An intelligent transporter for large penstocks and its usage method

Abstract

The present invention discloses a large-scale penstock intelligent transporter and its usage method, belonging to the field of special transportation equipment for water conservancy and hydropower projects. The transporter includes a tractor head, a trapezoidal trailer frame, a hydraulic system and an intelligent monitoring system. The rear axle drives a slewing mechanism through a hydraulic motor to achieve a 90° rotation. During loading and unloading, the tire axis is parallel to the vehicle body to enter the inside of the penstock, and it is locked in a vertical state during transportation; the front / rear jacking mechanisms adopt double locking of hydraulic screws and hydraulic locks, and cooperate with a multi-directional jacking and fixing mechanism to ensure the stable lifting and anti-slip of the penstock. The loading and unloading method realizes single-person operation through the alternate jacking of auxiliary wheels, the slewing of the rear axle and intelligent guidance, greatly reducing the dependence on labor and the accident rate. The present invention solves the problems of complex loading and unloading, unstable fixing, and dependence on large machinery in the traditional transportation method, and has the characteristics of high efficiency, safety and strong adaptability, and is especially suitable for transporting large-scale penstocks with a diameter of 3-6 meters.

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-scale penstock intelligent transporter and its usage method. Background Art

[0002] In water conservancy and hydropower projects, large-scale penstocks (with a diameter of 3 meters to 6 meters and a length of 3.5 meters to 5 meters) are the core components of the water diversion system. Their transportation needs to overcome technical problems such as over-width, over-height, and unstable center of gravity. The traditional method is to use a heavy crane to hoist the penstock onto a flatbed transporter, and then fix it with electric welding or rigging. After arriving at the destination, the fixing is released and the penstock is hoisted off the vehicle. This transportation method of penstocks has a high center of gravity, requires a high level of road flatness, has poor stability of 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:

[0003] (1) Poor fixing stability: The steel pipe is only fixed by simple lashing. Bumps during driving are likely to cause displacement or even overturning, and it requires an extremely high level of road flatness.

[0004] (2) Low loading and unloading efficiency: It relies on manual operation of the chassis lifting, rear axle rotation, and jacking mechanism, which is difficult to coordinate and is prone to accidents caused by signal errors.

[0005] (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 scrapes against height-limiting obstacles.

[0006] (4) Insufficient adaptability: The existing transporter's rear axle cannot be rotated and adjusted, making it difficult to enter the inside of the steel pipe for loading and unloading, and it relies on auxiliary equipment.

[0007] Although there are existing patents (such as ZL201110026225.0) that 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

[0008] In view of the above problems, the purpose of the present invention is to provide a large-scale penstock intelligent transporter and its usage method, which solves the core problems of the traditional transportation method such as low efficiency, high risk, and poor adaptability, and provides an efficient, safe, and economical solution for the transportation of large-scale penstocks. The technical solution is as follows:

[0009] A large-sized intelligent transporter for penstocks, comprising a tractor head, a trapezoidal trailer frame, a jacking mechanism, a fixing mechanism, a rear axle slewing mechanism, a rear axle, an auxiliary wheel B, an auxiliary wheel A, a hydraulic system, an electric control operation panel and an intelligent monitoring system;

[0010] The front end of the trapezoidal trailer frame is connected to the tractor head through a traction connecting disc; the jacking mechanism is arranged on the trapezoidal trailer frame and is used to drive the vertical lifting of the penstock through the hydraulic system; the fixing mechanism is also arranged on the trapezoidal trailer frame and is used to fix the penstock through the hydraulic system drive;

[0011] The rear axle is connected to the lower part of the tail of the trapezoidal trailer frame through the rear axle slewing mechanism; the rear axle slewing mechanism comprises a slewing assembly 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;

[0012] The auxiliary wheel B and the auxiliary wheel A are arranged one in front of the other below the middle of the trapezoidal trailer frame, and the lifting and lowering of the auxiliary wheel B and the auxiliary wheel A are 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;

[0013] The intelligent monitoring system comprises a sensor group, a camera group and an intelligent monitoring computer, which real-time monitors the attitude, force, vehicle speed and obstacles of the transporter, and realizes automatic operation and alarm prompt through the electric control operation panel.

