A reversible car body self-transporting mechanism and an intelligent control method thereof

Abstract

This invention provides a self-propelled vehicle body transport mechanism and its intelligent control method. The self-propelled vehicle body transport mechanism includes: a lifting device, a vehicle body skid, a tilting main shaft, and a traveling mechanism. It also includes: a first monitoring module for monitoring the first posture of the lifting device; a second monitoring module for monitoring the second posture of the vehicle body skid; a third monitoring module for monitoring connection data between the vehicle body and the skid; and a control module that transmits the first posture, second posture, and connection data to a drive controller and / or control platform of a drive motor via a communication module. This invention comprehensively analyzes the postures of the lifting device and the vehicle body skid, as well as the connection status between the vehicle body and the skid, and implements emergency control based on the analysis results to prevent the vehicle body skid from separating from the vehicle body during operation of the self-propelled vehicle body transport mechanism, thus ensuring operational safety.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, and in particular to a self-propelled vehicle body tilting mechanism and its intelligent control method. Background Technology

[0002] EMS conveyor refers to an electric monorail system, a type of overhead suspended material transport equipment widely used in automobile manufacturing production lines (especially welding, painting, and final assembly workshops). In the painting workshop, the paint job line uses a roller coating process that requires the car body to be rotated.

[0003] Existing CN114538279A and CN118387762A disclose a self-propelled transport mechanism capable of flipping, meeting process requirements. In particular, CN118387762A discloses a 360-degree flipping EMS conveyor, including a lifting device, a vehicle body skid, a drive mechanism, and a traveling mechanism. The lifting device has a receiving space, and the vehicle body skid is fixedly located within this space. A vehicle body shell to be flipped is placed on the skid, and the car body shell is located within the receiving space of the lifting device. At the process work station, the drive mechanism drives the skid to flip the vehicle body along with the car body to achieve the operation. Because the vehicle body needs to be flipped, separation can easily occur if the connection is faulty. How to avoid this situation is a problem that needs to be considered to ensure operational safety. Summary of the Invention

[0004] One of the objectives of this invention is to provide a self-propelled vehicle body tilting mechanism and its intelligent control method. By comprehensively analyzing the attitude of the lifting device, the vehicle body skid, and the connection between the vehicle body and the skid, emergency control is performed based on the analysis results to prevent the vehicle body skid from separating from the vehicle body during the operation of the self-propelled vehicle body tilting mechanism, thereby ensuring operational safety.

[0005] This invention provides a self-propelled vehicle body transport mechanism with a tilting mechanism, comprising a lifting device, a vehicle body skid, a tilting main shaft, and a traveling mechanism. The tilting main shaft is fixedly connected to the vehicle body skid and rotatably connected to the lifting device. The tilting main shaft is locked and separated from the lifting device via a locking and separating device. A connecting body is provided on one side of the tilting main shaft to engage with the power output end of a drive motor mounted at a workstation. The mechanism also includes:

[0006] The first monitoring module is used to monitor the first attitude of the spreader;

[0007] The second monitoring module is used to monitor the second attitude of the vehicle skid.

[0008] The third monitoring module is used to monitor the connection data of the connection between the vehicle body and the vehicle body skid, which is set on the vehicle body skid.

[0009] The control module sends the first posture, second posture, and connection data to the drive controller and / or control platform of the drive motor via the communication module.

[0010] Preferably, the drive motor is mounted on the first guide rail; the first guide rail is mounted on the base; a frame is mounted on the base and near the drive motor; a second guide rail is mounted on the frame; the first servo motor drives the first guide rail to engage and disengage the power output end of the drive motor from the coupling body; the second servo motor drives the second guide rail to move the guide pin located on the second guide rail toward the locking and disengaging device and to achieve the locking and disengaging action of the locking and disengaging device between the tilting spindle and the lifting device.

[0011] Preferably, the locking and separating device includes: a locking pin, a guide post, a locking body, and a mounting base;

[0012] On one side of the connecting support arm that rotatably connects the lifting device and the tilting spindle, there are through holes that can respectively accommodate the locking pin, the guide column, and the locking body; the locking pin, the guide column, and the locking body are arranged on the mounting base and are respectively inserted into the corresponding through holes;

[0013] A tension spring is fitted around the outer periphery of the portion of the locking pin, guide column, and locking body located between the mounting base and the connecting support arm. One end of the tension spring is fixedly connected to the connecting support arm, and the other end is fixedly connected to the mounting base. The end of the locking body away from the mounting base passes through a locking hole opened on the outer edge of the connecting body. When the second servo motor drives the second guide rail, the end of the guide column away from the mounting base cooperates with the guide column sleeve fixedly mounted on one side of the guide pin to guide the guide pin, so that the guide pin pushes against the locking pin. When the guide pin pushes the locking pin away from the connecting body, the locking body disengages from the locking hole, completing the separation between the lifting device and the tilting spindle.

