In-plant transfer vehicle for hectometer-level blade parts

Abstract

The invention discloses an in-plant transfer vehicle for hectometer-level blade parts, and relates to the technical field of heavy tool transportation equipment. The in-plant transfer vehicle comprises a main beam frame which is of an integrated rigid long beam structure; the bearing plates are welded to the top of the main beam frame at intervals and used for bearing workpieces to be transferred; the two sets of power units are fixedly mounted at the two ends of the main beam frame respectively; the walking wheels are arranged in the length direction of the main beam frame and installed at the bottom of the main beam frame; the hydraulic steering assemblies are arranged on the main beam frame at intervals, are connected through a hydraulic pipeline I and independently drive each group of walking wheels to steer; through combination of the integrated rigid frame and the all-wheel independent drive steering system and cooperative control of the dual-power unit, high stability and high coordination of the super-long component in the in-plant transfer process are achieved, the structural safety of a workpiece is effectively protected, and the transfer efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of heavy-duty tooling transportation equipment technology, specifically to a vehicle used for in-plant transfer of 100-meter-class blade components. Background Technology

[0002] As wind turbine blades become larger, reaching lengths of hundreds of meters, the length of their core components (such as the main beam and web) also increases accordingly, typically exceeding one hundred meters. These components are characterized by their extra-long dimensions, relatively low stiffness (belonging to semi-rigid bodies), and high requirements for stable transportation. Currently, for short-distance in-plant transfers of such extra-long components, multi-section assembled rail flatbed trucks or a transportation method involving multiple independently driven vehicles working together to tow them is commonly used.

[0003] However, when transporting ultra-long, semi-rigid blade components, the existing technologies mentioned above, which use multiple vehicle segments or multiple vehicles working together, may amplify these minor inconsistencies in long-distance transport due to slight relative displacements or asynchronous movements at the connection points between segments or vehicles. This can cause the transported blade components to be subjected to additional alternating stress, which may affect their structural reliability in the long run, and may even cause flutter or local overstress damage during transport. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle for in-plant transfer of 100-meter-long blade components, in order to solve the problems in the prior art caused by the segmentation of transfer equipment or the coordination of multiple vehicles, which can lead to uncoordinated movements and uneven stress and damage to the transferred ultra-long components.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a vehicle for in-plant transport of 100-meter-class blade components, including a main beam frame, which is an integrated rigid long beam structure;

[0006] Bearing plates are welded at intervals to the top of the main beam frame to support the workpieces to be transferred;

[0007] The power unit consists of two sets, which are fixedly installed at both ends of the main beam frame;

[0008] The traveling wheels are configured in multiple sets and arranged along the length of the main beam frame, and are installed at the bottom of the main beam frame;

[0009] A hydraulic steering assembly is spaced out on the main beam frame and is connected via hydraulic lines to independently drive each set of the traveling wheels for steering.

[0010] The hydraulic drive assembly consists of two sets, driven by the power unit and connected to the walking wheels via hydraulic pipeline two.

[0011] An electrical control system is installed on the main beam frame. The electrical control system includes two control cabinets corresponding to the power units at both ends. The two control cabinets are communicatively connected and are used to coordinate the power output of the two power units, as well as the steering and driving operations of the hydraulic steering assembly and hydraulic drive assembly on each set of the traveling wheels.

[0012] Furthermore, the main beam frame is made of T700L high-strength, low-carbon, easy-to-weld steel plate, with a length of not less than 100 meters. The middle section of the main beam frame is a rigid integral structure, while the two ends are detachable structures. Connecting plates are welded to both ends of the main beam frame, and the connecting plates are made of steel plates. Inclined reinforcing beams are welded to both sides of the main beam frame.

[0013] Furthermore, the bearing plate is a rectangular square tube, the length of the bearing plate is greater than the width of the main beam frame, the top of the bearing plate is provided with spaced positioning posts, the top of the bearing plate is covered with a buffer protective layer, the buffer protective layer is provided with holes that cooperate with the positioning posts, and the top of the buffer protective layer is also provided with anti-slip layers spaced along its length.