[0014] A using method of a large-sized intelligent transporter for penstocks, comprising the following steps:

[0015] Loading steps:

[0016] Step 1: Align the transporter with the penstock through the loading, unloading and penstock monitoring rear view camera group;

[0017] 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;

[0018] Step 3: Unlock the rear axle slewing mechanism, drive the rear axle to rotate 90° and lock it;

[0019] Step 4: Reverse the transporter so that the rear axle and the auxiliary wheel B enter the penstock;

[0020] Step 5: Alternately lower the auxiliary wheel B and lift the auxiliary wheel A until the rear axle completely passes through the penstock;

[0021] Step 6: Slew the rear axle to the driving direction and lock it;

[0022] Step 7: Lift the front lifting mechanism and the rear lifting mechanism, adjust the height of the penstock and fix it.

[0023] Step 8: Operate the front fixing mechanism, the rear fixing mechanism and the rear limiting mechanism to lock the position of the penstock.

[0024] Unloading steps:

[0025] Perform the operations opposite to the loading steps, and withdraw the penstock by alternately supporting with auxiliary wheels and rotating the rear axle.

[0026] The beneficial effects of the present invention are:

[0027] The large-scale penstock intelligent transport vehicle and its usage method of the present invention have the following remarkable advantages compared with the traditional technology:

[0028] 1) High-efficiency and convenient operation:

[0029] By integrating the control function of the hydraulic system through the electric control operation panel, a single driver can complete the whole loading and unloading process (traditionally 3 to 4 people are required to cooperate), reducing the dependence on manual labor and improving the efficiency; the rear axle rotation 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.

[0030] 2) Comprehensive improvement of safety performance:

[0031] The double locking mechanism of the hydraulic lock and the hydraulic lead screw completely eliminates the risk of accidental sliding of the penstock after lifting, avoiding ground contact accidents; the intelligent monitoring system real-time detects the center of gravity deviation, the 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.

[0032] 3) Significantly enhanced fixing stability:

[0033] The front / rear fixing mechanisms adopt a multi-directional tightening design, and the tightening pressure is dynamically adjusted in combination with the sensor group to ensure that the steel pipe has no displacement under bumpy road conditions, improving the fixing reliability; the rear limiting mechanism adaptively adjusts the clamping range through the guide rail and the pressing oil cylinder, and is compatible with steel pipes of different lengths from 3 meters to 6 meters, with a wider applicability.

[0034] 4) Optimization of intelligence and adaptability:

[0035] The camera group combines with the contour marking algorithm to provide real-time loading and unloading guidance for the driver, reducing operation errors. The rear axle rotation 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, and is especially suitable for narrow or complex construction sites.

[0036] 5) Outstanding economy:

[0037] It reduces labor costs and investment in auxiliary equipment, and lowers the comprehensive operation and maintenance costs; the optimized design of the trailer counterweight and trapezoidal trailer frame extends the service life of the equipment and reduces the maintenance frequency.

[0038] 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, and provides an efficient, safe, and economical solution for the transportation of large steel penstocks. Brief Description of the Drawings

[0039] Figure 1 It is a side view of the structure of the intelligent transport vehicle for large steel penstocks of the present invention.

[0040] Figure 2 It is a front view of the front fixing mechanism.

[0041] Figure 3 It is a front view of the front lifting mechanism.

[0042] Figure 4 It is a hydraulic system diagram.

[0043] Figure 5 It is a hydraulic and electric control wiring diagram.

[0044] Figure 6 It is a distribution diagram of the positions of the sensors of the intelligent detection system.

[0045] Figure 7 It is a wiring diagram of the sensors of the intelligent detection system.

[0046] Figure 8A It is a schematic diagram of the loading process of the intelligent transport vehicle for steel penstocks - the transport vehicle aligns with the steel penstock.

[0047] Figure 8B It is a schematic diagram of the loading process of the intelligent transport vehicle for steel penstocks - lower auxiliary wheel A and lift the main rear wheel.

[0048] Figure 8C It is a schematic diagram of the loading process of the intelligent transport vehicle for steel penstocks - the rear axle rotates 90°.

[0049] Figure 8D It is a schematic diagram of the loading process of the intelligent transport vehicle for steel penstocks - the rear axle and auxiliary wheels enter the steel penstock.

[0050] Figure 8E It is a schematic diagram of the loading process of the intelligent transport vehicle for steel penstocks - lower auxiliary wheel B and lift auxiliary wheel A.

[0051] Figure 8F It is a schematic diagram of the loading process of the intelligent transport vehicle for steel penstocks - the rear axle completely passes through the steel penstock.

[0052] Figure 8GSchematic diagram of the loading process of the intelligent transport vehicle for penstock - from the slewing rear axle to the traveling direction.

