Mountain transport device and control system

Abstract

This invention relates to the field of motor vehicle technology and discloses a mountain transport device and control system, comprising: two transport vehicles arranged one behind the other, each including a frame and a running gear, the frame being positioned above the running gear; a cargo platform rotatably mounted on the frame about a left-right extending axis; and a first clamp rotatably mounted on the cargo platform about a vertical extending axis, the first clamp being used to mount steel components; and connecting components including a front connecting rod and a rear connecting rod, one end of the front connecting rod being hinged to the front frame about a left-right extending axis, the other end of the front connecting rod being hinged to the rear connecting rod about a vertical extending axis, and the end of the rear connecting rod away from the front connecting rod being hinged to the rear frame about a left-right extending axis. This mountain transport device and control system allows for flexible maneuvering on narrow, winding mountain roads, improving the success rate and safety of transportation.

Description

Technical Field

[0001] This invention relates to the field of motor vehicle technology, and in particular to a mountain transport device and control system. Background Technology

[0002] Hilly and mountainous terrain is a crucial area for the construction and operation of infrastructure such as power grids. When constructing transmission towers in these areas, it is necessary to transport a large number of extra-long and extra-heavy steel tower components to the designated work site.

[0003] However, hilly and mountainous terrain is complex, with narrow roads, irregular ground shapes, frequent surface undulations, and large slope changes. When traditional transport vehicles carrying steel tower components turn on narrow and winding mountain roads, the turning radius required is large due to the long body and rigid integral structure of the traditional transport vehicles. During the turn, the steel tower components are prone to collision with roadside obstacles, making it difficult to complete the turn smoothly. Summary of the Invention

[0004] The purpose of this invention is to provide a mountain transportation device and control system to solve the problem in the prior art that when traditional transport vehicles transport steel tower components on narrow, winding mountain roads, the steel tower components are prone to collision with roadside obstacles, making it difficult to complete the turn smoothly.

[0005] To achieve the above objectives, the present invention provides a mountain transportation device, comprising:

[0006] The transport vehicle is provided in two units, which are arranged one in front of the other. Each transport vehicle includes a frame and a running mechanism. The frame is located above the running mechanism. A cargo platform is rotatably mounted on the frame about a left-right extending axis. A first clamp is rotatably mounted on the cargo platform about a vertical extending axis. The first clamp is used to install steel components.

[0007] The connector includes a front connecting rod and a rear connecting rod, one end of the front connecting rod being hinged to the front side of the vehicle frame about a left-right extending axis, the other end of the front connecting rod being hinged to the rear connecting rod about a vertical extending axis, and the end of the rear connecting rod away from the front connecting rod being hinged to the rear side of the vehicle frame about a left-right extending axis.

[0008] As an improvement to the above technical solution, each of the transport vehicles includes two walking mechanisms, which are distributed left and right.

[0009] Each of the aforementioned walking mechanisms includes a walking longitudinal beam and two tires. The two tires are rotatably mounted on the walking longitudinal beam in a front-to-back direction. The left walking longitudinal beam is fixedly connected to the lower end of the frame, and the right walking longitudinal beam is rotatably connected to the lower end of the frame around a left-to-right extending axis, so that when the tire at one end of the walking longitudinal beam is lifted, the tire at the other end is on the ground.

[0010] As an improvement to the above technical solution, each of the transport vehicles further includes a first leveling mechanism, which includes a leveling sleeve, a leveling shaft, and two connecting plates.

[0011] The leveling sleeve is fixedly installed on the right-side longitudinal beam, and the leveling shaft is rotatably installed inside the leveling sleeve. The leveling shaft extends to the left and right. One connecting plate is fixed to one end of the leveling shaft, and the other connecting plate is fixed to the other end of the leveling shaft. The upper ends of both connecting plates are fixedly connected to the vehicle frame.

[0012] As an improvement to the above technical solution, each of the transport vehicles further includes a second leveling mechanism, which includes a balancing component and a linear drive component;

[0013] The balancing component is rotatably mounted on the frame about a front-to-back extending axis. The cargo platform is disposed on the balancing component. The linear drive is mounted on the frame. The output end of the linear drive is connected to the lower end of the balancing component. The linear drive is used to drive the balancing component to rotate about a front-to-back extending axis, so that the first clamp is leveled left and right.

[0014] As an improvement to the above technical solution, a load-bearing rod extending to the left and right is fixedly installed on the balance component, and support components are provided at both ends of the upper surface of the load-bearing rod;

[0015] Each of the aforementioned support components includes a support sleeve and two support plates. The two support plates are arranged at intervals and are fixedly installed on the bearing rod. The support sleeve extends to the left and right and is rotatably installed on the two support plates. A first pad is fixedly installed on the support sleeve.

[0016] The loading platform is fixedly mounted on the upper surface of the two first pads.

