lock 43, right front fixed hydraulic lock 46, left rear fixed hydraulic lock 49, and right rear fixed hydraulic lock 52), and an electromagnetic valve group. The hydraulic pump 56 is driven by a power take-off of the tractor. The electromagnetic valve group is integrated into the electric control operation panel 80, including a rear axle locking electromagnetic valve 23, a rear axle slewing electromagnetic valve 21, a front lifting electromagnetic valve 25, a rear lifting electromagnetic valve 28, an auxiliary wheel A electromagnetic valve 34, an auxiliary wheel B electromagnetic valve 31, and a rear limit electromagnetic valve 37, as well as fixed mechanism electromagnetic valves (left front fixed electromagnetic valve 42, right front fixed electromagnetic valve 45, left rear fixed electromagnetic valve 48, and right rear fixed electromagnetic valve 51). Each electromagnetic valve is controlled by a microprocessor 800. The hydraulic pump 56 obtains driving force from the power take-off of the tractor, and the hydraulic overflow valve 55 is used to prevent damage to components due to excessive pressure of the hydraulic pump.

[0041] Figure 5 It is a hydraulic electric control wiring diagram. All hydraulic operation electric control switches are installed inside the electric control operation panel 80 in the cab. The load switch 854 and the hydraulic load electromagnetic valve 54 are used to control the loading of the hydraulic system. When the load switch 854 is closed, the hydraulic load electromagnetic valve 54 is turned on, and the unloading pressure of the hydraulic system disappears. When the load switch 854 is turned on, the hydraulic load electromagnetic valve is cut off, and the hydraulic system is loaded, and the pressure increases.

[0042] The rear axle unlocking switch 823, the rear axle locking electromagnetic valve 23, and the rear axle locking hydraulic cylinder 24 constitute the rear axle locking mechanism. When the rear axle unlocking switch is turned on, the rear axle locking electromagnetic valve 23 is energized to supply oil to the rear axle locking hydraulic cylinder 24. The rear axle locking hydraulic cylinder 24 drags the locking pin to retract, releasing the rear axle lock, and the angle between the rear axle and the vehicle body can be changed. When the rear axle unlocking switch is closed, the rear axle locking electromagnetic valve 23 is de-energized, and the oil circuit of the rear axle locking hydraulic cylinder 24 is depressurized through the rear axle locking electromagnetic valve 23. The spring pushes the rear axle locking hydraulic cylinder 24 and the locking pin into the locking pin hole, and the rear axle is locked, and the angle between the rear axle and the vehicle body cannot be changed.

[0043] The rear axle slewing switch 821, the rear axle slewing electromagnetic valve 21, and the rear axle slewing motor 22 control the rear axle slewing. When the rear axle slewing switch 821 is in the middle position, the rear axle slewing electromagnetic valve 21 is in the stop position, and the rear axle slewing motor 22 has no oil supply and remains in the stop state. When the rear axle slewing switch 821 is in the forward rotation position, the rear axle lock is released, and the rear axle 10 is off the ground, the forward rotation coil of the rear axle slewing electromagnetic valve 21 is energized, and the rear axle slewing motor 22 rotates forward with forward oil supply. When the rear axle slewing switch 821 is in the reverse rotation position, the rear axle lock is released, and the rear axle is off the ground, the reverse rotation coil of the rear axle slewing electromagnetic valve 21 is energized, and the rear axle slewing motor 22 rotates in reverse with reverse oil supply.

[0044] When the front lifting switch 825 is in the middle position, the front lifting solenoid valve 25 is in the stop position, the front lifting hydraulic lead screw 27 is not supplied with oil and is in a locked state, and the front lifting hydraulic lock 26 cuts off the oil circuit to prevent the hydraulic lead screw from sliding under the action of the load pressure due to reasons such as hydraulic pipeline breakage. The hydraulic lead screw also has a self-locking characteristic. When the hydraulic pipeline is broken or the hydraulic motor has internal leakage, the hydraulic lead screw can maintain the locked state without sliding (using a hydraulic cylinder can also achieve the lifting function, but the hydraulic cylinder does not have the self-locking ability. When the lifting cylinder leaks internally during the transportation of the penstock, it will slide, resulting in the penstock touching the ground and causing an accident); when the front lifting switch 825 is in the lifting position, the lifting coil of the front lifting solenoid valve 25 is energized to supply oil, the hydraulic oil pressure opens the front lifting hydraulic lock 26, and the motor of the front lifting hydraulic lead screw 27 rotates in the lifting direction to lift the penstock; when the front lifting switch 825 is in the lowering position, the lowering coil of the front lifting solenoid valve 25 is energized to supply oil, the hydraulic oil pressure opens the front lifting hydraulic lock 26, and the motor of the front lifting hydraulic lead screw 27 rotates in the lowering direction to lower the penstock.