[0053] Figure 8H Schematic diagram of the loading process of the intelligent transport vehicle for penstock - retract the auxiliary wheel B and the main rear wheels touch the ground.

[0054] Figure 8I(1) is a schematic diagram of the loading process of the intelligent transport vehicle for penstock - adjust the height of the penstock.

[0055] Figure 8I(2) is a side view of the jacking mechanism when adjusting the height of the penstock in the schematic diagram of the loading process of the intelligent transport vehicle for penstock.

[0056] Figure 8J Schematic diagram of the loading process of the intelligent transport vehicle for penstock - lock the position of the penstock.

[0057] The explanations of the labels in the figure are as follows:

[0058] 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 disc; 051 - Tightening piston; 052 - Lower bracket of tightening cylinder; 053 - Tightening cylinder; 054 - Upper bracket of tightening cylinder; 061 - Lifting hydraulic lead screw; 062 - Lifting conduit; 063 - Lifting beam; 064 - Support bracket of lifting hydraulic lead screw; 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 lead screw; 28 - Rear lifting solenoid valve; 29 - Rear lifting hydraulic lock; 30 - Rear lifting hydraulic lead screw; 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 measurement 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 Disc Sensor Group; 711 - Towing Connection Disc Load Left Pressure Sensor Group; 712 - Towing Connection Disc Angle Sensor; 75 - Front Vehicle 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 Lifting Switch; 828 - Rear Lifting Switch; 831 - Auxiliary Wheel B Lifting Switch; 834 - Auxiliary Wheel A Lifting Switch; 837 - Rear Limit Operation Switch; 842 - Left Front Fixing Mechanism Switch; 845 - Right Front Fixing Mechanism Switch; 848 - Left Rear Fixing Mechanism Switch; 851 - Right Rear Fixing Mechanism Switch; 854 - Loading Switch; Detailed Embodiment

[0059] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] 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 limit mechanism 04, a front fixing mechanism 05, a front lifting mechanism 06, a rear lifting mechanism 07, a rear fixing mechanism 08, a rear axle rotary mechanism 09, a rear axle 10, a rear limit mechanism 11, an auxiliary wheel B 12, an auxiliary wheel A 13, a support leg 14, and a towing connection disc 15.

[0061] 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.

[0062] The trailer counterweight 03 is used to maintain the force balance of the trailer, increase the force on the rear tires of the tractor, so that the pressure steel pipe is tightly pressed between the front limit mechanism 04 and the rear limit mechanism 11 during the driving of the tractor. The front 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 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 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.

[0063] The front fixing mechanism 05 and the front lifting mechanism 06 jointly fix the front end of the pressure steel pipe to prevent the pressure steel pipe from swaying left and right and bouncing on the vehicle. Figure 2It is the front view of the front fixing mechanism 05, which is divided into two symmetrical left and right parts. The structural principles of the left and right parts are the same, and it is composed of a jacking piston 051, a lower support 052 of the jacking cylinder, a jacking cylinder 053, and an upper support 054 of the jacking cylinder. The lower support 052 and the upper support 054 of the jacking cylinder are fixed on the trapezoidal trailer frame 02. The jacking piston 051 can be controlled to expand and contract, and together with the front lifting mechanism 06, it forms a fulcrum for jacking in three different directions to fix the front part of the penstock. The rear fixing mechanism 08 and the rear lifting mechanism 07 jointly fix the rear part of the penstock, and the structural principle is exactly the same as that of the front fixing mechanism 05.

[0064] The front lifting mechanism 06 is used to lift the front end of the penstock to keep the penstock at a certain height from the ground. Figure 3 It is the front view of the front lifting mechanism 06, which is composed of a lifting hydraulic lead screw 061, a lifting conduit 062, a lifting beam 063, a support 064 of the lifting hydraulic lead screw, and a coaxial guide post 065. The lifting conduit 062 and the support 064 of the lifting hydraulic lead screw are fixed on the trapezoidal trailer frame 02. When the lifting hydraulic lead screw 061 extends, it drives the lifting beam 063 to move upward to lift the penstock, and when the lifting hydraulic lead screw 061 retracts, it drives the lifting beam 063 to move downward to lower the penstock. There is a coaxial guide post 065 inside the lifting conduit 062, and the coaxial guide post 065 can move linearly along the lifting conduit 062. The coaxial guide post 065 is rigidly connected to both ends of the lifting beam 063 to keep the lifting beam 063 stable and vertical during lifting and lowering. The rear lifting mechanism 07 is exactly the same as the front lifting mechanism 06.