[0017] As an improvement to the above technical solution, the frame includes two main longitudinal beams, two main cross beams and two intermediate cross beams. The two main longitudinal beams are distributed left and right at intervals. One main cross beam is fixedly connected to the front end of the two main longitudinal beams, and the other main cross beam is fixedly connected to the rear end of the two main longitudinal beams. The two intermediate cross beams are distributed front and back at intervals, and the two intermediate cross beams are fixedly connected to the inner side of the two main longitudinal beams.

[0018] Each of the intermediate crossbeams is equipped with a bearing seat, and the front and rear sides of the balance component are provided with connecting shafts, and the two connecting shafts are respectively installed on the two bearing seats;

[0019] The output end of the linear drive is hinged to the lower end of the balancer, and the end of the linear drive away from its own output end is hinged to the inner side of the main longitudinal beam.

[0020] As an improvement to the above technical solution, each of the second leveling mechanisms includes a hydraulic motor and an oil tank, and the linear drive component is a hydraulic push rod;

[0021] Both the hydraulic motor and the oil tank are fixedly installed at the lower end of the vehicle frame. The output end of the hydraulic motor is equipped with a hydraulic pump. The suction end of the hydraulic pump is connected to the oil tank, and the outlet end of the hydraulic pump is connected to the hydraulic push rod.

[0022] As an improvement to the above technical solution, a turntable is rotatably mounted on the loading platform around an axis extending vertically, and the first clamp is fixedly mounted on the turntable, with the first clamp having an upward-facing arc shape.

[0023] As an improvement to the above technical solution, the front connecting rod includes a first inner tube, a first outer tube, and a first fixing member. The first outer tube is coaxially slidably sleeved on the outside of the first inner tube. The first inner tube has a plurality of first inner holes distributed along its own length direction. The first outer tube has a plurality of first outer holes distributed along its own length direction. The first fixing member passes through the first outer hole and the first inner hole in sequence, and the first fixing member is fixedly installed on the first outer tube.

[0024] The rear connecting rod includes a second inner tube, a second outer tube, and a second fixing member. The second outer tube is coaxially slidably sleeved outside the second inner tube. The second inner tube has multiple second inner holes distributed along its own length direction. The second outer tube has multiple second outer holes distributed along its own length direction. The second fixing member passes through the second outer hole and the second inner hole in sequence, and the second fixing member is fixedly installed on the second outer tube.

[0025] The present invention also provides a mountain transportation control system for any of the mountain transportation devices mentioned above, comprising a controller, a left strain gauge, and a right strain gauge;

[0026] The left strain gauge is installed on the left rear end of the rear connecting rod to collect the strain value on the left side of the rear connecting rod and transmit the strain value signal to the controller.

[0027] The right-side strain gauge is installed on the right rear end of the rear connecting rod to collect the strain value on the right side of the rear connecting rod and transmit the strain value signal to the controller.

[0028] The controller calculates the strain difference based on the strain values ​​on the left and right sides of the rear connecting rod, and checks whether the calculated strain difference is within a set safety threshold range. If the strain difference is within the safety threshold range, the traveling mechanism maintains its current state. If the strain difference is not within the safety threshold range, the controller determines the turning direction and outputs a differential speed command to the traveling mechanism of the rear transport vehicle according to the turning direction. The traveling mechanism of the rear transport vehicle then controls its rotation speed to perform differential action according to the differential speed command.

[0029] Compared with existing technologies, the mountain transport device and control system of this invention have the following advantages: By using two transport vehicles, one in front and one behind, to share the load of the extra-long steel components, the length of each vehicle is significantly shortened. The two vehicles are hinged together, making the entire transport device no longer a rigid unit. When turning, the front and rear vehicles can deflect relative to each other around the hinge point, allowing for a smaller turning radius when transporting extra-long steel components. This enables flexible maneuvering on narrow, winding mountain roads, avoiding collisions between the steel components and roadside obstacles such as trees and rocks, thus improving the success rate and safety of transport. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the mountain transportation device according to an embodiment of the present invention.

[0031] Figure 2 This is a schematic diagram of the connecting component of the mountain transportation device according to an embodiment of the present invention.

[0032] Figure 3 This is a schematic diagram of the structure of the transport vehicle of the mountain transport device according to an embodiment of the present invention.

[0033] Figure 4 This is a schematic diagram of the second leveling mechanism of the mountain transportation device according to an embodiment of the present invention.

[0034] Figure 5 This is a schematic diagram of the structure of the support component of the mountain transportation device according to an embodiment of the present invention.

[0035] Figure 6 This is a schematic diagram of the balancing component of the mountain transportation device according to an embodiment of the present invention.

[0036] Figure 7 This is a schematic diagram of the vehicle frame of the mountain transport device according to an embodiment of the present invention.

[0037] Figure 8 This is a schematic diagram of the walking mechanism and the first leveling mechanism of the mountain transportation device according to an embodiment of the present invention.

[0038] Figure 9This is a schematic diagram of the battery structure of the mountain transportation device according to an embodiment of the present invention.

