CN117382901A - Tracking detection transportation device and detection method suitable for gradient of multiple angles - Google Patents

Abstract

The invention discloses a tracking detection transportation device and method adapting to multi-surface gradient, which adapt to the height difference of the multi-surface gradient through sensing the sensing range of different magnetic fluxes of a magnetic nail by a tracking sensor; the common technology of combining active suspension and passive suspension is adopted, the wheel sets are adjusted to adapt to the gradient of a plurality of angles, adapt to the abrupt change condition of the gradient of an upward slope and a downward slope, and ensure the horizontal state of the upper surface of the vehicle body; the multipoint pressure balancing technology ensures that the load stress of the overlength zero and assembly is dispersed and average, and the deformation or overturning of the vehicle body caused by the excessive concentration of the load is prevented. According to the requirements of the ultra-long zero and component transportation process, the inter-factory transfer function is executed, and products are transported in time, so that the purpose of transportation safety is achieved. Can be directly popularized to the transportation and turnover process and the manufacturing field of all special-shaped specification and size components.

Description

Tracking detection transportation device and detection method suitable for gradient of multiple angles

Technical Field

The invention relates to the technical field of transportation of stringers, beam parts and components of an aircraft in the aviation manufacturing industry, in particular to a tracking detection transportation device and a detection method suitable for multi-angle gradients.

Background

In modern aircraft construction, aircraft floor beam products are assembled as an essential component, often as the main carrier component inside the transport aircraft. Floor beam products are typically welded from floor beam parts of different widths. According to the manufacturing process requirements of welding, measuring and the like of the airplane floor beams, the welding seams are required to be detected in all directions after each welding, so that floor beam products need to frequently come and go between welding and detecting workshops.

In the transportation process of floor beam products, not only the traveling, turning and obstacle avoidance of the turnover vehicle are required to be controlled, but also the floor beam products are required to be suitable for a two-sided slope with an inclination angle of 8 degrees outside a factory building; meanwhile, after the floor beam products are transported to the temporary stop area outside the detection factory building by the welding factory building, the floor beam products must be placed on the measuring machine bearing fixture inside the measurement factory building, so that the welded seam of the floor beam is ensured to be in the detection range of the measuring machine. Because the pit with 760mm ground clearance is avoided in the measurement factory building and the inner space of the existing tool for bearing the floor beams is narrow (the width of the height x is 1150mmx1500 mm), the turnover efficiency of floor beam products in each transportation is greatly improved, and meanwhile, the embarrassment that transportation equipment and products interfere with the measurement bearing tool or sink into the pit in the factory building process is avoided.

Disclosure of Invention

The invention aims to provide a device for detecting and transporting the trace of an ultra-long part and a component product, which solves a plurality of problems in the process of transporting the part.

The technical scheme adopted for solving the technical problems is as follows: the utility model provides an adaptation dihedral angle slope seek trace and detect conveyer, contains the transport vechicle, long magnetism nail, short magnetism nail, electrical control system, long magnetism nail and short magnetism nail staggered arrangement are on the route of marcing of transport vechicle, and long magnetism nail and short magnetism nail are preset below the road surface, and the interval between long magnetism nail and the short magnetism nail is not less than 100mm, and the upper induction contact of long, short magnetism nail is parallel and level with ground, and electrical control system controls the transport vechicle and advances to move back along the route that long, short magnetism nail formed, up to the assigned position.

The transport vehicle comprises a plurality of travelling wheel mechanisms, a vehicle body, a plurality of intelligent bearing devices, a follow-up trace finding device, a rear sensor, a front laser lamp, a rear laser lamp and an electrical control system, wherein the vehicle body is a slender rigid body formed by sequentially splicing a vehicle head frame, a first vehicle body main frame, a vehicle body lengthening frame, a second vehicle body main frame and a vehicle tail frame; the inner side of the bottom of the main frame of the first car body is provided with a front fixed plate perpendicular to the axis direction of the car body, a follow-up tracking device is arranged on the front fixed plate and close to one face of the car head, the lower end of the follow-up tracking device is provided with a front sensor, the sensing height of the front sensor is kept at a distance of more than 50mm from the ground, the inner side of the bottom of the main frame of the second car body is provided with a rear fixed plate perpendicular to the axis direction of the car body, the rear sensor is arranged on one face of the rear fixed plate and close to the car tail, the sensing height of the rear sensor is kept at a distance of more than 50mm from the ground, the front sensor and the rear sensor are arranged on a plane parallel to the car body, and when the car body moves, the front sensor and the rear sensor sense magnetic fluxes emitted by long and short magnetic nails under the ground and feed the magnetic fluxes back to an electrical control system through the front sensor and the rear sensor, and the car body is controlled to be transported along a path formed by the long and short magnetic nails; the front laser lamp is arranged on one side of the follow-up trace searching device on the front fixing plate, the rear laser lamp is arranged on one side of the rear sensor on the rear fixing plate, light rays emitted by the front laser lamp and the rear laser lamp are perpendicular to the ground, and a connecting line of central points of two light spots formed on the ground is parallel to the axis of the vehicle body.