[0065] 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 vehicle body axis. When loading a small-diameter penstock, the rear axle rotates until the tire axis is consistent with the vehicle body axis, so that the trailer body can enter the inside of the penstock. The rear axle slewing mechanism 09 is driven by a hydraulic motor to rotate, and a locking pin is provided. When driving, the locking pin locks the rear axle and the vehicle body in the vertical position.

[0066] The auxiliary wheel B12 and the auxiliary wheel A13 are fixed under the piston at the lower end of the auxiliary wheel lifting hydraulic cylinder and are controlled to lift by the auxiliary wheel lifting hydraulic cylinder. When the auxiliary wheels are lowered, the rear frame of the trailer can be jacked up, making the rear wheels of the trailer leave the ground and enter the inside of the penstock. The auxiliary wheel B12 and the auxiliary wheel A13 alternately support and enter the inside of the penstock.

[0067] When the trailer is detached from the tractor, it is supported by the support leg 14. The support leg is lifted and lowered by a lead screw. When it is necessary to release and detach from the tractor head, turn the handle to lower the support leg to the ground, lift the front part of the trailer, unlock the traction connection disc 15, and the tractor head can leave alone. The tractor head pulls the trailer through the traction connection disc 15.

[0068] 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.

[0069] 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, the hydraulic system is loaded, and the pressure increases.

[0070] The rear axle unlocking switch 823, the rear axle locking electromagnetic valve 23, and the rear axle locking hydraulic cylinder 24 constitute a 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, locking the rear axle, and the angle between the rear axle and the vehicle body cannot be changed.

[0071] 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 oil supply in the forward direction. 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 the reverse direction with oil supply in the reverse direction.

[0072] When the front jacking switch 825 is in the middle position, the front jacking solenoid valve 25 is in the stop position, the front jacking hydraulic lead screw 27 is not supplied with oil and is in a locked state, and the front jacking 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 jacking function, but the hydraulic cylinder does not have the self-locking ability. When the internal leakage occurs in the jacking cylinder during the transportation of the penstock, it will slide, resulting in the penstock touching the ground and causing an accident); when the front jacking switch 825 is in the jacking position, the jacking coil of the front jacking solenoid valve 25 is energized to supply oil, the hydraulic oil pressure opens the front jacking hydraulic lock 26, and the motor of the front jacking hydraulic lead screw 27 rotates in the jacking direction to jack up the penstock; when the front jacking switch 825 is in the lowering position, the lowering coil of the front jacking solenoid valve 25 is energized to supply oil, the hydraulic oil pressure opens the front jacking hydraulic lock 26, and the motor of the front jacking hydraulic lead screw 27 rotates in the lowering direction to lower the penstock.

[0073] The principle of the rear jacking switch 828, the rear jacking solenoid valve 28, the rear jacking hydraulic lead screw 30, and the rear jacking hydraulic lock 29 is the same as that of the front jacking control.

[0074] 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 traveling; 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, jacking up the trailer body, the rear axle tires leave the ground, the rear axle can rotate, and the auxiliary wheel B takes over the main rear axle tires to support the trailer body to walk 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.

[0075] 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.

[0076] 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 and 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 and releasing the clamped penstock.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] The intelligent detection system sensors include a front fixing mechanism sensor group 60, a front lifting mechanism sensor 61, a rear lifting mechanism sensor 62, a rear fixing mechanism sensor group 63, a rear axle slewing mechanism sensor group 64, a rear wheel height sensor group 65, a vehicle speed sensor 66, a rear limit mechanism sensor group 67, an auxiliary wheel B height sensor 68, an auxiliary wheel A height sensor 69, a trapezoidal trailer frame posture sensor group 70, a traction connection plate sensor group 71, a front obstacle detection camera group 75, a loading and unloading and pressure steel pipe monitoring rearview camera group 76 and a height limit monitoring camera 77; an electronic control operation panel 80 and an intelligent monitoring computer 81 are also provided. The data of each sensor is integrated into a communication bus 82 and transmitted to the intelligent monitoring computer 81 in the cab, and the video data of each camera is transmitted to the intelligent monitoring computer via a network cable or an optical fiber 83.

[0081] The front fixing mechanism sensor group 60 is used to detect the extension length and pressure of the two front tightening cylinders, and provide detection data for the monitoring computer to analyze the position and tightening degree of the pressure steel pipe. The front fixing mechanism sensor group 60 includes 4 sensors, namely: the left front fixed cylinder extension length sensor 601, the left front fixed cylinder pressure sensor 602, the right front fixed cylinder extension length sensor 603, and the right front fixed cylinder pressure sensor 604.