[0045] The principle of the rear lifting switch 828, the rear lifting solenoid valve 28, the rear lifting hydraulic lead screw 30, and the rear lifting hydraulic lock 29 is the same as that of the front lifting control.

[0046] When the auxiliary wheel B lifting switch 831 is in the middle stop position, the auxiliary wheel B solenoid valve 31 is not energized and does not supply oil, the auxiliary wheel B remains stationary, and the auxiliary wheel B hydraulic lock 32 is used to prevent the pipeline from breaking and the auxiliary wheel B from sliding when the vehicle is running; when the auxiliary wheel B lifting switch 831 is in the extended position, the extended coil of the auxiliary wheel B solenoid valve 31 is energized, supplies oil in the extended direction, the auxiliary wheel B hydraulic lock 32 is opened, and the piston of the auxiliary wheel B hydraulic cylinder 33 drives the auxiliary wheel B to extend downward, lifting the trailer body, the rear axle tires leaving the ground, and the rear axle can rotate. The auxiliary wheel B takes over the support of the trailer body by the main rear axle tires and walks into the penstock; when the auxiliary wheel B lifting switch 831 is in the retracted position, the retracted coil of the auxiliary wheel B solenoid valve 31 is energized, supplies oil in the retracted direction, the auxiliary wheel B hydraulic lock 32 is opened, and the piston of the auxiliary wheel B hydraulic cylinder 33 drives the auxiliary wheel B to retract upward, putting the main rear axle tires back on the ground.

[0047] The control principle of the auxiliary wheel A, the auxiliary wheel A lifting switch 834, the auxiliary wheel A solenoid valve 34, the auxiliary wheel A hydraulic lock 35, and the auxiliary wheel A hydraulic cylinder 36 is the same as that of the auxiliary wheel B.

[0048] When the rear limit operation switch 837 is in the middle stop position, the rear limit solenoid valve 37 is de-energized and does not supply oil. The left rear limit oil cylinder 39 and the right rear limit oil cylinder 41 remain locked and immobile. The left rear limit hydraulic lock 38 and the right rear limit hydraulic lock 40 prevent pipeline breakage and pressure relief. If the rear limit operation switch 837 is in the clamping position, the clamping direction coil of the rear limit solenoid valve 37 is energized to supply oil. The left rear limit oil cylinder 39 and the right rear limit oil cylinder 41 extend, pushing the rear limit mechanism to move towards the head of the vehicle, clamping the penstock between the front limit mechanism and the rear limit mechanism. If the rear limit operation switch 837 is in the release position, the release direction coil of the rear limit solenoid valve 37 is energized to supply oil. The left rear limit oil cylinder 39 and the right rear limit oil cylinder 41 retract, pulling the rear limit mechanism to move towards the tail of the vehicle, releasing the clamped penstock.

[0049] When the left front fixing mechanism switch 842 is in the stop position, the left front fixing solenoid valve 42 is de-energized and does not supply oil. The left front fixing oil cylinder 44 is locked and immobile. The left front fixing hydraulic lock 43 is used to prevent pipeline breakage and pressure relief. When the left front fixing mechanism switch 842 is in the tightening position, the tightening coil of the left front fixing solenoid valve 42 is energized to supply oil. The left front fixing oil cylinder 44 extends to tighten the penstock. When the left front fixing mechanism switch 842 is in the retracting position, the retracting coil of the left front fixing solenoid valve 42 is energized to supply oil. The left front fixing oil cylinder 44 retracts to release the penstock. The control principle of the right front fixing mechanism switch 845, the right front fixing solenoid valve 45, the right front fixing hydraulic lock 46, and the right front fixing oil cylinder 47 is the same as that of the left front.

[0050] The control principle of the left rear fixing mechanism switch 848, the left rear fixing solenoid valve 48, the left rear fixing hydraulic lock 49, the left rear fixing hydraulic cylinder 50, the right rear fixing mechanism switch 851, the right rear fixing solenoid valve 51, the right rear fixing hydraulic lock 52, and the right rear fixing hydraulic cylinder 53 is the same as that of the front fixing mechanism.

[0051] Figure 6 is the distribution diagram of the sensor positions of the intelligent detection system, Figure 7 is the wiring diagram of the sensors of the intelligent detection system.