[0039] Figure 10 This is a schematic diagram of the structure of the transport vehicle and cargo container of the mountain transport device according to an embodiment of the present invention.

[0040] Figure 11 This is a control flowchart of the hydraulic leveling of the mountain transportation control system according to an embodiment of the present invention.

[0041] Figure 12 This is a control flowchart of the dual-vehicle cooperative transportation system of the mountain transportation control system according to an embodiment of the present invention.

[0042] In the picture,

[0043] 1. Transport vehicle; 11. Cargo platform; 12. Fixture assembly; 121. Turntable; 122. First fixture; 13. Second leveling mechanism; 131. First pad; 132. Support component; 132a. Inner support plate; 132b. Support sleeve; 132c. Bushing; 132d. Central shaft; 132e. Outer support plate; 133. Second pad; 134. Balancing component; 134a. Tapered roller bearing; 134b. Balancing shaft; 134c. Balancing sleeve; 135. Bearing housing; 136. Linear drive component; 14. Frame; 141. Main crossbeam; 142. Main longitudinal beam; 143. Inner connecting lug; 144. Outer connecting lug; 145. Second sleeve; 5. First leveling mechanism; 151. Leveling sleeve; 152. Connecting plate; 153. Leveling shaft; 16. Traveling mechanism; 161. Traveling longitudinal beam; 162. Tire; 163. Traveling motor; 164. Brake drum; 165. Reducer; 17. Hydraulic motor; 18. Hydraulic pump; 19. Solenoid valve; 110. Battery; 111. Oil tank; 2. Connecting parts; 21. Front connecting rod; 22. Rear connecting rod; 41. Cargo bucket; 42. First sleeve; 51. Right strain gauge; 52. Left strain gauge; 53. Tilt sensor; 54. Pressure sensor; 55. Right obstacle avoidance radar; 56. Vision sensor; 57. Left obstacle avoidance radar; 58. Speed ​​sensor. Detailed Implementation

[0044] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0045] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used in this invention to describe various information, but this information should not be limited to these terms; these terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this invention, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information.

[0046] like Figures 1 to 3 As shown, and refer to Figure 1 As shown in the diagram, an embodiment of the present invention provides a mountain transport device, including a transport vehicle 1 and a connector 2.

[0047] There are two transport vehicles 1, which are arranged one in front of the other. Each transport vehicle 1 includes a frame 14 and a traveling mechanism 16. The frame 14 is located above the traveling mechanism 16. A loading platform 11 is rotatably mounted on the frame 14 about a left-right extending axis. A first clamp 122 is rotatably mounted on the loading platform 11 about a vertical extending axis. The first clamp 122 is used to install steel components.

[0048] It should be noted that when installing steel components, one end of the steel component is fixed in a first clamp 122 by steel cable binding, and the other end can move in another first clamp 122. The first clamp 122 can rotate around the vertically extending axis and rotate accordingly when the two vehicles turn, so as to realize the synchronous deviation of the steel components and avoid the torsional deformation of the steel components. When transporting steel components through potholes, the loading platform 11 can adjust its pitch around the horizontally extending axis to eliminate the risk of sudden changes in cargo height caused by changes in the height of the two vehicles.

[0049] The connecting component 2 includes a front connecting rod 21 and a rear connecting rod 22. One end of the front connecting rod 21 is hinged to the front frame 14 around the left-right extending axis to form a vertical rotating joint, which realizes the vertical height difference compensation when the two vehicles pass over bumpy terrain. The other end of the front connecting rod 21 is hinged to the rear connecting rod 22 around the left-right extending axis to form a horizontal rotating joint, which supports the left-right angle adjustment during turning. The end of the rear connecting rod 22 away from the front connecting rod 21 is hinged to the rear frame 14 around the left-right extending axis to form a vertical rotating joint, which realizes the vertical height difference compensation when the two vehicles pass over bumpy terrain.

[0050] In this way, by using two transport vehicles (1) to share the extra-long steel components, the length of each vehicle is significantly shortened. The two vehicles are hinged together by a connector (2), making the entire transport device no longer a rigid unit. When turning, the front and rear vehicles can deflect relative to each other around the hinge point, allowing for a smaller turning radius when transporting extra-long steel components. This enables flexible maneuvering on narrow, winding mountain roads, avoiding collisions between the steel components and roadside obstacles such as trees and rocks, thus improving the success rate and safety of transportation.

[0051] In some embodiments of this application, such as Figure 1 , Figure 3 and Figure 8 As shown, each transport vehicle 1 includes two walking mechanisms 16, which are distributed on the left and right sides.

[0052] Each traveling mechanism 16 includes a traveling longitudinal beam 161 and two tires 162. The two tires 162 are rotatably mounted on the traveling longitudinal beam 161 in the front-back direction. The left traveling longitudinal beam 161 is fixedly connected to the lower end of the frame 14, and the right traveling longitudinal beam 161 is rotatably connected to the lower end of the frame 14 around the left-right extending axis, so that when one end of the traveling longitudinal beam 161 is lifted, the other end of the tire 162 is on the ground.