The main frame of the vehicle body is mainly used as a vehicle body and is structurally a frame rigid body, one side mounting surface of the main frame of the front vehicle body is fixed with one side mounting surface of the lengthened frame of the vehicle body, the other side mounting surface of the main frame of the rear vehicle body is fixed with the other side mounting surface of the lengthened frame of the vehicle body, the length of the lengthened frame of the vehicle body is customized according to the length of a transported product, the outer side surface of the main frame of the front vehicle body is connected with the tail part of the vehicle head frame, and the outer side surface of the main frame of the rear vehicle body is connected with the tail part of the vehicle tail frame.

The travelling wheel mechanism comprises a wheel mounting plate, suspension springs, an air spring air bag, an air bag lower fixing plate, side guide wheels, rotating bearings, a steering motor, bearing wheels and a travelling motor, wherein the wheel mounting plate is fixed at the lower part of a vehicle body, the wheel mounting plate is a structural rigid body with grooves at two side ends, the two sides of the lower end of the wheel mounting plate are respectively provided with grooves with inward openings, the air spring air bag is positioned right below the center of the wheel mounting plate, the upper end of the air spring air bag is connected with the lower surface of the wheel mounting plate, the lower part of the air spring air bag is connected with the upper surface of the air bag lower fixing plate, the air bag lower fixing plate is a concave rigid body, two side guide wheels are respectively fixed at the upper end and the lower end of the outer side of the air bag, the side guide wheels are clamped and embedded in the grooves at the lower end of the wheel mounting plate, the air bag lower fixing plate floats upwards and downwards along with the compression and extension of the air spring air bag, four suspension springs are respectively fixed between the upper ends of the suspension springs and the lower fixing plate, the lower ends of the suspension springs are fixedly connected with the upper surface of the air bag lower fixing plate, the lower ends of the suspension springs are fixedly move upwards along the vertical direction, the lower ends of the air spring fixing plate are fixedly connected with the upper surfaces of the air bag fixing plate, the rotating bearings are respectively, the rotating bearings are meshed with the rotating bearings, the steering motor is meshed with the bearing wheels, and the bearing wheels are meshed with the rotating bearings, and the bearing wheels are rotatably arranged, and the bearing wheels pass through the rotating bearings and rotate.

The intelligent bearing device comprises brackets, extension boxes, guide rods, linear bearings, bearing fixing seats, a spiral lifter, pressure sensors and a speed reducing motor, wherein the brackets are long groove type rigid bodies and are clamped in corresponding long grooves in the top of a vehicle body, products are placed on the brackets of the intelligent bearing devices, two extension boxes are respectively fixed at two ends of each bracket, the extension boxes can slide along the length direction of the brackets, the extension width of each extension box is adjusted according to the width of the products, the two guide rods are respectively fixed at the lower ends of the brackets close to the two ends, the guide rods penetrate through central holes of the linear bearings along the length direction, the linear bearings are fixed at the upper ends of the bearing fixing seats, the bearing fixing seats are tower type rigid bodies, the lower ends of the bearing fixing seats are fixed in the long grooves through screws, the centers of the lower ends of the brackets are fixed with a pressure sensor, the pressure sensor collects pressure signals from the products and feeds the pressure signals back to an electric control system, the ascending height of each bracket is adjusted through the control of the electric control system, the pressure of the intelligent bearing devices is consistent, the lower ends of the pressure sensor are connected with the output end of the spiral lifter, the spiral lifter can move along the height direction, and the lower end of the spiral lifter is connected with the spiral lifter through the speed reducing motor.