[0052] The sensors of the intelligent detection system include a sensor group 60 of the front fixing mechanism, a sensor 61 of the front lifting mechanism, a sensor 62 of the rear lifting mechanism, a sensor group 63 of the rear fixing mechanism, a sensor group 64 of the rear axle slewing mechanism, a sensor group 65 of the rear wheel height, a vehicle speed sensor 66, a sensor group 67 of the rear limit mechanism, a sensor 68 of the auxiliary wheel B height, a sensor 69 of the auxiliary wheel A height, a sensor group 70 of the trapezoidal trailer frame attitude, a sensor group 71 of the traction connection plate, a camera group 75 for detecting obstacles in the front of the vehicle head, a rear-view camera group 76 for monitoring the loading, unloading and penstock, and a height limit monitoring camera 77; An electric control operation panel 80 and an intelligent monitoring computer 81 are also provided. The data of each sensor is integrated into the communication bus 82 and transmitted to the intelligent monitoring computer 81 in the cab. The video data of each camera is transmitted to the intelligent monitoring computer through the network cable or optical fiber 83.

[0053] The sensor group 60 of the front fixing mechanism is used to detect the extension length and pressure of the two front jacking cylinders, and provide detection data for the monitoring computer to analyze the position and fastening degree of the penstock. The sensor group 60 of the front fixing mechanism includes 4 sensors, namely: the left front fixing cylinder extension length sensor 601, the left front fixing cylinder pressure sensor 602, the right front fixing cylinder extension length sensor 603, and the right front fixing cylinder pressure sensor 604.

[0054] The sensor group 63 of the rear fixing mechanism is used to detect the extension length and pressure of the two rear jacking cylinders, and provide detection data for the monitoring computer to analyze the position and fastening degree of the penstock. The sensor group 63 of the rear fixing mechanism includes 4 sensors, namely: the left rear fixing cylinder extension length sensor 631, the left rear fixing cylinder pressure sensor 632, the right rear fixing cylinder extension length sensor 633, and the right rear fixing cylinder pressure sensor 634.

[0055] The sensor 61 of the front lifting mechanism is a lead screw extension length sensor, which detects the lifting height of the front part of the penstock.

[0056] The sensor 62 of the rear lifting mechanism is a lead screw extension length sensor, which detects the lifting height of the rear part of the penstock.

[0057] The sensor group 64 of the rear axle slewing mechanism includes: a left pressure sensor group 641 for the rear axle load, a right pressure sensor group 642 for the rear axle load, and a rear axle slewing angle sensor 643.

[0058] The sensor group 65 of the rear wheel height is used to detect the rear wheel height when the rear axle enters the penstock to prevent the rear wheel from colliding with the penstock. It is composed of a left rear wheel height sensor 651 and a right rear wheel height sensor 652.

[0059] The rear limit mechanism sensor group 67, the traction connection disc sensor group 71, and the trapezoidal trailer frame attitude sensor group 70 jointly detect the force load and angle of the trailer, providing detection data for the intelligent monitoring computer to analyze the center of gravity and whether it can pass road obstacles. The rear limit mechanism sensor group 67 includes two sensors, namely: the extended length sensor 671 of the rear limit mechanism jacking oil cylinder and the pressure sensor 672 of the rear limit mechanism jacking oil cylinder. The traction connection disc sensor group 71 includes: the left pressure sensor group 711 of the traction connection disc load and the angle sensor 712 of the traction connection disc.

[0060] The trapezoidal trailer frame attitude sensor group 70 includes two sensors, namely the horizontal inclination angle sensor 701 of the trapezoidal trailer frame and the ground clearance sensor 702 of the trapezoidal trailer frame.

[0061] The front obstacle detection camera group 75 consists of two embedded cameras, the left front camera 751 and the right front camera 752, which are used to monitor the obstacles on both sides in the front.

[0062] The electric control operation panel 80 is used to control the execution actions of each component. There is a microprocessor 800 inside the electric control operation panel 80. All control switches are connected to the microprocessor 800. The microprocessor 800 detects the operations of each control switch and sends the operation results to the intelligent monitoring computer 81 through the communication bus 82.

[0063] The loading / unloading and pressure steel pipe monitoring rearview camera group 76 is composed of the left rear camera 761 and the right rear camera 762, which are installed on both sides of the front cross beam of the trailer and are used to monitor the rear situation, mainly for observing the attitude of the pressure steel pipe, the states of each component, and observing the blind area of the rearview mirror during loading and unloading.