[0053] Specifically, tire 162 uses a herringbone tire, and depending on the actual usage environment, a denser herringbone tire can also be used to enhance grip.

[0054] It should be noted that the traveling mechanism 16 on one side of the transport vehicle 1 is fixedly connected to the frame 14, forming a rigid support with a relatively fixed position, providing a stable reference point for the vehicle; the traveling mechanism 16 on the other side can rotate relative to the frame 14, providing terrain adaptability. Thus, during vehicle operation, when the right front wheel encounters a raised obstacle, the right front wheel is lifted, and the right traveling mechanism 16 can swing up and down relative to the frame 14 around its left-right extending axis, forcing the right rear wheel to press down and land, ensuring that all four tires 162 are on the ground simultaneously; when the left front wheel encounters a raised obstacle, the left front wheel is lifted, and since the left traveling mechanism 16 is rigidly fixed to the frame 14, the left front wheel will drive the frame 14 to lift as a whole. At this time, the right traveling mechanism 16 can rotate around its left-right extending axis under the action of gravity, ensuring that at least one tire 162 on the right and two tires 162 on the left are on the ground simultaneously.

[0055] The mountain transport device of the present invention, on the one hand, adopts a rotatable design of the single-sided walking mechanism 16, which enables the vehicle to adapt to terrain undulations and avoids the problem of tires 162 being suspended in the air caused by traditional rigid frames. The fixed side provides a rigid support reference. The combination of the two maintains dynamic balance under the action of gravity, ensuring that at least three tires 162 are always in contact with the ground at the same time in complex terrains such as slope changes and ground protrusions. This significantly enhances grip and stability, improves the stability of the frame 14, and eliminates the risk of the frame 14 overturning. In this way, the mountain transport device of the present invention is perfectly matched to the complex road conditions of hilly terrain and the transportation needs of steel towers. While ensuring load-bearing capacity, it greatly improves the vehicle's terrain adaptability, stability, and flexibility.

[0056] In some embodiments of this application, such as Figure 3 and Figure 8 As shown, each transport vehicle 1 also includes a first leveling mechanism 15, which includes a leveling sleeve 151, a leveling shaft 153, and two connecting plates 152.

[0057] The leveling sleeve 151 is fixedly installed on the right-side traveling longitudinal beam 161. The leveling shaft 153 is rotatably installed inside the leveling sleeve 151. The leveling shaft 153 extends to the left and right. One connecting plate 152 is fixed to one end of the leveling shaft 153, and the other connecting plate 152 is fixed to the other end of the leveling shaft 153. The upper ends of both connecting plates 152 are fixedly connected to the frame 14.

[0058] In some embodiments of this application, such as Figure 1 , Figure 3 and Figure 6 As shown, each transport vehicle 1 also includes a second leveling mechanism 13, which includes a balancing component 134 and a linear drive component 136.

[0059] The balancing component 134 is rotatably mounted on the frame 14 about a front-to-back axis. The cargo platform 11 is set on the balancing component 134. The linear drive component 136 is mounted on the frame 14. The output end of the linear drive component 136 is connected to the lower end of the balancing component 134. The linear drive component 136 is used to drive the balancing component 134 to rotate about a front-to-back axis, so that the first clamp 122 is leveled left and right.

[0060] Gravity leveling ensures the ground contact of tire 162, but it cannot guarantee that the first clamp 122 carrying the cargo is level. If the slope of the mountain is steep, the steel components carrying the cargo will still tilt to one side with the frame 14, posing a risk of center of gravity shift and slippage. The second leveling mechanism 13, based on the first-stage gravity leveling, adds an active left-right leveling function, directly adjusting the left and right tilt angles of the first clamp 122, so that the first clamp 122 can always remain level, and the steel components on the first clamp 122 can always remain level, ensuring that the center of gravity of the steel components is always within the vehicle's load-bearing center range, further reducing the risk of rollover due to center of gravity shift.

[0061] In some embodiments of this application, such as Figure 4 and Figure 5 As shown, the upper end of the balance component 134 is welded with a load-bearing rod extending to the left and right. The load-bearing rod is a square tube, and support components 132 are provided at both ends of the upper surface of the load-bearing rod.

[0062] Each support component 132 includes a support sleeve 132b, a bushing 132c, a central shaft 132d, and two support plates. The two support plates include an inner support plate 132a and an outer support plate 132e. The inner support plate 132a and the outer support plate 132e are arranged at intervals. The inner support plate 132a is welded to the upper surface of the bearing rod, and the outer support plate 132e is welded to the outside of the bearing rod. The inner support plate 132a and the outer support plate 132e form a rigid support frame.

[0063] The central shaft 132d extends to the left and right. One end of the central shaft 132d passes through the inner support plate 132a, and the other end of the central shaft 132d is fastened to the outer support plate 132e by bolts. The central shaft 132d is fitted with a bushing 132c, and the bushing 132c is fitted with a support sleeve 132b. The support sleeve 132b is welded with a first pad 131.