[0014] Preferably, the lifting device includes: a crossbar, a set of first supports symmetrically arranged on both sides of one end of the crossbar, and a set of second supports symmetrically arranged on both sides of the other end of the crossbar; the ends of the first and second supports away from the crossbar are respectively fixedly connected to the two ends of the connecting support arm.

[0015] Preferably, the vehicle body skid is fixedly connected to the tilting main shaft via at least one fixed connection component;

[0016] The fixed connection assembly includes: a connecting ring, a support column, and at least one triangular reinforcing connector; the connecting ring is sleeved on the outer periphery of the flipping main shaft and fixedly connected to the flipping main shaft; one end of the support column is fixedly connected to the connecting ring, and the other end is fixedly connected to the bottom of the vehicle body skid; one of the two sides of the triangular reinforcing connector located on both sides of the right angle is fixedly connected to the side of the support column, and the other side is fixedly connected to the bottom of the vehicle body skid.

[0017] Preferably, the walking mechanism includes: a set of drive devices symmetrically arranged on the upper surfaces at both ends of the crossbar;

[0018] The driving device includes an active unit, a driven unit, and a carrier; the active unit and the driven unit are respectively located at both ends of the carrier; a carrier seat is sleeved in the middle of the carrier; the bottom of the carrier seat is fixedly connected to the crossbar; the upper part of the carrier seat is columnar, sleeved in the middle of the carrier, and can rotate relative to the carrier;

[0019] The active unit includes: a first C-shaped body, an active wheel, a walking drive motor, at least one first guide wheel, and at least one first limiting wheel; the first limiting wheel is located in the groove of the first C-shaped body and close to the side of the track after the first C-shaped body is engaged with the track; the first guide wheel cooperates with the guide groove on the track to achieve guidance;

[0020] The driven unit includes: a second C-shaped body, a driven wheel, at least one second guide wheel, and at least one second limiting wheel; the second limiting wheel is located in the groove of the second C-shaped body and is close to the side of the track after the second C-shaped body is engaged with the track; the second guide wheel cooperates with the guide groove on the track to achieve guidance;

[0021] The bottom of the first C-shaped main body and the second C-shaped main body are respectively fixedly connected to connecting columns, and the other end of the connecting column passes through one end of the carrier and can rotate relative to the carrier.

[0022] Preferably, the vehicle body skid includes: a support platform and multiple vehicle body connectors; the vehicle body connectors are disposed on the upper surface of the support platform; the vehicle body connectors include: a U-shaped main body and locking members symmetrically disposed at both ends of the U-shaped main body; the lower end of the U-shaped main body is rotatably disposed on the support platform via a setting column.

[0023] Preferably, the first monitoring module includes two three-axis gyroscopes disposed at both ends of the crossbar;

[0024] The second monitoring module includes: a three-axis gyroscope set on either of the two sides of the bearing platform away from the rotating spindle;

[0025] The third monitoring module includes a first pressure sensing unit on the locking part and the body joint surface of the U-shaped body of the body connector and / or a second pressure sensing unit on the bottom end of the opening of the U-shaped body of the body connector.

[0026] The present invention also provides an intelligent control method, applied to any of the above-mentioned tiltable vehicle self-propelled transport mechanisms, comprising:

[0027] When the self-propelled transport mechanism with a flip-top body is in operation, features are extracted from the first posture, the second posture, and the connection data respectively. The first feature parameters obtained from the feature extraction are arranged in order to form the first set of analysis parameters.

[0028] Based on the first set of analysis parameters, retrieve the first risk analysis results from the pre-configured walk analysis library;

[0029] When the result of the first risk analysis meets the pre-configured first trigger condition, control the tiltable vehicle self-transport mechanism to reduce the transport speed;

[0030] When the result of the first risk analysis meets the pre-configured second trigger condition, the self-propelled vehicle body tilting mechanism is controlled to stop moving.

[0031] Preferred intelligent control methods also include:

[0032] When the self-propelled transport mechanism with a rollover body is performing a rollover operation, features are extracted from the second posture and connection data respectively, and the second feature parameters obtained from the feature extraction are arranged in order to form a second set of analysis parameters;

[0033] Based on the second set of analysis parameters, retrieve the second risk analysis results from the pre-configured flip analysis library;

[0034] When the result of the second risk analysis meets the pre-configured third trigger condition, the drive motor is controlled to stop working;

[0035] When the result of the second risk analysis meets the pre-configured fourth trigger condition, the drive motor is controlled to accelerate in the direction of the risk in the second risk analysis result.