The follow-up tracking device comprises a bottom plate, limiting blocks, limiting plates, a follow-up plate, a front sensor and pulleys, wherein the bottom plate is arranged on a front fixing plate at the bottom of a main frame of a first vehicle body and is close to one face of a vehicle head, a guide rail is fixed in the middle of the front face of the bottom plate and is connected with the sliding block at the back of the follow-up plate, two limiting blocks are respectively fixed on the upper side and the lower side of one side of the front face of the bottom plate to limit the upper floating position and the lower floating position of the follow-up plate, the follow-up plate is an L-shaped rigid body, the lower end of the follow-up plate is fixedly provided with the front sensor, the signal output end of the front sensor is connected into an electric control system, the left side and the right side of the front end of the follow-up plate are respectively provided with the two pulleys to prevent damage caused by too low distance between the front sensor and the ground in the transportation process.

The electric control system comprises a remote controller, a remote control receiver, a vehicle-mounted controller and a driver, wherein an operator controls a remote control panel on the remote controller to transmit command signals, the command signals transmitted by the remote controller are transmitted to the remote control receiver on the vehicle body, the command signals are transmitted to the vehicle-mounted controller through a PROFINET bus, the vehicle-mounted controller converts the command signals into driver signals, and finally the driver signals are transmitted to a walking motor, a steering motor and a gear motor.

The remote control panel of the remote controller is provided with an indicator light display at the upper end, the left and right ends of the middle part respectively control operation rockers for advancing, backing, left turning, right turning, middle turning and the like of the vehicle body, and the lower end is respectively provided with a speed selection switch, an autonomous running mode, a mode switching switch, an intelligent bearing lifting switch, an obstacle detection switch, an illumination switch and an emergency stop switch, wherein the mode switching switch is respectively an autonomous running mode and a tracking mode, and the autonomous running mode is that an operator controls the transport vehicle through operating the remote control panel on the remote controller so as to realize the functions of advancing, backing, left turning, right turning, middle turning and the like of the transport vehicle; the track-seeking mode is to enable the transport vehicle to sense the actual positions of the long and short magnetic nails on the ground through the front track-seeking sensor and the rear track-seeking sensor, feed magnetic flux back to the electric control system through the sensors, and enable the electric control system to automatically align the position of the transport vehicle and run according to a preset running direction.

The method for carrying out trace searching detection by using the device comprises the following specific steps:

the first step: firstly, an operator switches a mode switching knob on a remote control panel of a remote controller to an autonomous running mode, controls a transport vehicle to travel outside a factory building, and adjusts the position of the transport vehicle through the functions of turning, translation, in-situ rotation and the like of the vehicle body, wherein the vehicle head faces the inside of the factory building;

and a second step of: then, by observing the superposition of the light spots irradiated by the front laser lamp and the rear laser lamp and the positions of the long magnetic nails and the short magnetic nails, primarily judging that the extending direction of the vehicle body and the magnetic nails are on the same straight line, and if the positions of the light spots are misplaced, controlling the transport vehicle to adjust to the advancing paths of the long magnetic nails and the short magnetic nails by an operator through a remote control panel on a remote controller;

and a third step of: an operator switches a mode switching knob on a remote control panel of a remote controller to a tracking mode, a transport vehicle senses actual positions of the long and short magnetic nails on the ground through a front tracking sensor and a rear tracking sensor, magnetic flux is fed back to an electric control system through the sensors, and the electric control system automatically aligns the deflection position of the transport vehicle and operates according to a preset travelling direction;

fourth step: the transport device is on an upward slope according to a preset direction, the follow-up tracking device is self-adjusted along with the change of the ground gradient, and the transport vehicle runs along a travelling path until a designated position is stopped;

fifth step: the transport vehicle leaves the factory building and is carried out according to the reverse direction of the step.

The beneficial effects are that: the invention provides a tracking detection transportation device and method adapting to multi-slope, which respectively apply a combined magnetic navigation technology, an active and passive superposition suspension technology and a multipoint pressure balance technology to solve the practical difficulties of overlength zero and assembly entering and exiting a factory building. According to the height difference problem of the ground, long magnetic nails and end magnetic nails are distributed on the same straight line in a crossing mode, and induction ranges of different magnetic fluxes of the magnetic nails are sensed by a tracking sensor so as to adapt to the height difference of the gradient of the multiple angles; the common technology of combining active suspension and passive suspension is adopted, the wheel sets are adjusted to adapt to the gradient of a plurality of angles, adapt to the abrupt change condition of the gradient of an upward slope and a downward slope, and ensure the horizontal state of the upper surface of the vehicle body; the multipoint pressure balancing technology ensures that the load stress of the overlength zero and assembly is dispersed and average, and the deformation or overturning of the vehicle body caused by the excessive concentration of the load is prevented. According to the requirements of the ultra-long zero and component transportation process, the inter-factory transfer function is executed, and products are transported in time, so that the purpose of transportation safety is achieved. Can be directly popularized to the transportation and turnover process and the manufacturing field of all special-shaped specification and size components.