[0014] Furthermore, the power unit is a silent diesel engine unit, with both ends of the unit operating in parallel, and their power is output synchronously after being combined through the control cabinet.

[0015] Furthermore, the hydraulic steering assembly includes a support frame, a mounting plate, a steering column, a hydraulic control valve, a steering hydraulic actuator, a drive sprocket, and a linkage chain. The support frame is welded to both sides of the main beam frame, the steering column is rotatably connected to the support frame, the drive sprocket is fixedly connected to the steering column, and the vertical cross-section of the mounting plate is a concave shape with an opening facing downwards.

[0016] Furthermore, the steering column is fixedly connected to the top plate of the mounting plate, the travel wheel is installed in the recess of the mounting plate, the steering hydraulic actuator is installed on the steering column and used to drive its rotation, one end of the hydraulic control valve is connected to the steering hydraulic actuator, and the other end is connected to the hydraulic pipeline.

[0017] Furthermore, the linkage chain is sleeved on each of the drive sprockets corresponding to the same group of walking wheels, and a support frame is welded on the main beam frame.

[0018] Furthermore, the hydraulic drive assembly includes a drive hydraulic actuator, a reducer, a power sprocket, and a drive chain. The reducer is mounted on the side wall of the mounting plate near the main beam frame. The two power sprockets are respectively connected to the output shaft of the reducer and the travel axle of the travel wheel. The drive chain is sleeved on the two power sprockets. The output shaft of the drive hydraulic actuator is connected to the input shaft of the reducer via a coupling. The second hydraulic line is connected to the drive hydraulic actuator.

[0019] Furthermore, the walking wheels consist of eight sets, each set containing two tires, with each tire bearing a load of no less than 1.5 tons. The hydraulic lines one and two use 32mm seamless steel pipes or high-pressure oil pipes.

[0020] Furthermore, it also includes a safety system, which includes a bumper located at the front of the vehicle in the direction of travel, infrared obstacle avoidance sensors installed at both ends of the vehicle, an audible and visual alarm device, and reflective markings affixed to the vehicle body.

[0021] Compared with existing technologies, this invention provides a vehicle for in-plant transport of 100-meter-long blade components. By employing an integrated rigid long-beam frame as the core load-bearing foundation, it avoids the unavoidable relative displacement problems at connection points when multiple vehicle sections are spliced ​​or multiple vehicles are transported collaboratively. The power units at both ends are coordinated and controlled by a control cabinet connected via communication, ensuring a high degree of synchronization and balance in the power output of the entire ultra-long vehicle. Combined with hydraulic drive and steering components to drive and steer the wheels, the entire vehicle can move as a rigid motion unit in a coordinated manner during straight-line travel and cornering. This effectively prevents minor deviations from being amplified into alternating stresses or localized overloads on the transported ultra-long, semi-rigid blade components due to uncoordinated movements of the equipment during long-distance transport. This effectively reduces the risk of flutter, torsion, or internal damage to the components during transport, ensuring the safety and structural integrity of ultra-large workpieces during transportation.

[0022] Meanwhile, this design allows the vehicle to flexibly adapt to turning and U-turns within the limited space of the factory. The independent steering function of each wheel reduces the turning radius and tire slippage wear, improving transfer efficiency. The vehicle has good structural rigidity, uniform load distribution, and stable and reliable operation, making it particularly suitable for the efficient and safe transfer of large components such as hundred-meter-long wind turbine blades within the factory, where stringent requirements for transport stability are placed. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0024] Figure 1 This is a schematic diagram of the overall structure of an in-plant transport vehicle for 100-meter-class blade components provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the main beam frame and running wheels and other components provided in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram showing the disassembled structure of components such as the support plate and anti-slip layer provided in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of components such as the hydraulic steering assembly provided in an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of components such as the hydraulic drive assembly provided in an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the supporting frame and linkage chain components provided in an embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Main beam frame; 2. Load-bearing plate; 3. Power unit; 4. Running wheels; 5. Hydraulic pipeline one; 6. Hydraulic pipeline two; 7. Control cabinet; 8. Connecting plate; 9. Reinforcing beam; 10. Positioning column; 11. Buffer protection layer; 12. Anti-slip layer; 13. Support frame; 14. Mounting plate; 15. Steering column; 16. Hydraulic control valve; 17. Steering hydraulic actuator; 18. Drive sprocket; 19. Linkage chain; 20. Support frame; 21. Drive chain; 22. Audible and visual alarm device; 23. Drive hydraulic actuator; 24. Reducer; 25. Power sprocket. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0033] As attached Figure 1 To be continued Figure 6 As shown:

[0034] Example:

[0035] This invention provides a vehicle for in-plant transport of 100-meter-class blade components, including a main beam frame 1, which is an integrated rigid long beam structure;

[0036] The bearing plate 2 is welded at intervals to the top of the main beam frame 1 to support the workpiece to be transferred;

[0037] The power unit 3 consists of two sets, which are respectively fixedly installed at both ends of the main beam frame 1;

[0038] The traveling wheels 4 are configured in multiple sets and arranged along the length of the main beam frame 1, and are installed at the bottom of the main beam frame 1;

[0039] A hydraulic steering assembly is spaced out on the main beam frame 1, connected via hydraulic line 5 and independently drives each set of the traveling wheels 4 to steer;

[0040] The hydraulic drive assembly consists of two sets, driven by the power unit 3 and connected to the walking wheels 4 via hydraulic pipeline 6.

[0041] An electrical control system is installed on the main beam frame 1. The electrical control system includes two control cabinets 7 corresponding to the power units 3 at both ends. The two control cabinets 7 are connected in communication and are used to coordinate the power output of the two power units 3, as well as the steering and driving operations of the hydraulic steering assembly and hydraulic drive assembly on each set of walking wheels 4.

[0042] It should be noted that by adopting an integrated rigid long beam structure as the main beam frame 1 as the core load-bearing foundation, the relative displacement problem at connection points, which is unavoidable when splicing multiple car body sections or coordinating the transport of multiple vehicles, is avoided. The power units 3 at both ends are coordinated and controlled by a control cabinet 7 connected via communication, ensuring a high degree of synchronization and balance in the power output of the entire ultra-long car body. Combined with hydraulic drive and steering components, the driving and steering control of the wheels 4 allows the entire vehicle to move as a rigid motion unit in a coordinated manner during straight-line travel and cornering. This effectively prevents minor deviations from being amplified into alternating stresses or localized overloads on the transported ultra-long, semi-rigid blade components due to uncoordinated movements of the equipment during long-distance transport. This effectively reduces the risk of flutter, torsion, or internal damage to components during transport, ensuring the safety and structural integrity of ultra-large workpieces during transportation.

[0043] Meanwhile, this design allows the vehicle to flexibly adapt to turning and U-turns within the limited space of the factory. The independent steering function of each wheel reduces the turning radius and tire slippage wear, improving transfer efficiency. The vehicle has good structural rigidity, uniform load distribution, and stable and reliable operation, making it particularly suitable for the efficient and safe transfer of large components such as hundred-meter-long wind turbine blades within the factory, where stringent requirements for transport stability are placed.

[0044] Additionally, the two control cabinets 7 are connected via a real-time communication network (such as a CAN bus). One of them is designated as the master controller, responsible for receiving operating commands, calculating the power and steering parameters required by the vehicle, and sending the allocated power commands and steering commands for each wheel to the other slave controller and the local hydraulic valve group. The master and slave controllers continuously exchange status information such as engine speed and hydraulic system pressure. Through PID or fuzzy control algorithms, the load distribution of the two power units 3 is dynamically adjusted to ensure synchronous operation.