[0036] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0037] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0039] Figure 1 This is a schematic diagram of a self-propelled vehicle body transport mechanism according to an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the monitoring function configured in an embodiment of the present invention for a self-propelled vehicle body that can be flipped over;

[0041] Figure 3 This is a schematic diagram of the drive motor on the workstation in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the locking and separating device in an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of another type of self-propelled vehicle body transport mechanism in an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of the connection between the flipping main shaft and the vehicle body skid in an embodiment of the present invention;

[0045] Figure 7 This is a schematic diagram of the walking mechanism in an embodiment of the present invention;

[0046] Figure 8 This is a schematic diagram of the driving device in an embodiment of the present invention;

[0047] Figure 9 This is a schematic diagram of the vehicle body connecting body in an embodiment of the present invention;

[0048] Figure 10 This is a schematic diagram of the intelligent control method in an embodiment of the present invention.

[0049] In the picture:

[0050] 1. Lifting device; 2. Vehicle skid; 3. Tilting spindle; 4. Traveling mechanism; 5. Drive motor; 7. Vehicle body; 11. Crossbar; 12. First support; 13. Second support; 14. Connecting support arm; 15. Locking and separating device; 20. Setting column; 21. U-shaped main body; 22. Locking component; 31. Connecting body; 41. Drive device; 50. Base; 51. Power output end; 52. First guide rail; 53. First servo motor; 54. Second guide rail; 55. Second servo motor; 56. Frame; 57. Guide pin; 58. Guide column sleeve; 61. First monitoring module; 62. Second monitoring module; 63. Third monitoring module 64. Control module; 65. Communication module; 150. Setting seat; 151. Guide column; 152. Locking pin; 153. Locking body; 154. Tension spring; 321. Connecting ring; 322. Support column; 323. Triangular reinforced connecting body; 411. Active unit; 412. Driven unit; 413. Bearing body; 414. Bearing seat; 4111. First C-shaped main body; 4112. Active wheel; 4113. Walking drive motor; 4114. First guide wheel; 4115. First limit wheel; 4121. Second C-shaped main body; 4122. Driven wheel; 4123. Second guide wheel; 4124. Second limit wheel. Detailed Implementation

[0051] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0052] This invention provides a self-propelled vehicle body transport mechanism with a tiltable body, such as... Figures 1 to 9 As shown, the device includes a lifting device 1, a vehicle body skid 2, a tilting spindle 3, and a traveling mechanism 4. The tilting spindle 3 is fixedly connected to the vehicle body skid 2 and rotatably connected to the lifting device 1. The tilting spindle 3 is locked and separated from the lifting device 1 via a locking and separating device 15. A connecting body 31 is provided on one side of the tilting spindle 3, which engages with the power output end 51 of the drive motor 5 located at the workstation. The device also includes:

[0053] The first monitoring module 61 is used to monitor the first attitude of the spreader 1;

[0054] The second monitoring module 62 is used to monitor the second attitude of the vehicle skid 2;

[0055] The third monitoring module 63 is used to monitor the connection data of the connection between the vehicle body and the vehicle body skid 2, which is set on the vehicle body skid 2.

[0056] The control module 64 sends the first posture, the second posture, and connection data to the drive controller and / or control platform of the drive motor 5 via the communication module 65.

[0057] This embodiment adds monitoring components to the mechanical structure of the tiltable vehicle self-propelled transport mechanism, specifically a first monitoring module 61, a second monitoring module 62, and a third monitoring module 63. These monitor the connection status of the lifting device 1, the vehicle skid 2, and the vehicle body, respectively. The monitoring data is sent to the drive controller and / or control platform of the drive motor 5, specifically: to the drive controller when tilting at the workstation; and to the control platform when moving on the track. The control platform can remotely control the movement of the traveling mechanism 4. The control platform and / or drive controller comprehensively analyze the attitude of the lifting device 1, the vehicle skid 2, and the connection status between the vehicle body and the vehicle skid 2. Based on the analysis results, emergency control is implemented to prevent the vehicle skid 2 from separating from the vehicle body during the operation of the tiltable vehicle self-propelled transport mechanism, thus ensuring operational safety.