[0064] The height limit monitoring camera 77 is installed on the upper part of the front limit mechanism 04 and is used to monitor the obstacles in the upper front.

[0065] The intelligent monitoring computer 81 calculates, analyzes, and stores the data of each sensor and camera, and displays the videos and analysis results of each camera on the screen. If dangerous situations such as component displacement, possible collision, or rollover are detected through monitoring, an alarm prompt sound will be emitted in real time.

[0066] Intelligent monitoring system algorithm: 1. The main monitoring algorithm of the intelligent monitoring system during loading and unloading; (1) The intelligent monitoring system automatically calculates whether the rear wheels have been jacked up and suspended: When loading or unloading, the driver lowers the auxiliary wheel A to lift the frame and the rear wheels. If the measured height of the rear-wheel height sensor at the rear is greater than the installation height of the sensor, it indicates that the rear wheels are already suspended. The driver can operate the rear-axle slewing mechanism to slewing the rear axle by 90 degrees, so that the rear-axle axis rotates to the same direction as the vehicle body axis, and the two left and right wheels rotate to be one in front and one behind. If the driver unlocks and operates the rear axle when the rear wheels are not suspended, the intelligent monitoring computer 81 will immediately emit an alarm sound and prompt on the screen to prohibit operating the rear-axle rotation.

[0067] (2) Automatically analyze whether the rear wheels can pass through the penstock: When loading and unloading the penstock, the two left and right wheels rotate to be one in front and one behind. When loading, if the measured height of the rear-wheel height sensor at the rear is greater than the installation height of the sensor, it indicates that the space below the sensor is sufficient for the rear wheels at the rear to pass through suspended. The trailer can reverse into the penstock without collision. The rear wheels at the rear and the front wheels pass through the penstock in sequence. When the measured height of the front-wheel height sensor suddenly increases, it indicates that the rear axle has passed through the penstock, and the rear axle can be slewed to the driving direction.

[0068] When unloading, the driver lowers the auxiliary wheel B to lift the frame and the rear wheels, and rotates the two left and right wheels to be one in front and one behind. If the measured height of the front-wheel height sensor is greater than the installation height of the sensor, it indicates that the space below the sensor is sufficient for the front wheels to pass through suspended. The trailer can move forward to let the rear axle enter the penstock without collision. The front wheels and the rear wheels at the rear pass through the penstock in sequence. When the measured height of the rear-wheel height sensor at the rear suddenly increases, it indicates that the rear axle has passed through the penstock, and the rear axle can be slewed to the driving direction and lowered to drive away.

[0069] If the intelligent monitoring system detects that the rear wheels may rub or collide, it will send out a warning message in real time.

[0070] (3) Automatically analyze whether the auxiliary wheels can pass through the penstock: Automatic detection and analysis during the loading process: The auxiliary wheel A jacks up the vehicle frame and retreats towards the penstock. If the measured height of the height sensor 68 of the auxiliary wheel B suddenly decreases, it indicates that the auxiliary wheel B is approaching the penstock. If the measured height of the height sensor 68 of the auxiliary wheel B is greater than the distance from the lower end of the auxiliary wheel B to the sensor, it means that the auxiliary wheel B is higher than the inner edge of the penstock, and the auxiliary wheel B can enter the penstock without collision and can continue to retreat. If the measured height of the height sensor 68 of the auxiliary wheel B is less than the distance from the lower end of the auxiliary wheel B to the sensor, the intelligent monitoring computer 81 issues a warning message that the auxiliary wheel B may collide, prompting the driver to raise the height of the auxiliary wheel B. When the measured height of the height sensor 69 of the auxiliary wheel A suddenly decreases during the backward movement of the trailer, it indicates that the auxiliary wheel A is approaching the penstock, and the auxiliary wheel B has completely entered the penstock. At this time, the driver lowers the auxiliary wheel B and raises the auxiliary wheel A, and the auxiliary wheel B takes over the auxiliary wheel A to jack up the vehicle frame of the trailer and continue to retreat until the rear axle passes through the penstock.

[0071] Automatic detection and analysis during the unloading process: The driver operates the auxiliary wheel B of the trailer to jack up the vehicle frame and lift the rear wheels, and uses the auxiliary wheel B to support the vehicle frame to move forward in the penstock. When the measured height of the height sensor 69 of the auxiliary wheel A suddenly increases, it indicates that the auxiliary wheel A has exited the penstock. Lower the auxiliary wheel A and raise the auxiliary wheel B, and use the auxiliary wheel A to support the vehicle frame to move forward until the rear axle tires completely pass through the penstock, rotate the rear axle to lock in the driving direction, and lower it to complete the unloading.