Drawings

FIG. 1 is a schematic diagram of a tracking detection transport device entering and exiting a factory building

FIG. 2 is a schematic diagram of a tracking detection conveyor

FIG. 3 is a schematic view of a running wheel set

FIG. 4 is a schematic view of a modular construction of a transporter body

FIG. 5 is a schematic view of the structure of the intelligent carrying device

FIG. 6 is a schematic diagram of a follow-up tracking device

FIG. 7 is a schematic diagram of the logic of the electrical control system

FIG. 8 is a schematic diagram of a remote control panel

The number in the figure indicates: 1, a transport vehicle; 2 long magnetic nails; 3 short magnetic nails; 4 a travelling wheel mechanism; 5, a vehicle body; 6, an intelligent bearing device; 7 an electrical control system; 8 a follow-up tracking device; 9 front laser lamp; a post 10 laser lamp; a post-11 sensor; 12 wheels of mounting plates; 13 hanging springs; 14 an air spring bladder; 15 an air bag lower fixing plate; 16 side guide wheels; 17 a rotating bearing; 18 steering the motor; 19 bearing wheels; 20 walking motors; a main body frame 21; 22 a vehicle body lengthening frame; 23 headstock frame; 24 tail frames; 25 brackets; 26 an extension box; 27 guide rods; 28 linear bearings; 29 bearing holders; 30 spiral elevator; 31 a pressure sensor; 32 speed reducing motor; 33 a bottom plate; 34 limiting blocks; 35 limit plates; 36 follower plate; a front sensor 37; 38 pulleys; 39 remote control; a 40 remote control receiver; 41 vehicle-mounted controller; 42 drives.

The present application is described in further detail below with reference to the accompanying drawings of embodiments.

Detailed Description

Referring to the attached drawings, the invention provides a tracking detection conveying device adapting to the gradient of a dihedral angle.

The track finding detection conveying device comprises a conveying vehicle 1, long magnetic nails 2, short magnetic nails 3 and an electrical control system 7, wherein the long magnetic nails 2 and the short magnetic nails 3 are arranged on the advancing path of the conveying vehicle 1 in a staggered mode, the long magnetic nails 2 and the short magnetic nails 3 are preset below a road surface, the distance between the long magnetic nails 2 and the short magnetic nails 3 is not smaller than 100mm, upper sensing contacts of the magnetic nails are flush with the ground, and the electrical control system 7 controls the conveying vehicle to advance and retreat along the path formed by the long magnetic nails 2 and the short magnetic nails 3 until reaching a specified position.