[0045] Specifically: The output shaft of the power unit 3 is connected to a hydraulic pump to provide pressurized oil for the entire hydraulic system. The hydraulic system includes a main pressure oil circuit, a steering control circuit, and a drive control circuit. The steering control circuit is equipped with electro-hydraulic proportional steering valves (i.e., hydraulic control valves 16) corresponding to each set of wheels 4. The inlet of the hydraulic control valve 16 is connected to the main pressure oil circuit, the outlet is connected to the steering hydraulic actuator 17, and the control signal terminal is connected to the electrical control system. The drive control circuit is equipped with electro-hydraulic proportional speed regulating valves corresponding to each wheel 4. The inlet of the electro-hydraulic proportional speed regulating valve is connected to the main pressure oil circuit, the outlet is connected to the drive hydraulic actuator 23, and the control signal terminal is connected to the electrical control system. The electrical control system achieves independent and precise control of the steering angle and drive speed of the wheels 4 by controlling the opening and direction of each electro-hydraulic proportional valve.

[0046] The two control cabinets 7 communicate in real time via a CAN bus. The collaborative control logic includes: a speed synchronization module, which uses the operating lever signal received by the main control cabinet as the target vehicle speed and adjusts the speed of the diesel generator sets at both ends and the displacement of the pumps through a PID algorithm to make the actual vehicle speed follow the target value; a steering coordination module, which calculates the theoretical steering angle of each wheel based on the target turning radius and the vehicle wheelbase, and generates commands to send to each hydraulic control valve 16; and a drive anti-slip module, which compares the speed of each wheel and adjusts the electro-hydraulic proportional speed control valve of the drive circuit of the wheel with abnormal speed to prevent slippage or stalling.

[0047] To further explain: the present invention provides 8 traveling wheels 4 on each side of the main beam frame 1, for a total of 16 traveling wheels 4. The number of hydraulic steering components is 8 sets. One set of hydraulic steering components controls two traveling wheels 4 along the width direction of the main beam frame 1, and the two traveling wheels 4 along the width direction of the main beam frame 1 are turned synchronously through the hydraulic steering components.

[0048] There are two sets of hydraulic drive components. One set of hydraulic drive components controls eight traveling wheels 4. At this time, the main beam frame 1 is divided into a front half and a rear half along its length. One set of hydraulic drive components controls the eight traveling wheels 4 in the front half, and the other set of hydraulic drive components controls the eight traveling wheels 4 in the rear half. Compared with using one set of hydraulic drive components, the delay caused by controlling all traveling wheels 4 at the same time can be avoided, which would cause the traveling wheels 4 at both ends to be out of sync. Using two sets further improves the stability of the synchronous movement of the traveling wheels 4.

[0049] Meanwhile, a separator connected by bolts is also installed on the hydraulic drive assembly. When the hydraulic system fails, the bolts can be removed and the separator can be moved so that it no longer cooperates with the reducer 24, so that the front or rear half of the traveling wheel 4 is no longer affected by the hydraulic system and becomes idle. At this time, the main beam frame 1 can also be moved manually to a suitable position, which is simple and flexible.

[0050] In this embodiment: the main beam frame 1 is made of T700L high-strength low-carbon easy-to-weld steel plate, with a length of not less than 100 meters. The middle section of the main beam frame 1 is a rigid integral structure, and the two ends are detachable structures. Connecting plates 8 are welded to both ends of the main beam frame 1. The connecting plates 8 are made of steel plate. Inclined reinforcing beams 9 are welded to both sides of the main beam frame 1.

[0051] It should be noted that the T700L steel plate possesses excellent strength and weldability, meeting the stringent requirements of ultra-long frames for overall rigidity and ensuring minimal deformation under full load. The central section is a rigid integral structure, crucial for preventing harmful relative displacement when the vehicle body carries ultra-long workpieces. Both ends are designed as detachable structures, reliably connected via connecting plates 8. This facilitates manufacturing, transportation, and access to confined workshops, while also ensuring a stable overall structure with the central section after assembly. The inclined reinforcing beams 9 on both sides form a stable truss structure, effectively improving the bending and torsional stiffness of the main beam frame 1 and resulting in a more even load distribution.

[0052] In this embodiment: the bearing plate 2 is a rectangular square tube, the length of the bearing plate 2 is greater than the width of the main beam frame 1, the top of the bearing plate 2 is provided with spaced positioning posts 10, the top of the bearing plate 2 is covered with a buffer protective layer 11, the buffer protective layer 11 is provided with holes that cooperate with the positioning posts 10, and the top of the buffer protective layer 11 is also provided with anti-slip layers 12 spaced along its length.