[0072] (4)Intelligent assistance for loading and unloading videos: The loading / unloading and penstock monitoring rearview cameras take videos backward from the left and right directions respectively and are displayed on the screen of the monitoring computer. The trapezoidal vehicle frame ground clearance sensor 702 continuously detects the ground clearance of the vehicle frame, and the horizontal inclination sensors continuously detect the front-rear direction inclination and left-right direction inclination of the vehicle frame. The monitoring computer calculates and marks the position of the trailer contour in the video in combination with the dimensions of the penstock intelligent transport vehicle, providing instructions for loading and unloading. The driver can also directly view the position status of each component through the video. This function is similar to the video display and marking of the vehicle contour when a car reverses.

[0073] (5)Center of gravity monitoring and adjustment, penstock weight monitoring: The center of gravity monitoring is carried out by the intelligent monitoring computer 81, which calculates the relative position of the center of gravity vertical line in the vehicle frame plane based on the three vehicle frame fulcrums of the left pressure sensor group 641 of the rear axle load, the right pressure sensor group 642 of the rear axle load, and the left pressure sensor group 711 of the traction connection plate load and displays it on the screen. If the center of gravity of the penstock is too far to the left, retract the hydraulic cylinders on the right side of the front fixing mechanism 05 and the rear fixing mechanism 08 and tighten the hydraulic cylinders on the left side to shift the penstock to the right, adjust the center of gravity to the center of the vehicle frame, and then tighten the right hydraulic cylinder to lock the penstock. If the center of gravity is shifted to the right, the correction direction is opposite.

[0074] The intelligent monitoring computer 81 calculates the front lifting height of the penstock according to the front lifting mechanism sensor 61, calculates the rear lifting height of the penstock according to the rear lifting mechanism sensor 62, and calculates the weight and center of gravity height of the penstock by combining the left pressure sensor group 641 of the rear axle load, the right pressure sensor group 642 of the rear axle load, and the left pressure sensor group 711 of the traction connection disk load with the self-weight of the vehicle frame.

[0075] 2. Intelligent monitoring of the vehicle; The monitoring computer calculates the offset of the center of gravity relative to the vehicle frame axis according to the ratio of the left pressure sensor group 641 of the rear axle load and the right pressure sensor group 642 of the rear axle load. The horizontal inclination sensor detects the lateral inclination of the vehicle body in real time, and gives a real-time alarm prompt when rollover may occur due to penstock displacement or uneven road surface. The horizontal inclination sensor detects the longitudinal inclination of the road surface in real time, the vehicle speed sensor 66 monitors the vehicle speed in real time, and the left pressure sensor group 641 of the rear axle load, the right pressure sensor group 642 of the rear axle load, and the left pressure sensor group 711 of the traction connection disk load detect the load weight of the transport vehicle in real time. The monitoring computer analyzes the braking ability in real time according to the slope, load, and vehicle speed, and prompts the driver to control the vehicle speed.

[0076] Video monitoring of the vehicle: The traction connection disk angle sensor 712 is used to detect the angle between the tractor and the trailer. Combining with the dimensions of the transport vehicle components, the monitoring computer can mark the outline of the transport vehicle on the left front camera 751, the right front camera 752, the height limit monitoring camera 77, the left rear camera 761, and the right rear camera 762 respectively, providing an intuitive display for the driver. The monitoring computer performs video recognition on each camera and issues a warning message when a possible collision is recognized.

[0077] Figures 8A - 8J It is a schematic diagram of the loading process of the intelligent penstock transport vehicle.

[0078] Figure 8A : (1) The driver drives the transport vehicle and aligns the transport vehicle with the penstock with reference to the video of the rearview camera and the rearview mirror.

[0079] Figure 8B : (2) The driver turns on the loading switch 854 in the cab, the hydraulic system is loaded, and the hydraulic pump supplies hydraulic oil to each solenoid valve.

[0080] (3) The driver places the lifting switch 834 of the auxiliary wheel A in the down position, the auxiliary wheel A descends and touches the ground, jacks up the vehicle frame. The driver can see the ground clearance of the main rear wheels on the screen and jacks up the rear wheels to a height at which they can enter the penstock.

[0081] (4)The driver places the lifting switch 831 of the auxiliary wheel B in the upward position, causing the auxiliary wheel B to rise to a height where it can enter the penstock.

[0082] Figure 8C : (5)The driver turns on the rear axle unlocking switch 823 to release the lock of the rear axle slewing mechanism.