[0082] The rear fixing mechanism sensor group 63 is used to detect the extension length and pressure of the two rear tightening cylinders, and provide detection data for the monitoring computer to analyze the position and tightening degree of the pressure steel pipe. The rear fixing mechanism sensor group 63 includes 4 sensors, namely: the left rear fixed cylinder extension length sensor 631, the left rear fixed cylinder pressure sensor 632, the right rear fixed cylinder extension length sensor 633, and the right rear fixed cylinder pressure sensor 634.

[0083] The front lifting mechanism sensor 61 is a screw extension length sensor, which detects the front lifting height of the pressure steel pipe.

[0084] The rear lifting mechanism sensor 62 is a screw extension length sensor, which detects the rear lifting height of the pressure steel pipe.

[0085] The rear axle swivel mechanism sensor group 64 includes a rear axle load left pressure sensor group 641 , a rear axle load right pressure sensor group 642 , and a rear axle swivel angle sensor 643 .

[0086] The rear wheel height sensor group 65 is used to detect the height of the rear wheels when the rear axle enters the pressure steel pipe to prevent the rear wheels from colliding with the pressure steel pipe. It consists of a left rear wheel height sensor 651 and a right rear wheel height sensor 652.

[0087] 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 the ability to pass road obstacles. The rear limit mechanism sensor group 67 includes two sensors, namely: the rear limit mechanism jacking cylinder extension length sensor 671 and the rear limit mechanism jacking cylinder pressure sensor 672. The traction connection disc sensor group 71 includes: the traction connection disc load left pressure sensor group 711 and the traction connection disc angle sensor 712.

[0088] The trapezoidal trailer frame attitude sensor group 70 includes two sensors, namely the trapezoidal trailer frame horizontal inclination sensor 701 and the trapezoidal trailer frame ground clearance sensor 702.

[0089] The front vehicle 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 front.

[0090] 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.

[0091] The loading / unloading and pressure steel pipe monitoring rear view 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 situation behind, mainly for observing the attitude of the pressure steel pipe, the states of each component, and observing the blind area of the rear view mirror during loading and unloading.

[0092] 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 on the upper part in front.

[0093] 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 issued in real time.

[0094] Intelligent monitoring system algorithm:

[0095] 1. Main monitoring algorithms of the intelligent monitoring system during loading and unloading;

[0096] (1) The intelligent monitoring system automatically calculates whether the rear wheels have been jacked up and suspended:

[0097] When loading or unloading, the driver lowers the auxiliary wheel A to lift the frame and the rear wheels. If the measured height by 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.

[0098] (2)Automatically analyze whether the rear wheels can pass through the penstock:

[0099] When loading and unloading the penstock, the two left and right wheels rotate to be one in front and one behind.

[0100] When loading, if the measured height by the rear-wheel height sensor at the rear is greater than the installation height of the sensor, it indicates that there is enough space below the sensor 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 by 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.

[0101] 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 by the front-wheel height sensor at the front is greater than the installation height of the sensor, it indicates that there is enough space below the sensor for the front wheels at the front to pass through suspended. The trailer can move forward to let the rear axle enter the penstock without collision. The front wheels at the front and the rear wheels at the rear pass through the penstock in sequence. When the measured height by 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.

[0102] If the intelligent monitoring system detects that the rear wheels may rub or collide, it will send out warning information in real time.

[0103] (3)Automatically analyze whether the auxiliary wheels can pass through the penstock:

[0104] Automatic detection and analysis during loading: The auxiliary wheel A jacks up the trailer frame and retreats towards the penstock. If the distance measured by the height sensor 68 of the auxiliary wheel B suddenly decreases, it indicates that the auxiliary wheel B is approaching the penstock. If the distance measured by 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 distance measured by 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 trailer retreats to a sudden decrease in the distance measured by the height sensor 69 of the auxiliary wheel A, 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 trailer frame and continue to retreat until the rear axle passes through the penstock.

[0105] Automatic detection and analysis during unloading: The driver operates the auxiliary wheel B of the trailer to jack up the frame and lift the rear wheels, and uses the auxiliary wheel B to support the frame to move forward in the penstock. When the distance measured by 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 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 unloading.