[0058] In one embodiment, the drive motor 5 is mounted on the first guide rail 52; the first guide rail 52 is mounted on the base 50; a frame 56 is mounted on the base 50 and near the drive motor 5; a second guide rail 54 is mounted on the frame 56; the first servo motor 53 drives the first guide rail 52 to engage and disengage the power output end 51 of the drive motor 5 with the coupling body 31; the second servo motor 55 drives the second guide rail 54 to move the guide pin 57 located on the second guide rail 54 toward the locking and separating device 15 and realize the locking and separating action of the locking and separating device 15 between the rotating spindle 3 and the lifting device 1. When the self-propelled vehicle body transport mechanism moves to the flipping station, the first servo motor 53 controls the first guide rail 52 to move the power output end 51 of the drive motor 5 towards the coupling body 31 and finally engage. After engagement, the second servo motor 55 controls the second guide rail 54 to move the guide pin 57 towards the locking and separating device 15, triggering the locking and separating device 15 to unlock the lifting device 1 from the flipping main shaft 3. At this time, when the drive motor 5 drives the flipping main shaft 3 to rotate, the lifting device 1 does not follow the movement. Only the vehicle body skid 2, which is fixed to the flipping main shaft 3, rotates with it, thus realizing the vehicle body flipping operation.

[0059] In one embodiment, the locking and separating device 15 includes: a locking pin 152, a guide post 151, a locking body 153, and a setting seat 150;

[0060] On one side of the connecting support arm 14, which is rotatably connected to the lifting device 1 and the tilting main shaft 3, there are through holes that can respectively accommodate the locking pin 152, the guide column 151, and the locking body 153; the locking pin 152, the guide column 151, and the locking body 153 are arranged on the mounting base 150 and are respectively inserted into the corresponding through holes; that is, there are three through holes, which are respectively configured to correspond to the locking pin 152, the guide column 151, and the locking body 153;

[0061] A tension spring 154 is fitted around the portion of the locking pin 152, guide post 151, and locking body 153 located between the mounting base 150 and the connecting support arm 14. One end of the tension spring 154 is fixedly connected to the connecting support arm 14, and the other end is fixedly connected to the mounting base 150. The end of the locking body 153 away from the mounting base 150 passes through a locking hole opened on the outer edge of the connecting body 31. When the second servo motor 55 drives the second guide rail 54 to move, the end of the guide post 151 away from the mounting base 150 cooperates with the guide post sleeve 58 fixedly mounted on one side of the guide pin 57 to guide the guide pin 57, so that the guide pin 57 pushes against the locking pin 152. When the guide pin 57 pushes the locking pin 152 away from the connecting body 31, the locking body 153 disengages from the locking hole, completing the separation between the lifting device 1 and the tilting spindle 3. The locking pin 152 is positioned between the guide post 151 and the locking body 153 to achieve force balance on both sides when the guide pin 57 pushes the locking pin 152, preventing jamming due to offset and extending the service life of the locking and separating device 15; in addition, an outer cylinder can be fixedly installed on the side of the connecting support arm 14 away from the mounting seat 150; the outer cylinder is sleeved on the outer periphery of the guide post 151.

[0062] In one embodiment, the lifting device 1 includes: a crossbar 11, a set of first supports 12 symmetrically arranged on both sides of one end of the crossbar 11, and a set of second supports 13 symmetrically arranged on both sides of the other end of the crossbar 11; the ends of the first supports 12 and the second supports 13 away from the crossbar 11 are respectively fixedly connected to both ends of a connecting support arm 14. Furthermore, reinforcing ribs may be provided in the middle of the first supports 12 and the second supports 13; the two sides of the reinforcing ribs are respectively fixedly connected to the first supports 12 and the second supports 13 to enhance the structural strength of the lifting device 1.

[0063] In one embodiment, the vehicle skid 2 is fixedly connected to the tilting spindle 3 via at least one fixed connection component;

[0064] The fixed connection assembly includes a connecting ring 321, a support column 322, and at least one triangular reinforcing connector 323. The connecting ring 321 is sleeved on the outer periphery of the tilting main shaft 3 and fixedly connected to it. One end of the support column 322 is fixedly connected to the connecting ring 321, and the other end is fixedly connected to the bottom of the vehicle body skid 2. One side of the triangular reinforcing connector 323 located on both sides of the right angle is fixedly connected to the side of the support column 322, and the other side is fixedly connected to the bottom of the vehicle body skid 2. The triangular reinforcing connector 323 adopts a stable triangular structure, which improves the stability of the connection between the vehicle body skid 2 and the tilting main shaft 3.

[0065] In one embodiment, the walking mechanism 4 includes: a set of drive devices 41 symmetrically arranged on the upper surfaces at both ends of the crossbar 11;

[0066] The driving device 41 includes an active unit 411, a driven unit 412, and a carrier 413. The active unit 411 and the driven unit 412 are respectively disposed at both ends of the carrier 413. A carrier seat 414 is sleeved in the middle of the carrier 413. The bottom of the carrier seat 414 is fixedly connected to the crossbar 11. The upper part of the carrier seat 414 is columnar, sleeved in the middle of the carrier 413, and can rotate relative to the carrier 413.