[0053] It should be noted that the rectangular tube structure of the load-bearing plate 2 combines load-bearing capacity with self-weight control. The positioning post 10 can be used to initially limit the lateral movement of the workpiece, preventing lateral slippage during start-up or braking. The buffer protective layer 11 (such as a high-density rubber pad) is fixed to the positioning post 10 through holes, absorbing minor vibrations generated during vehicle movement, providing flexible support for vibration-sensitive blade components, and reducing the risk of damage. The top anti-slip layer 12 (such as a textured rubber sheet or coating) increases the coefficient of friction with the contact surface of the workpiece, further preventing longitudinal or lateral slippage of the workpiece during transportation and improving loading stability.

[0054] In this embodiment: the power unit 3 is a silent diesel engine unit, and the two ends of the unit operate in parallel. Their power is combined and output synchronously after being controlled by the control cabinet 7.

[0055] It should be noted that using a silent diesel generator set can reduce noise pollution when operating indoors or in a factory environment. Setting up two generator sets in parallel operation provides ample traction and hydraulic power redundancy, and also improves weight distribution by distributing them at both ends of the vehicle body. The two control cabinets 7 exchange information such as speed and load in real time via communication (e.g., CAN bus), and use master-slave control or power balancing algorithms to coordinate the output of the two generator sets, making them work like a single power source. This avoids potential vehicle body torsional deformation or drive wheel slippage caused by asynchronous power at both ends.

[0056] In this embodiment: the hydraulic steering assembly includes a support frame 13, a mounting plate 14, a steering column 15, a hydraulic control valve 16, a steering hydraulic actuator 17, a drive sprocket 18, and a linkage chain 19. The support frame 13 is welded to both sides of the main beam frame 1. The steering column 15 is rotatably connected inside the support frame 13. The drive sprocket 18 is fixedly connected to the steering column 15. The vertical section of the mounting plate 14 is a concave shape with an opening facing downwards.

[0057] It should be noted that the support frame 13 serves as the mounting base for the steering mechanism, transmitting steering forces to the robust main beam frame 1. The steering column 15 is the core rotating component for steering. The concave structure of the mounting plate 14 provides a stable mounting space for the wheels 4, with its top plate connecting to the steering column 15 and the side plates providing additional support. The drive sprocket 18 and the linkage chain 19 (mentioned later) constitute a mechanical synchronization mechanism, ensuring that the steering angles of the two wheels 4 in the same group are absolutely consistent. This is crucial for achieving precise steering and avoiding abnormal tire wear.

[0058] In this embodiment: the steering column 15 is fixedly connected to the top plate of the mounting plate 14, the traveling wheel 4 is installed in the recess of the mounting plate 14, the steering hydraulic actuator 17 is installed on the steering column 15 and used to drive its rotation, one end of the hydraulic control valve 16 is connected to the steering hydraulic actuator 17, and the other end is connected to the hydraulic pipeline 5.

[0059] It should be noted that the steering column 15 is fixedly connected to the mounting plate 14, so that when the steering hydraulic actuator 17 drives the steering column 15 to rotate, it can directly drive the entire mounting plate 14 and the traveling wheels 4 mounted on it to rotate synchronously. The hydraulic control valve 16 receives steering command signals from the electrical control system and precisely controls the flow and direction of hydraulic oil flowing into the steering hydraulic actuator 17 (such as a hydraulic motor or steering cylinder), thereby realizing electro-hydraulic proportional control of the steering angle and steering speed of the traveling wheels 4.

[0060] In this embodiment: the linkage chain 19 is sleeved on each of the drive sprockets 18 corresponding to the same group of walking wheels 4, and a support frame 20 is welded on the main beam frame 1.

[0061] It should be noted that the linkage chain 19 rigidly connects the two drive sprockets 18 in the same group, forcing them to rotate synchronously, thereby ensuring that all the walking wheels 4 in the same group have the same steering angle.