[0106] (4)Intelligent video assistance for loading and unloading:

[0107] The rear-view cameras for loading / unloading and penstock monitoring shoot rearward from two directions on the left and right respectively and are displayed on the screen of the monitoring computer. The height sensor 702 of the trapezoidal trailer frame from the ground real-time detects the height of the frame from the ground, and the horizontal inclination sensors real-time detect the inclination angles of the frame in the front-rear direction and the left-right direction. The monitoring computer calculates and marks the position of the trailer outline in the video in combination with the dimensions of the intelligent penstock transporter, provides instructions for loading and unloading, and 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 outline when a car reverses.

[0108] (5)Center of gravity monitoring and adjustment, penstock weight monitoring:

[0109] The gravity center monitoring is carried out by the intelligent monitoring computer 81. It calculates the relative position of the gravity center vertical line in the frame plane based on the three frame fulcrums of the left pressure sensor group 641 for the rear axle load, the right pressure sensor group 642 for the rear axle load, and the left pressure sensor group 711 for the traction connection plate load, and displays it on the screen. When the gravity center of the pressure steel pipe 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 pressure steel pipe to the right, adjust the gravity center to the center of the frame, and then tighten the right oil cylinder to lock the pressure steel pipe. When the gravity center is shifted to the right, the correction direction is opposite.

[0110] The intelligent monitoring computer 81 calculates the front lifting height of the pressure steel pipe according to the front lifting mechanism sensor 61, calculates the rear lifting height of the pressure steel pipe according to the rear lifting mechanism sensor 62, and calculates the weight and gravity center height of the pressure steel pipe based on the left pressure sensor group 641 for the rear axle load, the right pressure sensor group 642 for the rear axle load, the left pressure sensor group 711 for the traction connection plate load, and the self-weight of the frame.

[0111] 2. Intelligent monitoring during driving;

[0112] The monitoring computer calculates the offset of the gravity center relative to the frame axis according to the ratio of the left pressure sensor group 641 for the rear axle load and the right pressure sensor group 642 for the rear axle load. The horizontal inclination sensor detects the lateral inclination of the vehicle body in real time. When a rollover may occur due to the displacement of the pressure steel pipe or uneven road surface, a real-time alarm prompt is given;

[0113] 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. The left pressure sensor group 641 for the rear axle load, the right pressure sensor group 642 for the rear axle load, and the left pressure sensor group 711 for the traction connection plate 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.

[0114] Video monitoring during driving: The angle sensor 712 of the traction connection plate is used to detect the angle between the tractor and the trailer. Combining with the component dimensions of the transport vehicle, 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.

[0115] Figures 8A - 8J It is a schematic diagram of the loading process of the intelligent transport vehicle for the pressure steel pipe.

[0116] Figure 8A :

[0117] (1) The driver drives the transport vehicle and aligns the transport vehicle with the penstock with reference to the video of the rear-view camera and the rear-view mirror.

[0118] Figure 8B :

[0119] (2) The driver turns on the loading switch 854 in the cab, and the hydraulic system is loaded. The hydraulic pump supplies hydraulic oil to each solenoid valve.

[0120] (3) The driver places the lifting switch 834 of the auxiliary wheel A in the down position, and the auxiliary wheel A descends to contact the ground, jacking up the vehicle frame. The driver can see the ground clearance of the main rear wheels on the screen and jack up the rear wheels to a height that can enter the penstock.

[0121] (4) The driver places the lifting switch 831 of the auxiliary wheel B in the up position, so that the auxiliary wheel B rises to a height that can enter the penstock.

[0122] Figure 8C :

[0123] (5) The driver turns on the rear axle unlocking switch 823 to release the lock of the rear axle slewing mechanism.

[0124] (6) The driver places the rear axle slewing switch 821 in the forward slewing position to slewing the rear axle by 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.

[0125] Figure 8D :

[0126] (7) Under the guidance of the video of the rear-view camera and the detection data of the sensor, 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. Continue to reverse so that the rear axle tires and the auxiliary wheel B enter the penstock in turn. 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.

[0127] Figure 8E :

[0128] (8) The driver places the lifting switch 831 of the auxiliary wheel B in the down position, and the auxiliary wheel B descends to contact the inner wall of the penstock. Continue to lower the auxiliary wheel B until the intelligent detection system prompts that the auxiliary wheel B is fully stressed, and then places the lifting switch 831 of the auxiliary wheel B in the stop position.

[0129] (9) The driver places the lifting switch 834 of the auxiliary wheel A in the up 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, and then the driver places the lifting switch 834 of the auxiliary wheel A in the stop position.