[0083] (6)The driver places the rear axle slewing switch 821 in the forward slewing position, causing the rear axle to slewing 90 degrees. The driver can see the slewing angle of the rear axle on the screen, then places the rear axle slewing switch in the stop position and turns off the rear axle unlocking switch 823 to lock the rear axle at the 90-degree position.

[0084] Figure 8D : (7)Under the guidance of the video of the rear-view camera and the detection data of the sensors, the driver drives the transport vehicle backward. When the intelligent system detects that the rear axle tires are approaching the penstock, it gives a prompt. Continuing to reverse, the rear axle tires and the auxiliary wheel B enter the penstock in sequence. When the intelligent system detects that the auxiliary wheel A is approaching the penstock, it gives a prompt, and the transport vehicle stops reversing. At this time, the rear axle and the auxiliary wheel B have completely entered the penstock.

[0085] Figure 8E : (8)The driver places the lifting switch 831 of the auxiliary wheel B in the downward position. The auxiliary wheel B descends and contacts the inner wall of the penstock. Continuing to lower the auxiliary wheel B until the intelligent detection system prompts that the auxiliary wheel B is fully stressed, then places the lifting switch 831 of the auxiliary wheel B in the stop position.

[0086] (9)The driver places the lifting switch 834 of the auxiliary wheel A in the upward position and lifts the auxiliary wheel A until the intelligent system shows that the auxiliary wheel A has completely retracted and can pass through the penstock, then the driver places the lifting switch 834 of the auxiliary wheel A in the stop position.

[0087] Figure 8F : (10)Drive the transport vehicle backward until the intelligent detection system prompts that the two rear axle tires have completely passed through the penstock, then stop reversing.

[0088] Figure 8G : (11)The driver turns on the rear axle unlocking switch 823 to release the lock of the rear axle slewing mechanism.

[0089] (12)The driver places the rear axle slewing switch 821 in the reverse slewing position, causing the rear axle to slewing back to the driving position, then places the rear axle slewing switch in the stop position and turns off the rear axle unlocking switch 823. The locking spring of the rear axle pushes out the locking pin to lock the rear axle in the driving position.

[0090] Figure 8H : (13) The driver places the auxiliary wheel B lifting switch 831 in the up position, the auxiliary wheel B retracts, the main rear wheel touches the ground, and when the intelligent detection system prompts that the auxiliary wheel B has been fully retracted, the auxiliary wheel B lifting switch 831 is placed in the stop position.

[0091] (14) The driver slowly reverses the transport vehicle until the front limit mechanism 04 contacts the penstock.

[0092] Figure 8I(1) and Figure 8I(2): (15) The driver operates the front jacking switch 825 and the rear jacking switch 828 simultaneously, compares the front jacking height and the rear jacking height, and slowly and smoothly jacks up the penstock until the intelligent detection system prompts that the jacking height has reached the position.

[0093] (16) The driver alternately operates the left front fixing mechanism switch 842, the left rear fixing mechanism switch 848, the right front fixing mechanism switch 845, and the right rear fixing mechanism switch 851 in sequence, controls the telescoping of the 4 hydraulic cylinders of the fixing mechanism, and adjusts the center of gravity of the penstock to coincide with the axis of the trailer according to the prompt of the intelligent monitoring system, and tightens the penstock to prevent it from shaking.

[0094] Figure 8J : (17) The driver operates the rear limit operation switch 837, controls the left rear limit oil cylinder 39 and the right rear limit oil cylinder 41, pushes the right rear limit mechanism 11 to closely adhere to the lower rear of the penstock, and closes the rear limit operation switch 837, so that the penstock is fixed between the front fixing mechanism 05 and the rear limit mechanism 11.

[0095] The unloading process is the opposite of the loading process.