[0067] The active unit 411 includes: a first C-shaped body 4111, an active wheel 4112, a walking drive motor 4113, at least one first guide wheel 4114, and at least one first limiting wheel 4115; the first limiting wheel 4115 is located in the groove of the first C-shaped body 4111 and is close to the side of the track after the first C-shaped body 4111 is engaged with the track; the first guide wheel 4114 cooperates with the guide groove on the track to achieve guidance;

[0068] The driven unit 412 includes: a second C-shaped body 4121, a driven wheel 4122, at least one second guide wheel 4123, and at least one second limiting wheel 4124; the second limiting wheel 4124 is located in the groove of the second C-shaped body 4121 and is close to the side of the track after the second C-shaped body 4121 is engaged with the track; the second guide wheel 4123 cooperates with the guide groove on the track to achieve guidance;

[0069] The bottom of the first C-shaped main body and the second C-shaped main body 4121 are respectively fixedly connected to connecting columns, and the other end of the connecting column passes through one end of the bearing 413 and can rotate relative to the bearing 413.

[0070] In one embodiment, the vehicle body skid 2 includes a support platform and multiple vehicle body connectors. The vehicle body connectors are disposed on the upper surface of the support platform. Each vehicle body connector includes a U-shaped body 21 and locking members 22 symmetrically disposed at both ends of the U-shaped body 21. The lower end of the U-shaped body 21 is rotatably mounted on the support platform via a mounting post 20. The opening formed by the U-shaped body 21 of the vehicle body connector serves as the clamping area for the vehicle body 7. The locking members 22 perform a locking operation on the vehicle body; the locking members 22 can be configured as nut locking, and an elastic material is used on the side closest to the vehicle body. Furthermore, the first pressure sensing unit in the third monitoring module 63 can be embedded in the center of the elastic material.

[0071] In one embodiment, the first monitoring module includes two three-axis gyroscopes disposed at both ends of the crossbar; by monitoring the height and left-right position differences at both ends of the crossbar using the two three-axis gyroscopes, the first attitude of the lifting device can be determined.

[0072] The second monitoring module includes: a three-axis gyroscope set on either of the two sides of the bearing platform away from the main tilting axis; the second attitude of the vehicle skid can be determined by the height difference between the side monitored by the three-axis gyroscope and the initial position (the horizontal state of the vehicle skid);

[0073] The third monitoring module includes a first pressure sensing unit on the locking part and the body joint surface of the U-shaped body of the body connector and / or a second pressure sensing unit on the bottom end of the opening of the U-shaped body of the body connector.

[0074] Since there are multiple connection points between the vehicle body skid and the vehicle body (i.e., multiple vehicle body connectors), equipping each connector with a first and second pressure sensing unit would increase costs. Therefore, selective configuration is necessary to achieve good monitoring performance. The specific selection principles are as follows: Since the edge of the vehicle body contacting the skid can be approximated as a square, the connectors can be arranged in two directions, forming a group. Using the distance between the connector and the main tilting axis as a guide, the connector with the furthest distance is selected. One connector can be chosen from each direction, so each group only needs to have the first and second pressure sensing units configured on two connectors. Furthermore, the line connecting the two connectors in each group forms a certain angle with the main tilting axis; this angle is neither zero nor 90 degrees.

[0075] To achieve a more secure connection between the vehicle body and the vehicle body skid, the vehicle body connector can be finely adjusted to form a vehicle body fixing seat. The vehicle body fixing seat includes a U-shaped body and locking bolts. The locking bolts pass through the locking holes provided in the U-shaped body and the vehicle body, locking the vehicle body in the opening of the U-shaped body. The vehicle body fixing seat can replace the vehicle body connector whose opening direction is perpendicular to the flipping main shaft and is the closest to it to achieve a more secure connection between the vehicle body and the vehicle body skid.

[0076] To ensure controllable stability of the track-type traveling mechanism during travel and vehicle skid tilting, a guide rail is installed on one side of the vehicle skid perpendicular to the tilting axis, with a counterweight sliding on the guide rail. The adjustable position of the counterweight on the guide rail allows for adjustable and controllable balance of the vehicle skid under different conditions, further ensuring stability during transportation and tilting operations. Furthermore, counterweight adjustment during transportation further stabilizes the vehicle skid, resulting in more stable force on the locking and separating device and extending its service life.