[0130] Figure 8F :

[0131] (10) Drive the transport vehicle to continue to reverse until the intelligent detection system prompts that the two rear axle tires have completely passed through the pressure steel pipe, then stop reversing.

[0132] Figure 8G :

[0133] (11) The driver turns on the rear axle unlocking switch 823 to release the locking of the rear axle slewing mechanism.

[0134] (12) The driver places the rear axle slewing switch 821 in the reverse slewing position to slew the rear axle 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 rear axle locking spring pushes out the locking pin to lock the rear axle in the driving position.

[0135] Figure 8H :

[0136] (13) The driver places the auxiliary wheel B lifting switch 831 in the up position, the auxiliary wheel B retracts, and the main rear wheels touch the ground. Until the intelligent detection system prompts that the auxiliary wheel B has completely retracted, place the auxiliary wheel B lifting switch 831 in the stop position.

[0137] (14) The driver slowly reverses the transport vehicle until the front limit mechanism 04 contacts the pressure steel pipe.

[0138] Figure 8I(1) and Figure 8I(2):

[0139] (15) The driver operates the front lifting switch 825 and the rear lifting switch 828 simultaneously, compares the front lifting height and the rear lifting height, and slowly and smoothly lifts the pressure steel pipe until the intelligent detection system prompts that the lifting height has reached the position.

[0140] (16) The driver 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 turn, controls the telescoping of the 4 hydraulic cylinders of the fixing mechanism, and adjusts the center of gravity of the pressure steel pipe to coincide with the axis of the trailer according to the prompt of the intelligent monitoring system, and tightens the pressure steel pipe to prevent it from shaking.

[0141] Figure 8J :

[0142] (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 pressure steel pipe, turns off the rear limit operation switch 837, so that the pressure steel pipe is fixed between the front fixing mechanism 05 and the rear limit mechanism 11.

[0143] The process of unloading the vehicle is the opposite of the loading process.

Claims

1. An intelligent transporter for large steel penstocks, characterized in that, It includes a tractor head (01), a trapezoidal trailer frame (02), a jacking 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) through a traction connecting disc (15); the jacking mechanism is arranged on the trapezoidal trailer frame (02) and is used to drive the vertical lifting of the penstock through the hydraulic system; the fixing mechanism is also arranged on the trapezoidal trailer frame (02) and is used to fix the penstock through the hydraulic system drive; The rear axle (10) is connected to the lower part of the tail of the trapezoidal trailer frame (02) through the rear axle slewing mechanism (09); the rear axle slewing mechanism (09) includes a slewing component and a locking pin driven by a hydraulic system, which is used to drive the rear axle (10) to rotate 90° around the vertical axis, and can lock the rear axle (10) in the transportation state so that the tire connection line is perpendicular to the vehicle body axis, or unlock the rear axle (10) 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 (12) and the auxiliary wheel A (13) are arranged one in front of the other below the middle of the trapezoidal trailer frame (02), and the lifting of the auxiliary wheel B (12) and the auxiliary wheel A (13) is controlled by a lifting hydraulic system, so that they work together with the rear axle (10), and alternately jack the trailer frame during the loading and unloading process, so that the rear axle (10) 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 (81), which real-time monitors the posture, force, vehicle speed and obstacles of the transport vehicle, and realizes automatic operation and alarm prompt through the electric control operation panel (80).

2. The intelligent transporter for large penstocks according to claim 1, wherein 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 penstock. The rear limiting mechanism (11) is provided with a guide rail and a pressing oil cylinder, and the stroke of the pressing oil cylinder is adjustable to adapt to penstocks of different lengths.

3. The intelligent transporter for large penstocks according to claim 1, characterized in that, The jacking mechanism includes 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 penstock; the front jacking mechanism (06) includes a jacking hydraulic screw (061), a jacking conduit (062), a jacking beam (063), a jacking hydraulic screw support (064) and a coaxial guide post (065); the jacking conduit (062) and the jacking hydraulic screw support (064) are fixed on the trapezoidal trailer frame (02); the bottom of the jacking hydraulic screw (061) is arranged on the jacking hydraulic screw support (064), and the top is connected to the jacking beam (063). The telescopic movement of the jacking hydraulic screw (061) drives the jacking beam (063) to lift and lower; the coaxial guide post (065) is arranged in the jacking conduit (062) and moves linearly along the jacking conduit (062). The two ends of the jacking beam (063) are rigidly connected to keep the jacking beam (063) lifting and lowering stably and vertically; the rear jacking mechanism (07) is arranged at the rear of the trapezoidal trailer frame (02), and its structure is the same as that of the front jacking mechanism (06).