Claims

1. A large-scale intelligent transport vehicle for pressure steel pipes, characterized in that: It comprises a tractor head (01), a ladder-shaped trailer frame (02), a lifting mechanism, a fixing mechanism, a rear axle slewing mechanism (09), a rear axle (10), an auxiliary wheel B (12), an auxiliary wheel A (13), a hydraulic system, an electric control operation panel (80) and an intelligent monitoring system; The front end of the trapezoidal trailer frame (02) is connected to the tractor head (01) via a traction connection plate (15); the lifting mechanism is arranged on the trapezoidal trailer frame (02) and is used to realize vertical lifting of the pressure steel pipe through the drive of the hydraulic system; the fixing mechanism is also arranged on the trapezoidal trailer frame (02) and is used to drive the fixing of the pressure steel pipe through the hydraulic system; The rear axle (10) is connected to the lower part of the tail of the trapezoidal trailer frame (02) via a rear axle slewing mechanism (09); the rear axle slewing mechanism (09) comprises a slewing assembly and a locking pin driven by a hydraulic system, and is used to drive the rear axle (10) to rotate 90° around a vertical axis, and can lock the rear axle (10) in a transport state so that the tire connection line is perpendicular to the body axis, or unlock the rear axle (10) in a loading and unloading state so that the tire axis is parallel to the body axis, so as to enter the interior of the pressure steel pipe; The auxiliary wheel B (12) and the auxiliary wheel A (13) are arranged one behind the other at the lower part of the middle of the trapezoidal trailer frame (02). The auxiliary wheel B (12) and the auxiliary wheel A (13) are raised and lowered by a lifting hydraulic system so that they cooperate with the rear axle (10) to alternately lift the trailer frame during loading and unloading so that the tires of the rear axle (10) are off the ground and enter the interior of the pressure steel pipe. The intelligent monitoring system comprises a sensor group, a camera group and an intelligent monitoring computer (81), which monitors the posture, force, speed and obstacles of the transport vehicle in real time, and realizes automated operation and alarm prompts through an electronic control operation panel (80).

2. The large-scale pressure steel pipe intelligent transport vehicle according to claim 1 is characterized in that: It also includes a front limiting mechanism (04) and a rear limiting mechanism (11); the front limiting mechanism (04) and the rear limiting mechanism (11) are respectively arranged at the front and rear ends of the trapezoidal trailer frame (02) and are used to limit the longitudinal displacement of the pressure steel pipe, wherein the rear limiting mechanism (11) is provided with a guide rail and a clamping cylinder, and the stroke of the clamping cylinder is adjustable to accommodate pressure steel pipes of different lengths.

3. The large-scale pressure steel pipe intelligent transport vehicle according to claim 1 is characterized in that: The jacking mechanism comprises a front jacking mechanism (06) and a rear jacking mechanism (07); the front jacking mechanism (06) is arranged at the front of the trapezoidal trailer frame (02) and is used to lift the front end of the pressure steel pipe; the front jacking mechanism (06) comprises a jacking hydraulic screw (061), a jacking guide tube (062), a jacking beam (063), a jacking hydraulic screw bracket (064) and a coaxial guide column (065); the jacking guide tube (062) and the jacking hydraulic screw bracket (064) are fixed on the trapezoidal trailer frame (02); the jacking hydraulic screw The bottom of (061) is arranged on the lifting hydraulic screw bracket (064), and the top is connected to the lifting beam (063). The lifting hydraulic screw (061) is extended and retracted to drive the lifting beam (063) to rise and fall; the coaxial guide column (065) is arranged in the lifting guide tube (062) and moves linearly along the lifting guide tube (062). The two ends of the lifting beam (063) are rigidly connected, so that the lifting beam (063) maintains stable vertical lifting; the rear lifting mechanism (07) is arranged at the rear of the trapezoidal trailer frame (02), and the structure is the same as the front lifting mechanism (06).

4. The large-scale pressure steel pipe intelligent transport vehicle according to claim 3 is characterized in that: The fixing mechanism comprises a front fixing mechanism (05) and a rear fixing mechanism (08); the front fixing mechanism (05) is arranged on both sides of the front of the trapezoidal trailer frame (02) and is used to fix the front end of the pressure steel pipe; the front fixing mechanism (05) is a bilaterally symmetrical structure, comprising a tightening piston (051), a tightening cylinder lower bracket (052), a tightening cylinder (053) and a tightening cylinder upper bracket (054); the tightening cylinder lower bracket (052) and the tightening cylinder upper bracket (054) are fixed on A tightening piston (051) is used to fix an inclined setting on the trapezoidal trailer frame (02); the tightening piston (051) can be controlled to extend and retract, and the tightening pistons (051) on the left and right sides and the front lifting mechanism (06) form a fulcrum for tightening in three different directions, thereby fixing the front part of the pressure steel pipe; the rear fixing mechanism (08) is arranged at the rear part of the trapezoidal trailer frame (02), has the same structure as the front fixing mechanism (05), and fixes the rear part of the pressure steel pipe together with the rear lifting mechanism (07).