[0077] The present invention also provides an intelligent control method, applied to any of the above-mentioned tiltable vehicle self-propelled transport mechanisms, comprising:

[0078] During the transport operation of the self-propelled vehicle body transport mechanism, features are extracted from the first posture, second posture, and connection data. The extracted first feature parameters are arranged in order to form a first set of analysis parameters. The first posture is characterized by the height deviation at both ends of the crossbar and the left and right deviation in the horizontal direction; the second posture is characterized by the height deviation of the edge of the vehicle body skid relative to the initial state (when the vehicle body skid is horizontal); and the connection data is characterized by the pressure at the bottom end and / or side of the opening of the U-shaped body of the vehicle body connector. The first feature parameters extracted from these data include: feature parameters representing the current amount and trend of height deviation in the first posture, feature parameters representing the current amount and trend of left and right deviation in the first posture, feature parameters representing the current amount and trend of height deviation in the second posture, and feature parameters representing the current amount and trend of pressure in the connection situation. The trend can be obtained by comprehensively analyzing the current data and the previous preset number of data. The time interval between each data is the same, and the vector obtained by arranging the deviation of adjacent data in order can be used as the feature parameter corresponding to the trend. Then, the first set of analysis parameters is constructed by extracting and arranging the data in the vector.

[0079] Based on the first set of analysis parameters, the first risk analysis results are retrieved from the pre-configured walking analysis library. The walking analysis library is pre-analyzed and configured by professionals, and the first risk analysis results are associated with the first set of analysis parameters in a one-to-one correspondence. The first risk analysis results include: risk values ​​characterizing the risk assessment of the separation between the vehicle body and the vehicle body skid; the higher the risk value, the higher the risk of separation.

[0080] When the first risk analysis result meets the pre-configured first trigger condition, the self-propelled transport mechanism of the tilting vehicle is controlled to reduce the conveying speed; wherein, the control of reducing the conveying speed can be set with a step size for reducing the speed; when the first trigger condition is met continuously, the speed is reduced by the same step size each time it is triggered;

[0081] When the result of the first risk analysis meets the pre-configured second trigger condition, the self-propelled vehicle body tilting mechanism is controlled to stop moving.

[0082] This embodiment analyzes the first posture, second posture, and connection data using a pre-configured walking analysis library to determine the analysis status, i.e., the first risk analysis result. The first risk analysis result characterizes the risk of the car body and the car body skid disengaging during transport on the track. The risk value can be used for quantitative assessment. The first triggering condition can be triggered when it is greater than or equal to the first risk threshold. The second triggering condition can be triggered when it is greater than or equal to the second risk threshold. The first risk threshold is less than the second risk threshold. The handling strategy for low risk is to reduce the transport speed. The handling strategy for high risk is to stop the machine.

[0083] In one embodiment, the intelligent control method further includes:

[0084] When the self-propelled vehicle body tilting mechanism is tilting, features are extracted from the second posture and connection data. The extracted second feature parameters are arranged in order to form a second set of analysis parameters. During the tilting operation, the vehicle is detached from the spreader, so the first posture of the spreader does not need to be considered. The second feature parameters include: feature parameters representing the current amount and trend of height deviation in the second posture, and feature parameters representing the current amount and trend of pressure in the connection situation. The trend can be obtained by comprehensively analyzing the current data and the previous preset number of data. The time interval between each data point is the same, and the vector obtained by arranging the deviation of adjacent data in order can be used as the feature parameter corresponding to the trend. Then, the second set of analysis parameters is constructed by extracting and arranging the data in the vector.

[0085] Based on the second set of analysis parameters, the second risk analysis results are retrieved from the pre-configured rollover analysis library. The rollover analysis library is pre-configured by professionals, and the second risk analysis results are associated with the second set of analysis parameters in a one-to-one correspondence. The second risk analysis results include: the risk value and risk direction of the risk assessment characterizing the separation between the vehicle body and the vehicle body skid; the higher the risk value, the higher the separation risk.

[0086] When the result of the second risk analysis meets the pre-configured third trigger condition, the drive motor is controlled to stop working;

[0087] When the second risk analysis result meets the pre-configured fourth trigger condition, the drive motor is controlled to accelerate in the direction of the risk identified in the second risk analysis result. This acceleration can be controlled by configuring an acceleration step size; during acceleration, the speed is increased by one acceleration step size from the original speed. To better handle risks, the acceleration step size can be configured to be related to the risk value, i.e., the value of the acceleration step size can be retrieved from the risk value using a pre-configured control table; in this table, the acceleration step size and the risk value are correlated one-to-one.