[0064] The upper surfaces of the two first pads 131 are welded with a loading platform 11. The loading platform 11 is made of carbon steel plate and is directly formed. The first clamp 122 is installed at the center position on the loading platform 11, so that the loading platform 11 can rotate around the central axis 132d, realizing the pitch adjustment function of the loading platform 11. When transporting steel components through bumpy terrain, the support 132 automatically compensates for the pitch angle difference, eliminating the risk of sudden changes in cargo height caused by changes in the height of the two vehicles.

[0065] In some embodiments of this application, such as Figure 4 , Figure 6 and Figure 7As shown, the frame 14 includes two main longitudinal beams 142, two main cross beams 141, and two intermediate cross beams. The main longitudinal beams 142, main cross beams 141, and intermediate cross beams are all square tubes. The two main longitudinal beams 142 are distributed on the left and right sides at intervals. One main cross beam 141 is welded and fixed to the front end of the two main longitudinal beams 142, and the other main cross beam 141 is welded and fixed to the rear end of the two main longitudinal beams 142. The two intermediate cross beams are distributed on the front and rear sides at intervals, and the two intermediate cross beams are fixedly connected to the inner side of the two main longitudinal beams 142.

[0066] An external connecting lug 144 is provided on the main crossbeam 141 near the connector 2 for hinged connection of the front connecting rod 21 or the rear connecting rod 22.

[0067] Each intermediate crossbeam is secured with a second pad 133 by bolts, and the bearing housing 135 is secured to the second pad 133 by bolts. The first bearing is installed inside the bearing housing 135.

[0068] The balancing component 134 includes a balancing shaft 134b, a balancing sleeve 134c, and two tapered roller bearings 134a. The balancing sleeve 134c is a hollow sleeve extending vertically, with outwardly protruding shoulders at both its upper and lower ends. One tapered roller bearing 134a has its rolling element with its large end facing upward, mounted within the upper shoulder of the balancing sleeve 134c, serving a load-bearing function; the other tapered roller bearing 134a has its rolling element with its large end facing downward and is confined within the lower shoulder of the balancing sleeve 134c by an end cap and nut, serving a guiding function. The balancing shaft 134b is installed within the two tapered roller bearings 134a. A load-bearing rod is welded to the upper end of the balancing shaft 134b to support two support components 132, and the lower end is threaded and locked by an end cap and nut, achieving precise positioning of the lower bearing.

[0069] The front and rear sides of the balance sleeve 134c are welded with connecting shafts, and the two connecting shafts are locked to the first bearings of the two bearing seats 135 by set screws to form a rotating pair.

[0070] The output end of the linear drive 136 is hinged to the lug at the lower end of the balance sleeve 134c. The end of the linear drive 136 away from its own output end is hinged to the inner connecting lug 143 on the inner side of the main longitudinal beam 142, so that the linear drive 136 can rotate up and down, driving the balance shaft 134b to drive the loading platform 11 to achieve precise rotation.

[0071] Specifically, the linear drive 136 is any one of an electric actuator, a hydraulic actuator, or a cylinder.

[0072] In some embodiments of this application, such as Figure 3 and Figure 8As shown, each traveling mechanism 16 includes two traveling motors 163 and two reduction gears. The two traveling motors 163 are correspondingly paired with two tires 162, and the two reduction gears are correspondingly paired with two tires 162. Each reduction gear is formed by bending carbon steel plate and welded to the traveling longitudinal beam 161. Each reduction gear is bolted to a reducer 165. The output end of each traveling motor 163 is connected to the input end of the reducer 165 via flange bolts. The output end of each reducer 165 is fitted with an output shaft via a keyway. The end of each output shaft furthest from the reducer 165 is connected to a brake drum 164 via a keyway. Each brake drum 164 is bolted to the wheel hub.

[0073] Each transport vehicle 1 includes a battery 110, each second leveling mechanism 13 includes a hydraulic motor 17 and an oil tank 111, and the linear drive component 136 is a hydraulic push rod.

[0074] The battery 110, hydraulic motor 17 and oil tank 111 are all fixedly installed at the lower end of the frame 14. The battery 110 is electrically connected to the hydraulic motor 17 and the four walking motors 163. The output end of the hydraulic motor 17 is equipped with a hydraulic pump 18. The oil suction end of the hydraulic pump 18 is connected to the oil tank 111 through the oil suction pipe, and the oil outlet end of the hydraulic pump 18 is connected to the hydraulic push rod.

[0075] In some embodiments of this application, such as Figure 1 As shown, the clamp assembly 12 includes a turntable 121 and a first clamp 122. The turntable 121 is rotatably mounted on the loading platform 11 about an axis extending vertically. The first clamp 122 is fixedly mounted on the turntable 121 and has an arc shape with the opening facing upward.