4. The intelligent transporter for large steel penstocks according to claim 3, wherein, The fixing mechanism includes 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 penstock; the front fixing mechanism (05) has a left-right symmetric structure and includes 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) and are used to fix the obliquely arranged tightening piston (051); the tightening piston (051) can be controlled to expand and contract. The tightening pistons (051) on the left and right sides and the front jacking mechanism (06) form fulcrums for tightening in three different directions to fix the front part of the penstock; the rear fixing mechanism (08) is arranged at the rear of the trapezoidal trailer frame (02), and its structure is the same as that of the front fixing mechanism (05), and it jointly fixes the rear part of the penstock with the rear jacking mechanism (07).

5. The intelligent transporter for large steel penstocks according to claim 1, wherein The hydraulic system includes a hydraulic pump (56), a hydraulic lock group and a solenoid valve group; the hydraulic pump (56) is driven by a power take-off of the tractor, and the solenoid valve group is integrated on the electric control operation panel (80), including a rear axle locking solenoid valve (23), a rear axle slewing solenoid valve (21), a front jacking solenoid valve (25), a rear jacking 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. Each solenoid valve is controlled by a microprocessor (800).

6. The intelligent transporter for large penstocks according to claim 2, characterized in that, The sensor group includes: The front fixing mechanism sensor group (60): used to detect the extension length and pressure of the two front tightening cylinders; The rear fixing mechanism sensor group (63): used to detect the extension length and pressure of the two rear tightening cylinders; The front jacking mechanism sensor (61) and the rear jacking mechanism sensor (62): used to detect the extension length of the jacking hydraulic screw; Rear axle slewing mechanism sensor group (64): used to detect the rear axle load and the rear axle slewing angle; Rear wheel height sensor group (65): used to detect the rear wheel height when the rear axle enters the penstock; Rear limit mechanism sensor group (67), traction connection plate sensor group (71) and trapezoidal trailer frame attitude sensor group (70) jointly detect the force load and angle of the trailer.

7. The intelligent transporter for large penstocks according to claim 1, wherein 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 the front obstacles; Loading, unloading and penstock 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; Overheight monitoring camera (77): installed on the upper part of the front limit mechanism (04), used to detect overheight obstacles; The camera data is transmitted to the intelligent monitoring computer (81) through network cable or optical fiber (83), and the transport vehicle contour mark is superimposed on the screen.

8. A method for using a large-scale penstock intelligent transporter according to any one of claims 1-7, characterized in that, Including 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 (76); Step 2: Start the hydraulic system, lower the auxiliary wheel A (13) to jack up the vehicle frame, and lift the rear axle (10) to make the rear wheels reach the suspended height; Step 3: Unlock the rear axle slewing mechanism (09), drive the rear axle (10) to rotate 90° and lock it; Step 4: Reverse the transport vehicle to make the rear axle (10) and the auxiliary wheel B (12) enter the penstock; Step 5: Alternately lower the auxiliary wheel B (12) and lift the auxiliary wheel A (13) until the rear axle (10) completely passes through the penstock; Step 6: Swing 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 penstock height and fix it; Step 8: Operate the front fixing mechanism (05), the rear fixing mechanism (08) and the rear limit mechanism (11) to lock the penstock position; Unloading steps: Perform the opposite operation of the loading steps, and use the auxiliary wheels to support alternately and the rear axle (10) to slewing out of the penstock.

9. The usage method according to claim 8, characterized in that In Step 4, the intelligent monitoring system real-time detects the data of the rear wheel height sensor group (65). If the rear wheels are not completely suspended, the slewing operation of the rear axle (10) is prohibited, and an audible and visual alarm is triggered; In Step 5, when the auxiliary wheel B (12) descends, the intelligent monitoring system detects the clearance with the inner wall of the penstock through the auxiliary wheel B height sensor (68). If the clearance is insufficient, it prompts to adjust the lifting height.

10. The usage method according to claim 8, characterized in that In Step 7, the front lifting mechanism sensor (61) and the rear lifting mechanism sensor (62) that detect the lifting height of the front lifting mechanism (06) and the rear lifting mechanism (07) real-time feedback the detection data, and the intelligent monitoring computer (81) automatically matches the front and rear height differences to ensure the horizontal lifting and lowering of the penstock; In Step 8, the intelligent monitoring system dynamically adjusts the pressure of the jacking 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 penstock coincides with the vehicle frame axis.

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