[0088] During a rollover, risk assessment involves not only evaluating the risk value but also assessing the direction of the risk. Furthermore, the handling strategies differ: low-risk situations require stopping the machine, while high-risk situations require accelerating rotation. Accelerating rotation is used because disengagement only occurs in the direction of rotation; accelerating rotation allows the skid to re-engage with the vehicle body, and after rotating at an angle, the risk may decrease. The difference between the third and fourth triggering conditions lies in the risk threshold; the third risk threshold for the third triggering condition is less than or equal to the fourth risk threshold for the fourth triggering condition.

[0089] In one embodiment, the intelligent control method for a self-transporting vehicle body that has a guide rail arranged on one side of the vehicle body skid perpendicular to the tilting main shaft, and a counterweight slidably mounted on the guide rail, further includes:

[0090] When the self-propelled vehicle body transport mechanism is in operation, after the emergency control is triggered when the first risk analysis result meets the pre-configured first trigger condition, or when the first risk analysis result meets the pre-configured second trigger condition, the pre-configured first counterweight adjustment table is queried through the risk value in the first risk analysis result to determine the adjustment method and direction of the counterweight, and after automatic adjustment, the transport is restarted.

[0091] When the self-propelled vehicle body is performing a flipping operation, after the emergency control is triggered when the second risk analysis result meets the pre-configured fourth trigger condition, and the vehicle flips to a horizontal plane, it queries the pre-configured second counterweight adjustment table based on the historical maximum value of the risk value in the second risk analysis result, determines the adjustment method and direction of the counterweight, performs automatic adjustment, and then restarts the flipping operation.

[0092] The first and second counterweight adjustment tables are designed to adapt to the conveying operation and the overturning operation, respectively, and are analyzed and configured by professionals. The risk values, adjustment methods, and adjustment directions of the counterweights in the first and second counterweight adjustment tables are correlated.

[0093] To achieve real-time updates of the first and second counterweight adjustment tables, historical operational data can be analyzed to assess changes in risk after adjustments, providing feedback. Automatic adjustments are then performed via a pre-configured automatic adjustment table. Specifically, the feedback analysis is based on comparing the risk value changes of data groups with no changes in the first and second postures before and after adjustment. The automatic adjustment table is queried based on these risk value changes to obtain the appropriate adjustment value. For accurate automatic adjustments, a preset number (at least three) of trigger adjustment data points at the same location are required. The risk value changes of each data point are averaged, and the averaged data is then used to query the automatic adjustment table.

[0094] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An intelligent control method for a self-propelled transport mechanism with a tilting vehicle body, characterized in that, include: When the self-propelled transport mechanism with a flip-top body is in operation, features are extracted from the first posture, the second posture, and the connection data. The first feature parameters obtained from the feature extraction are arranged in order to form the first set of analysis parameters. Based on the first set of analysis parameters, retrieve the first risk analysis results from the pre-configured walk analysis library; When the result of the first risk analysis meets the pre-configured first trigger condition, control the tiltable vehicle self-transport mechanism to reduce the transport speed; When the result of the first risk analysis meets the pre-configured second trigger condition, control the tiltable vehicle self-transport mechanism to stop moving; A self-propelled vehicle body transport mechanism with a tilting mechanism includes a lifting device, a vehicle body skid, a tilting spindle, and a traveling mechanism. The tilting spindle is fixedly connected to the vehicle body skid and rotatably connected to the lifting device. The tilting spindle is locked and separated from the lifting device via a locking and separating device. A coupling body is provided on one side of the tilting spindle to engage with the power output end of a drive motor located at a workstation. It also includes: The first monitoring module is used to monitor the first attitude of the spreader; The second monitoring module is used to monitor the second attitude of the vehicle skid. The third monitoring module is used to monitor the connection data of the connection between the vehicle body and the vehicle body skid, which is set on the vehicle body skid. The control module sends the first posture, the second posture, and connection data to the drive controller and / or control platform of the drive motor via the communication module; The drive motor is mounted on the first guide rail; the first guide rail is mounted on the base; a frame is mounted on the base and near the drive motor; a second guide rail is mounted on the frame; the first servo motor drives the first guide rail to engage and disengage the power output end of the drive motor from the coupling body; the second servo motor drives the second guide rail to move the guide pin located on the second guide rail toward the locking and disengaging device and to achieve the locking and disengaging action of the locking and disengaging device between the tilting spindle and the lifting device. The locking and separating device includes: a locking pin, a guide post, a locking body, and a setting seat; On one side of the connecting support arm that rotatably connects the lifting device and the tilting spindle, there are through holes that can respectively accommodate the locking pin, the guide column, and the locking body; the locking pin, the guide column, and the locking body are arranged on the mounting base and are respectively inserted into the corresponding through holes; A tension spring is fitted around the outer periphery of the portion of the locking pin, guide column, and locking body located between the mounting base and the connecting support arm. One end of the tension spring is fixedly connected to the connecting support arm, and the other end is fixedly connected to the mounting base. The end of the locking body away from the mounting base passes through a locking hole opened on the outer edge of the connecting body. When the second servo motor drives the second guide rail, the end of the guide column away from the mounting base cooperates with the guide column sleeve fixedly mounted on one side of the guide pin to guide the guide pin, so that the guide pin pushes against the locking pin. When the guide pin pushes the locking pin away from the connecting body, the locking body disengages from the locking hole, completing the separation between the lifting device and the tilting spindle. The first monitoring module includes two three-axis gyroscopes installed at both ends of the crossbar; The second monitoring module includes: a three-axis gyroscope set on either of the two sides of the bearing platform away from the rotating spindle; The third monitoring module includes a first pressure sensing unit for the locking component and the body mating surface on the U-shaped body of the body connector and / or a second pressure sensing unit for the bottom end of the opening of the U-shaped body of the body connector. Also includes: When the self-propelled transport mechanism with a rollover body is performing a rollover operation, features are extracted from the second posture and connection data respectively, and the second feature parameters obtained from the feature extraction are arranged in order to form a second set of analysis parameters; Based on the second set of analysis parameters, retrieve the second risk analysis results from the pre-configured flip analysis library; When the result of the second risk analysis meets the pre-configured third trigger condition, the drive motor is controlled to stop working; When the result of the second risk analysis meets the pre-configured fourth trigger condition, the drive motor is controlled to accelerate in the direction of the risk in the second risk analysis result.