[0076] In some embodiments of this application, such as Figure 2 As shown, the front connecting rod 21 includes a first inner tube, a first outer tube, and a first fixing member. The first outer tube is coaxially slidably sleeved outside the first inner tube. The first inner tube has multiple first inner holes distributed along its own length direction. The first outer tube has multiple first outer holes distributed along its own length direction. The first fixing member passes through the first outer hole and the first inner hole in sequence, and the first fixing member is fixedly installed on the first outer tube.

[0077] The rear connecting rod 22 includes a second inner tube, a second outer tube, and a second fixing member. The second outer tube is coaxially slidably sleeved outside the second inner tube. The second inner tube has multiple second inner holes distributed along its own length direction. The second outer tube has multiple second outer holes distributed along its own length direction. The second fixing member passes through the second outer hole and the second inner hole in sequence, and the second fixing member is fixedly installed on the second outer tube.

[0078] Thus, both the front connecting rod 21 and the rear connecting rod 22 are designed as manually adjustable components to adapt to the transportation needs of goods of different specifications.

[0079] In some embodiments of this application, such as Figure 10 As shown, each transport vehicle 1 includes a cargo bin 41, a first sleeve 42, and a second sleeve 145. The cargo bin 41 is welded from carbon steel plate and square tube. The first sleeve 42 is welded to the front and rear sides of the cargo bin 41, and the second sleeve 145 is welded to the outside of the two main crossbeams 141.

[0080] It should be noted that the transport vehicle 1 adopts a modular design. When transporting steel components, the two transport vehicles 1 are hinged together by the connector 2. When transporting materials such as sand and gravel, a rapid modular conversion can be performed, and the second leveling mechanism 13 can be quickly replaced with the cargo bucket 41.

[0081] Specifically, firstly, the fastening bolts of the bearing housing 135 are removed, and the hinge shafts of the linear drive 136, the main longitudinal beam 142, and the balance sleeve 134c are removed. Then, the cargo bucket 41 is placed on the frame 14, and the first sleeve 42 and the second sleeve 145 are locked together by a pin to fix the cargo bucket 41.

[0082] like Figure 2 , Figure 4 , Figure 7 , Figure 8 , Figure 9 , Figure 11 and Figure 12 As shown, this embodiment of the invention also provides a mountain transportation control system for the aforementioned mountain transportation device, including a controller, a solenoid valve 19, an inclination sensor 53, a left strain gauge 52, a right strain gauge 51, a pressure sensor 54, a right obstacle avoidance radar 55, a vision sensor 56, a left obstacle avoidance radar 57, and a speed sensor 58.

[0083] Solenoid valve 19 is fixedly installed at the lower end of frame 14. The oil inlet of solenoid valve 19 is connected to the oil outlet of hydraulic pump 18, and the oil outlet of solenoid valve 19 is connected to the oil inlet of hydraulic push rod. Solenoid valve 19 controls the on / off and flow direction of hydraulic oil based on the signal of tilt sensor 53. Through solenoid valve 19, hydraulic oil is controlled to enter the rodless chamber of hydraulic push rod. High pressure oil drives hydraulic push rod to extend and retract. The return port of hydraulic push rod is directly connected to oil tank 111 to form a low pressure return oil passage.

[0084] Inclination sensor 53 is mounted on the support rod and is used to monitor the left and right tilt angles of the support rod. The angle signal is then sent to the controller. The controller calculates the corresponding tilt angle deviation according to the formula. The calculation formula is as follows:

[0085]

[0086] Set the tolerance threshold for tilt deviation. Inspect tilt angle deviation Is it within the set tolerance threshold range for tilt angle deviation, when (Within tolerable limits), solenoid valve 19 and hydraulic push rod may remain inactive and maintain their current state; when the tilt angle deviation... When the deviation is outside the tolerance range, the controller determines the direction of the deviation. When the loading platform 11 tilts to the right, the controller outputs a retraction command to the solenoid valve 19. The solenoid valve 19 controls the hydraulic push rod to retract, and the hydraulic push rod drives the balance component 134 to rotate around its front-to-back axis, causing the loading platform 11 to tilt to the left for leveling. Similarly, when When the load platform 11 tilts to the left, the controller outputs an extension command to the solenoid valve 19. The solenoid valve 19 controls the hydraulic push rod to extend, and the hydraulic push rod drives the balance component 134 to rotate around the axis of front and rear extension, causing the load platform 11 to tilt to the right for leveling.

[0087] The left strain gauge 52 is installed on the left rear end of the rear connecting rod 22 to collect the strain value on the left side of the rear connecting rod 22 and transmit the left strain value signal to the controller.

[0088] The right strain gauge 51 is installed on the right side of the rear end of the rear connecting rod 22 to collect the strain value on the right side of the rear connecting rod 22 and transmit the right strain value signal to the controller.