As shown in fig. 2, the transport vehicle 1 comprises a plurality of travelling wheel mechanisms 4, a vehicle body 5, a plurality of intelligent bearing devices 6, a follow-up trace finding device 8, a rear sensor 9, a front laser lamp 10, a rear laser lamp 11 and an electrical control system 7, wherein the vehicle body 5 is a slender rigid body formed by sequentially splicing a vehicle head frame, a first vehicle body main frame, a vehicle body lengthening frame, a second vehicle body main frame and a vehicle tail frame, the top of the vehicle body 5 is provided with a plurality of long grooves according to bearing points of products, the plurality of intelligent bearing devices 8 are arranged in the long grooves at different positions, the long grooves are uniformly distributed in an external radiation state by the gravity center of the products, the electrical control system 7 controls the intelligent bearing devices 8 to ascend and descend, the products are placed on the plurality of intelligent bearing devices 8, the plurality of travelling wheel mechanisms 4 are respectively arranged at the bottom of the vehicle body 5, the travelling wheel mechanisms 4 which are arranged at two opposite sides of the bottom of the vehicle body 5 are taken as a group, the plurality of groups of travelling wheel mechanisms 4 are uniformly distributed at the bottom of the vehicle body 5, the electrical control system 7 is arranged at the position close to the inside the vehicle body 5, and the vehicle body 5 drives the plurality of groups of travelling wheel mechanisms 4 to drive the vehicle head 5 to move; the inner side of the bottom of the first main frame of the automobile body is provided with a front fixed plate perpendicular to the axis direction of the automobile body 5, the follow-up tracking device 8 is arranged on the front fixed plate and close to one face of the automobile head, the lower end of the follow-up tracking device 8 is provided with a front sensor 37, the sensing height of the front sensor 37 is kept at a distance of more than 50mm from the ground, the inner side of the bottom of the second main frame of the automobile body is provided with a rear fixed plate perpendicular to the axis direction of the automobile body 5, the rear sensor 11 is arranged on the rear fixed plate and close to one face of the automobile tail, the sensing height of the rear sensor 11 is kept at a distance of more than 50mm from the ground, the front sensor 37 and the rear sensor 11 sense magnetic fluxes emitted by long and short magnetic nails under the ground when the automobile body 5 moves, and feed the magnetic fluxes back to the electric control system 7 through the front sensor 37 and the rear sensor 11, and the automobile body 5 is controlled to be transported along a path formed by the long and short magnetic nails; the front laser lamp 9 is arranged on one side of the follow-up trace searching device on the front fixing plate, the rear laser lamp 10 is arranged on one side of the rear sensor 11 on the rear fixing plate, light rays emitted by the front laser lamp 9 and the rear laser lamp 10 are perpendicular to the ground, and a connecting line of central points of two light spots formed on the ground is parallel to the axis of the vehicle body 5.

As shown in fig. 3, the travelling wheel mechanism 4 comprises a wheel mounting plate 12, a suspension spring 13, an air spring air bag 14, an air bag lower fixing plate 15, side guide wheels 16, a rotary bearing 17, a steering motor 18, a bearing wheel 19 and a travelling motor 20, wherein the wheel mounting plate 12 is fixed at the lower part of a vehicle body, the wheel mounting plate 12 is a structural rigid body with grooves at two side ends, the two sides of the lower end are respectively provided with grooves with inward openings, the air spring air bag 14 is positioned right below the center of the wheel mounting plate 12, the upper end of the air spring air bag 14 is connected with the lower surface of the wheel mounting plate 12, the lower part of the air spring air bag 14 is connected with the upper surface of the air bag lower fixing plate 15, the air bag lower fixing plate 15 is a concave rigid body, two side guide wheels 16 are respectively fixed at the upper and lower ends of the outer side guide wheels 16 are clamped in the grooves at the lower ends of the wheel mounting plate 12, the lower airbag fixing plate 15 floats up and down along with the compression and the extension of the air spring airbag 14, four suspension springs 13 are respectively fixed between the wheel mounting plate 12 and the lower airbag fixing plate 15 near four corners, the upper ends of the suspension springs 13 are connected with the lower part of the wheel mounting plate 12, the lower ends of the suspension springs 13 are fixed with the upper surface of the lower airbag fixing plate 15, the suspension springs 13 move up and down along the vertical direction, a rotary bearing 17 is fixed at the lower end of the lower airbag fixing plate 15, a bearing wheel 19 is mounted at the lower end of the rotary bearing 17, the rotary bearing 17 rotates around the central line of the air spring airbag 14, a steering motor 18 is arranged on the side surface of the rotary bearing 17, a pinion is fixed at the output end shaft of the steering motor 18 and is meshed through a gear to provide power for steering of the bearing wheel 19, a walking motor 20 passes through the center of the bearing wheel 19, and the output end of the walking motor 20 provides a power source for the bearing wheel 19.

As shown in fig. 4, the main body frame 21 is mainly carried as a body, and is configured as a frame rigid body, one side mounting surface of the main body frame 21 is fixed to one side mounting surface of the extension body frame 22, the other side mounting surface of the main body frame 21 is fixed to the other side mounting surface of the extension body frame 22, the length of the extension body frame 22 is customized according to the length of the transported product, the outer side surface of the main body frame is connected to the tail of the head frame 23, and the outer side surface of the main body frame is connected to the tail of the tail frame 24.