5. The large-scale pressure steel pipe intelligent transport vehicle according to claim 1 is characterized in that: The hydraulic system comprises a hydraulic pump (56), a hydraulic lock group and a solenoid valve group; the hydraulic pump (56) is driven by a tractor power take-off, the solenoid valve group is integrated in an electronic control operation panel (80), and comprises a rear axle locking solenoid valve (23), a rear axle rotation solenoid valve (21), a front lifting solenoid valve (25), a rear lifting solenoid valve (28), an auxiliary wheel A solenoid valve (34), an auxiliary wheel B solenoid valve (31) and a rear limit solenoid valve (37), as well as a fixing mechanism solenoid valve, and each solenoid valve is controlled by a microprocessor (800).

6. The large-scale pressure steel pipe intelligent transport vehicle according to claim 2 is characterized in that: The sensor group includes: Front fixing mechanism sensor group (60): used to detect the extension length and pressure of the two front tightening cylinders; Rear fixing mechanism sensor group (63): used to detect the extension length and pressure of the two rear tightening cylinders; A front lifting mechanism sensor (61) and a rear lifting mechanism sensor (62): used to detect the extension length of the lifting hydraulic screw; Rear axle slewing mechanism sensor group (64): used to detect rear axle load and rear axle slewing angle; Rear wheel height sensor group (65): used to detect the height of the rear wheels when the rear axle enters the pressure steel pipe; The rear limit mechanism sensor group (67), the traction connection plate sensor group (71) and the trapezoidal trailer frame posture sensor group (70) jointly detect the trailer load and angle.

7. The large-scale pressure steel pipe intelligent transport vehicle according to claim 1 is characterized in that: The camera group includes: Front obstacle detection camera group (75): composed of a left front camera (751) and a right front camera (752), used to monitor obstacles ahead; Loading and unloading and pressure steel pipe monitoring rear view camera group (76): composed of a left rear camera (761) and a right rear camera (762), used to observe the rear loading and unloading status; Height-limit monitoring camera (77): installed on the upper part of the front limit mechanism (04) and used to detect height-limit obstacles; The camera data is transmitted to the intelligent monitoring computer (81) via a network cable or an optical fiber (83), and the outline mark of the transport vehicle is superimposed on the screen.

8. A method for using the large-scale pressure steel pipe intelligent transport vehicle as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: Loading steps: Step 1: Aim the transport vehicle at the penstock through the loading and unloading and penstock monitoring rear view camera group (76); Step 2: Start the hydraulic system, lower the auxiliary wheel A (13), lift the frame, and raise the rear axle (10) so that the rear wheel is suspended in the air; Step 3: Unlock the rear axle slewing mechanism (09), drive the rear axle (10) to rotate 90° and lock it; Step 4: Move the transport vehicle backwards so that the rear axle (10) and auxiliary wheel B (12) enter the pressure steel pipe; Step 5: Alternately lower the auxiliary wheel B (12) and raise the auxiliary wheel A (13) until the rear axle (10) completely passes through the pressure steel pipe; Step 6: Rotate the rear axle (10) to the driving direction and lock it; Step 7: Lift the front lifting mechanism (06) and the rear lifting mechanism (07), adjust the height of the pressure steel pipe and fix it; Step 8: Operate the front fixing mechanism (05), the rear fixing mechanism (08) and the rear limiting mechanism (11) to lock the position of the pressure steel pipe; Unloading steps: The reverse operation of the loading procedure is performed to remove the pressure steel pipe by alternately supporting the auxiliary wheels and rotating the rear axle (10).

9. The method of use according to claim 8, characterized in that: In step 4, the intelligent monitoring system detects data from the rear wheel height sensor group (65) in real time, and if the rear wheels are not completely suspended in the air, the rear axle (10) is prohibited from rotating, and an audible and visual alarm is triggered; In step 5, when the auxiliary wheel B (12) descends, the intelligent monitoring system detects the gap between the auxiliary wheel B and the inner wall of the pressure steel pipe through the auxiliary wheel B height sensor (68), and prompts to adjust the lifting height if the gap is insufficient.

10. The method of use according to claim 8, characterized in that: In step 7, the front lifting mechanism sensor (61) and the rear lifting mechanism sensor (62) for detecting the lifting height of the front lifting mechanism (06) and the rear lifting mechanism (07) feed back the detection data in real time, and the intelligent monitoring computer (81) automatically matches the front and rear height differences to ensure that the pressure steel pipe is lifted and lowered horizontally; In step 8, the intelligent monitoring system dynamically adjusts the pressure of the tightening cylinder according to the pressure data of the front fixing mechanism sensor group (60) and the rear fixing mechanism sensor group (63) until the center of gravity of the pressure steel pipe coincides with the axis of the frame.

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