[0062] In this embodiment: the hydraulic drive assembly includes a drive hydraulic actuator 23, a reducer 24, a power sprocket 25, and a drive chain 21. The reducer 24 is mounted on the side wall of the mounting plate 14 near the main beam frame 1. The two power sprockets 25 are respectively connected to the output shaft of the reducer 24 and the travel axle of the travel wheel 4. The drive chain 21 is sleeved on the two power sprockets 25. The output shaft of the drive hydraulic actuator 23 is connected to the input shaft of the reducer 24 through a coupling. The hydraulic pipeline 6 is connected to the drive hydraulic actuator 23.

[0063] It should be noted that this structure provides an independent "drive unit" for the traveling wheel 4. The hydraulic actuator 23 (a low-speed, high-torque hydraulic motor) serves as the power source, transmitting power to the reducer 24 via a coupling. The reducer 24 increases torque and matches wheel speed. The power output from the reducer 24 is transmitted to the traveling axle of the traveling wheel 4 via the power sprocket 25 and drive chain 21, resulting in a compact and reliable transmission structure. The drive unit is supplied with oil via an independent hydraulic line 26, allowing the electrical control system to independently adjust the driving torque and speed of the wheels by controlling the corresponding hydraulic valves. This is crucial for coordinating the speed difference between the inner and outer wheels when cornering, preventing slippage, and achieving smooth steering.

[0064] In this embodiment: there are eight sets of walking wheels 4, each set containing two tires, and each tire can bear a load of not less than 1.5 tons. The hydraulic pipeline 5 and the hydraulic pipeline 6 are made of 32mm seamless steel pipes or high-pressure oil pipes.

[0065] It should be noted that the arrangement of eight groups of sixteen tires distributes the weight of the extra-long workpiece over a sufficient ground contact area, reducing the pressure on the ground. The high load-bearing capacity of each tire ensures that the overall load-bearing capacity meets the transportation requirements of 100-meter-class blade components. The hydraulic lines use 32mm large-diameter seamless steel pipes (for fixed parts) or high-pressure oil pipes (for movable connections), which ensures sufficient hydraulic oil flow and low pressure loss during driving and steering actions, ensuring that all hydraulic actuators can simultaneously obtain a fast and stable power response, supporting the coordinated movement of the entire vehicle.

[0066] In this embodiment, a safety system is also included, which includes a bumper located at the front end of the vehicle in the direction of travel, infrared obstacle avoidance sensors installed at both ends of the vehicle, an audible and visual alarm device 22, and reflective markings affixed to the vehicle body.

[0067] It should be noted that the bumper can act as a buffer and protector in the event of a low-speed collision. Infrared obstacle avoidance sensors (or lidar, ultrasonic sensors) monitor obstacles in front of and behind the vehicle in real time, feeding signals back to the electrical control system, which can trigger warnings or automatic deceleration when necessary. The audible and visual alarm device 22 issues a warning when the vehicle starts, turns, or reverses, alerting those nearby. Reflective markings on the vehicle body improve visibility in low-light conditions. These safety devices together constitute a combined active and passive safety protection system, enhancing safety in complex factory environments.

[0068] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A vehicle for in-plant transport of 100-meter-class blade components, characterized in that, include: The main beam frame (1) is an integrated rigid long beam structure; The bearing plate (2) is welded at intervals to the top of the main beam frame (1) to support the workpiece to be transferred; The power unit (3) consists of two sets, which are fixedly installed at both ends of the main beam frame (1); The traveling wheels (4) are configured in multiple sets and arranged along the length of the main beam frame (1), and are installed at the bottom of the main beam frame (1); The hydraulic steering assembly is spaced apart on the main beam frame (1), connected by a hydraulic line (5) and independently drives each set of the walking wheels (4) for steering; The hydraulic drive assembly consists of two sets, driven by the power unit (3), and connected through hydraulic pipeline two (6) to drive the walking wheels (4) to move; An electrical control system is installed on the main beam frame (1). The electrical control system includes two control cabinets (7) corresponding to the power units (3) at both ends respectively. The two control cabinets (7) are connected in communication and are used to coordinate the power output of the two power units (3) and the steering and driving operation of each set of walking wheels (4) by the hydraulic steering component and the hydraulic drive component.