[0089] The controller calculates the strain difference based on the strain value signals from the left and right sides of the rear connecting rod 22. strain difference It is the absolute difference between the strain values ​​on both sides, used to determine the movement status of the two vehicles. The controller checks the strain difference value. Is it within the set safety threshold range for the strain difference? Within the safety threshold range, both vehicles can be determined to be in a straight-line state, and the dual-vehicle travel motors can continue to move at a speed of 163; when the strain difference value When the strain exceeds the safety threshold, it indicates that the strain on both sides of the dual-vehicle connector 2 is different, meaning the dual vehicles are in a turning state. Then, by judging the sign and magnitude of the strain on the left and right sides, the turning direction is determined. Tension is represented by a positive value, and compression by a negative value. When the strain on the left is greater than the strain on the right, indicating a right turn, the left travel motor 163 of the rear transport vehicle 1 needs to be appropriately accelerated, while the right travel motor 163 decelerates. Similarly, when the strain on the left is less than the strain on the right, indicating a left turn, the left travel motor 163 of the rear transport vehicle 1 needs to be appropriately decelerated, while the right travel motor 163 accelerates. Finally, a differential speed command is generated, and the controller outputs the differential speed command to the left and right travel motors 163 of the rear transport vehicle 1. The travel motors 163 of the rear transport vehicle 1 then control their speeds according to the differential speed command to execute the differential speed action.

[0090] The right-side obstacle avoidance radar 55 and the left-side obstacle avoidance radar 57 are respectively located at the front right and front left of the frame 14. The obstacle avoidance radar is used to detect obstacles in front and to achieve obstacle avoidance function by controlling the rotation speed of the walking motor 163.

[0091] The visual sensor 56 is a surveillance camera. It is located in the front center of the vehicle frame 14 and is used to record images of the surrounding environment and transmit the video to the remote control and cloud platform for vehicle road condition verification.

[0092] Speed ​​sensor 58 is mounted on the reduction gear plate to monitor the rotational speed of brake drum 164 in real time and calculate the actual running speed of the wheel.

[0093] Pressure sensor 54 is mounted on the support rod and is used to measure the load on the loading platform 11.

[0094] In summary, the embodiments of the present invention provide a mountain transportation device and control system, which achieves dynamic leveling through the coordinated use of a hydraulic leveling mechanism and a gravity leveling mechanism, and combines multiple sensors to monitor the vehicle status in real time and control the hydraulic system and dual-vehicle coordination. It also features a modular design, allowing for the transportation of various materials by changing the cargo bucket 41.

[0095] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A mountain transport device, characterized in that, The utility model provides a steel member transport vehicle, which comprises two transport vehicles (1) arranged in front and back, each of the transport vehicles (1) comprising a vehicle frame (14) and a walking mechanism (16), the vehicle frame (14) being arranged above the walking mechanism (16), a loading platform (11) being rotatably arranged on the vehicle frame (14) about an axis extending leftward and rightward, a first clamp (122) being rotatably arranged on the loading platform (11) about an axis extending upward and downward, the first clamp (122) being used for mounting a steel member; a connecting piece (2) comprising a front connecting rod (21) and a rear connecting rod (22), one end of the front connecting rod (21) being hingedly connected to the vehicle frame (14) on the front side about an axis extending leftward and rightward, the other end of the front connecting rod (21) being hingedly connected to the rear connecting rod (22) about an axis extending upward and downward, one end of the rear connecting rod (22) away from the front connecting rod (21) being hingedly connected to the vehicle frame (14) on the rear side about an axis extending leftward and rightward; each of the transport vehicles (1) further comprising a second leveling mechanism (13), the second leveling mechanism (13) comprising a balancing piece (134) and a linear driving piece (136); the balancing piece (134) being rotatably arranged on the vehicle frame (14) about an axis extending forward and backward, the loading platform (11) being arranged on the balancing piece (134), the linear driving piece (136) being arranged on the vehicle frame (14), the output end of the linear driving piece (136) being connected to the lower end of the balancing piece (134), the linear driving piece (136) being used for driving the balancing piece (134) to rotate about an axis extending forward and backward, so that the first clamp (122) is leveled leftward and rightward; a load-bearing rod extending leftward and rightward being fixedly arranged on the balancing piece (134), the upper surface of the load-bearing rod being provided with a support piece (132) at each of the left end and the right end; each of the support pieces (132) comprising a support sleeve (132b) and two support plates, the two support plates being arranged at intervals, the two support plates being fixedly arranged on the load-bearing rod, the support sleeve (132d) extending leftward and rightward, the support sleeve (132d) being rotatably arranged on the two support plates, a first backing plate (131) being fixedly arranged on the support sleeve (132d); the upper surfaces of the two first backing plates (131) being fixedly arranged with the loading platform (11). each of the transport vehicles (1) comprising two walking mechanisms (16) arranged leftward and rightward; 2. The mountain transport device according to claim 1, characterized in that each of the walking mechanisms (16) comprising a walking longitudinal beam (161) and two tires (162), the two tires (162) being rotatably arranged on the walking longitudinal beam (161) in sequence in the forward and backward direction, the left walking longitudinal beam (161) being fixedly connected to the lower end of the vehicle frame (14), the right walking longitudinal beam (161) being rotatably connected to the lower end of the vehicle frame (14) about an axis extending leftward and rightward, so that when the tire (162) at one end of the walking longitudinal beam (161) is lifted, the tire (162) at the other end falls to the ground. ​ 3. The mountain transport device of claim 2, wherein, Each of the transport vehicles (1) further comprises a first leveling mechanism (15), the first leveling mechanism (15) comprising a leveling sleeve (151), a leveling shaft (153) and two connecting plates (152); The leveling sleeve (151) is fixedly installed on the right walking longitudinal beam (161), the leveling shaft (153) is rotatably installed in the leveling sleeve (151), the leveling shaft (153) extends left and right, one of the connecting plates (152) is fixed to one end of the leveling shaft (153), the other connecting plate (152) is fixed to the other end of the leveling shaft (153), and the upper ends of the two connecting plates (152) are fixedly connected with the vehicle frame (14).