2. The intelligent control method for the tiltable vehicle self-propelled transport mechanism as described in claim 1, characterized in that, The lifting device includes: a crossbar, a set of first supports symmetrically arranged on both sides of one end of the crossbar, and a set of second supports symmetrically arranged on both sides of the other end of the crossbar; the ends of the first and second supports away from the crossbar are respectively fixedly connected to the two ends of the connecting support arm.

3. The intelligent control method for the tiltable vehicle self-propelled transport mechanism as described in claim 1, characterized in that, The vehicle body skid is fixedly connected to the tilting spindle via at least one fixed connection component; The fixed connection assembly includes: a connecting ring, a support column, and at least one triangular reinforcing connector; the connecting ring is sleeved on the outer periphery of the flipping main shaft and fixedly connected to the flipping main shaft; one end of the support column is fixedly connected to the connecting ring, and the other end is fixedly connected to the bottom of the vehicle body skid; one of the two sides of the triangular reinforcing connector located on both sides of the right angle is fixedly connected to the side of the support column, and the other side is fixedly connected to the bottom of the vehicle body skid.

4. The intelligent control method for the tiltable vehicle self-propelled transport mechanism as described in claim 1, characterized in that, The traveling mechanism includes: a set of drive devices symmetrically arranged on the upper surfaces at both ends of the crossbar; The driving device includes an active unit, a driven unit, and a carrier; the active unit and the driven unit are respectively located at both ends of the carrier; a carrier seat is sleeved in the middle of the carrier; the bottom of the carrier seat is fixedly connected to the crossbar; the upper part of the carrier seat is columnar, sleeved in the middle of the carrier, and can rotate relative to the carrier; The active unit includes: a first C-shaped body, an active wheel, a walking drive motor, at least one first guide wheel, and at least one first limiting wheel; the first limiting wheel is located in the groove of the first C-shaped body and close to the side of the track after the first C-shaped body is engaged with the track; the first guide wheel cooperates with the guide groove on the track to achieve guidance; The driven unit includes: a second C-shaped body, a driven wheel, at least one second guide wheel, and at least one second limiting wheel; the second limiting wheel is located in the groove of the second C-shaped body and is close to the side of the track after the second C-shaped body is engaged with the track; the second guide wheel cooperates with the guide groove on the track to achieve guidance; The bottom of the first C-shaped main body and the second C-shaped main body are respectively fixedly connected to connecting columns, and the other end of the connecting column passes through one end of the carrier and can rotate relative to the carrier.

5. The intelligent control method for the tiltable vehicle self-propelled transport mechanism as described in claim 1, characterized in that, The vehicle body skid includes: a support platform and multiple vehicle body connectors; the vehicle body connectors are disposed on the upper surface of the support platform; the vehicle body connectors include: a U-shaped main body and locking components symmetrically disposed at both ends of the U-shaped main body; the lower end of the U-shaped main body is rotatably disposed on the support platform via a mounting column.

Images