2. The in-plant transport vehicle for 100-meter-class blade components according to claim 1, characterized in that, The main beam frame (1) is made of T700L high-strength low-carbon easy-to-weld steel plate and is no less than 100 meters long. The middle section of the main beam frame (1) is a rigid integral structure and the two ends are detachable structures. The two ends of the main beam frame (1) are respectively welded with connecting plates (8). The material of the connecting plates (8) is steel plate. The two sides of the main beam frame (1) are welded with inclined reinforcing beams (9).

3. The in-plant transport vehicle for 100-meter-class blade components according to claim 1, characterized in that, The bearing plate (2) is a rectangular square tube. The length of the bearing plate (2) is greater than the width of the main beam frame (1). The top of the bearing plate (2) is provided with spaced positioning posts (10). The top of the bearing plate (2) is covered with a buffer protective layer (11). The buffer protective layer (11) is provided with holes that cooperate with the positioning posts (10). The top of the buffer protective layer (11) is also provided with anti-slip layers (12) spaced along its length.

4. A vehicle for in-plant transport of 100-meter-class blade components according to claim 1, characterized in that, The power unit (3) is a silent diesel engine unit. The two units at both ends operate in parallel and their power is output synchronously after being combined through the control cabinet (7).

5. A vehicle for in-plant transport of 100-meter-class blade components according to claim 1, characterized in that, The hydraulic steering assembly includes a support frame (13), a mounting plate (14), a steering column (15), a hydraulic control valve (16), a steering hydraulic actuator (17), a drive sprocket (18), and a linkage chain (19). The support frame (13) is welded to both sides of the main beam frame (1). The steering column (15) is rotatably connected inside the support frame (13). The drive sprocket (18) is fixedly connected to the steering column (15). The vertical section of the mounting plate (14) is a concave shape with an opening facing downwards.

6. A vehicle for in-plant transport of 100-meter-class blade components according to claim 5, characterized in that, The steering column (15) is fixedly connected to the top plate of the mounting plate (14), the walking wheel (4) is installed in the recess of the mounting plate (14), the steering hydraulic drive (17) is installed on the steering column (15) and used to drive it to rotate, one end of the hydraulic control valve (16) is connected to the steering hydraulic drive (17), and the other end is connected to the hydraulic pipeline (5).

7. A vehicle for in-plant transport of 100-meter-class blade components according to claim 5 or 6, characterized in that, The linkage chain (19) is sleeved on each of the drive sprockets (18) corresponding to the same group of walking wheels (4), and a support frame (20) is welded on the main beam frame (1).

8. A vehicle for in-plant transport of 100-meter-class blade components according to claim 5, characterized in that, The hydraulic drive assembly includes a drive hydraulic actuator (23), a reducer (24), a power sprocket (25), and a drive chain (21). The reducer (24) is mounted on the side wall of the mounting plate (14) near the main beam frame (1). The two power sprockets (25) are respectively connected to the output shaft of the reducer (24) and the travel shaft of the travel wheel (4). The drive chain (21) is sleeved on the two power sprockets (25). The output shaft of the drive hydraulic actuator (23) is connected to the input shaft of the reducer (24) through a coupling. The second hydraulic line (6) is connected to the drive hydraulic actuator (23).

9. A vehicle for in-plant transport of 100-meter-class blade components according to claim 1, characterized in that, The walking wheels (4) consist of eight sets, each set containing two tires. Each tire can bear a load of no less than 1.5 tons. The hydraulic pipeline one (5) and hydraulic pipeline two (6) are made of 32mm seamless steel pipes or high-pressure oil pipes.

10. A vehicle for in-plant transport of 100-meter-class blade components according to claim 1, characterized in that, It also includes a safety system, which includes a bumper located at the front of the vehicle in the direction of travel, infrared obstacle avoidance sensors installed at both ends of the vehicle, an audible and visual alarm device (22), and reflective markings affixed to the vehicle body.

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