4. The mountain transport device of claim 1, wherein, The vehicle frame (14) comprises two main longitudinal beams (142), two main transverse beams (141) and two intermediate transverse beams, the two main longitudinal beams (142) are distributed left and right, one of the main transverse beams (141) is fixedly connected to the front ends of the two main longitudinal beams (142), the other main transverse beam (141) is fixedly connected to the rear ends of the two main longitudinal beams (142), the two intermediate transverse beams are distributed front and back, and the two intermediate transverse beams are fixedly connected to the inner sides of the two main longitudinal beams (142); Each of the intermediate transverse beams is provided with a bearing seat (135), and the front and back sides of the balancing piece (134) are provided with connecting shafts, and the two connecting shafts are respectively installed on the two bearing seats (135); The output end of the linear drive piece (136) is hingedly connected to the lower end of the balancing piece (134), and the end of the linear drive piece (136) away from the output end thereof is hingedly connected to the inner side of the main longitudinal beam (142).

5. The mountain transport device of claim 1, wherein, Each of the second leveling mechanisms (13) comprises a hydraulic motor (17) and an oil tank (111), and the linear drive piece (136) is a hydraulic push rod; The hydraulic motor (17) and the oil tank (111) are fixedly installed at the lower end of the vehicle frame (14), the output end of the hydraulic motor (17) is provided with a hydraulic pump (18), the oil suction end of the hydraulic pump (18) is connected with the oil tank (111), and the oil outlet end of the hydraulic pump (18) is connected with the hydraulic push rod.

6. The mountain transport device of claim 1, wherein, A rotating disc (121) is rotatably installed on the object carrying platform (11) around an axis extending upward and downward, the first clamp (122) is fixedly installed on the rotating disc (121), and the first clamp (122) is in an arc shape with an opening facing upward.

7. The mountain transport device of claim 1, wherein, The front vehicle connecting rod (21) comprises a first inner tube, a first outer tube and a first fixing piece, the first outer tube is coaxially and slidingly sleeved outside the first inner tube, a plurality of first inner holes are formed in the first inner tube and distributed along the length direction of the first inner tube, a plurality of first outer holes are formed in the first outer tube and distributed along the length direction of the first outer tube, the first fixing piece passes through the first outer hole and the first inner hole in sequence, and the first fixing piece is fixedly installed on the first outer tube; The rear vehicle connecting rod (22) comprises a second inner tube, a second outer tube and a second fixing member, the second outer tube is coaxially sleeved outside the second inner tube, a plurality of second inner holes are arranged on the second inner tube along the length direction of the second inner tube, a plurality of second outer holes are arranged on the second outer tube along the length direction of the second outer tube, the second fixing member sequentially passes through the second outer hole and the second inner hole, and the second fixing member is fixedly installed on the second outer tube.

8. A mountain transport control system for a mountain transport device as claimed in any one of the claims 1-7, characterized in that, The controller, the left strain gauge (52) and the right strain gauge (51) are included. The left strain gauge (52) is installed on the left side of the rear end of the rear vehicle connecting rod (22), is used for collecting the strain value on the left side of the rear vehicle connecting rod (22), and transmits the strain value signal to the controller. The right strain gauge (51) is installed on the right side of the rear end of the rear vehicle connecting rod (22), is used for collecting the strain value on the right side of the rear vehicle connecting rod (22), and transmits the strain value signal to the controller. The controller calculates the strain difference value according to the strain value signal on the left side of the rear vehicle connecting rod (22) and the strain value signal on the right side of the rear vehicle connecting rod (22), and checks whether the calculated strain difference value is within the safety threshold range of the set strain difference value; if the strain difference value is within the safety threshold range, the walking mechanism (16) remains in the current state; if the strain difference value is not within the safety threshold range, the controller judges the turning direction, and outputs a differential speed instruction to the walking mechanism (16) of the rear side of the transport vehicle (1) according to the turning direction, and the walking mechanism (16) of the rear side of the transport vehicle (1) controls the rotating speed to execute the differential speed action according to the differential speed instruction.

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