As shown in fig. 5, the intelligent bearing device 6 comprises a bracket 25, an extension box 26, a guide rod 27, a linear bearing 28, a bearing fixing seat 29, a spiral lifter 30, a pressure sensor 31 and a speed reducing motor 32, wherein the bracket 25 is a long-groove rigid body, the lower end of the bracket is clamped and embedded in a corresponding long groove at the top of a vehicle body, a product is placed on the brackets 25 of a plurality of intelligent bearing devices, two extension boxes 26 are respectively fixed at two ends of each bracket 25, the extension boxes 26 can slide along the length direction of the brackets 25, the extension boxes 26 extend out and are adjusted according to the width of the product, the lower ends of the brackets 25 are respectively fixed with the two guide rods 27 near the two ends, the guide rod 27 penetrates through a central hole of the linear bearing 28 along the length direction, the linear bearing 28 is fixed at the upper end of the bearing fixing seat 29, the bearing fixing seat 29 is a tower-shaped rigid body, the lower end of the bearing fixing seat 29 is fixed in the long groove by screws, the pressure sensor 31 is fixed at the center of the lower end of the bracket 25, the pressure sensor 31 collects pressure signals from the product, the pressure signals are fed back to the electrical control system 7, the height of each bracket 25 is adjusted through the control of the electrical control system 7, the intelligent bearing device is enabled to rise, the spiral lifter 30 can move along the length direction, and the spiral lifter 30 is connected with the lower end of the spiral lifter, and the spiral lifter can move along the power lifter 30.

As shown in fig. 6, the follow-up tracking device 8 comprises a bottom plate 33, a limiting block 34, a limiting plate 35, a follow-up plate 36, a front sensor 37 and pulleys 38, wherein the bottom plate 33 is arranged on a front fixing plate at the bottom of the first main frame of the vehicle body, one surface of the front fixing plate close to the vehicle head, a guide rail is fixed in the middle of the front surface of the bottom plate 33 and is connected with a sliding block at the back of the follow-up plate 36, two limiting blocks 34 are respectively fixed on the upper side and the lower side of the front surface of the bottom plate 33 to limit the upper floating position and the lower floating position of the follow-up plate 36, the follow-up plate 36 is an L-shaped rigid body, the lower end of the follow-up plate is fixedly provided with the front sensor 37, the signal output end of the front sensor 37 is connected to an electrical control system, and two pulleys 38 are respectively fixed on the left side and the right side of the front end of the follow-up plate 36 to prevent damage caused by the too low distance between the front sensor 37 and the ground in the transportation process.

As shown in fig. 7, the electric control system 7 includes a remote controller 39, a remote control receiver 40, a vehicle-mounted controller 41, and a driver 42, and an operator controls a remote control panel on the remote controller 39 to transmit command signals, and the command signals transmitted from the remote controller are transmitted to the remote control receiver 40 on the vehicle body, and the command signals are transmitted to the vehicle-mounted controller 41 through a PROFINET bus, and the vehicle-mounted controller 41 converts the command signals into signals of the driver 42, and finally the signals are transmitted to the travel motor 20, the steering motor 18, and the gear motor 32.

As shown in fig. 8, the remote control panel of the remote controller 39 has an indicator light at the upper end, and the left and right ends of the middle part respectively control the operation rockers of the vehicle body for forward movement, backward movement, left rotation, right rotation, middle rotation, etc., and the lower end has a speed selection, an autonomous operation mode, a mode switching, an intelligent bearing lifting, obstacle detection, illumination and an emergency stop switch, wherein the mode switching has two modes for switching, namely an autonomous operation mode and a tracking mode, and the autonomous operation mode is that an operator controls the transport vehicle by operating the remote control panel on the remote controller to realize the functions of forward movement, backward movement, left rotation, right rotation, middle rotation, etc. of the transport vehicle; the track-seeking mode is to enable the transport vehicle to sense the actual positions of the long and short magnetic nails on the ground through the front track-seeking sensor and the rear track-seeking sensor, feed magnetic flux back to the electric control system through the sensors, and enable the electric control system to automatically align the position of the transport vehicle and run according to a preset running direction.

The method for carrying out trace searching detection by using the device comprises the following specific steps:

the first step: firstly, an operator switches a mode switching knob on a remote control panel of a remote controller to an autonomous running mode, controls a transport vehicle to travel outside a factory building, and adjusts the position of the transport vehicle through the functions of turning, translation, in-situ rotation and the like of the vehicle body, wherein the vehicle head faces the inside of the factory building;

and a second step of: then, by observing the superposition of the light spots irradiated by the front laser lamp and the rear laser lamp and the positions of the long magnetic nails and the short magnetic nails, primarily judging that the extending direction of the vehicle body and the magnetic nails are on the same straight line, and if the positions of the light spots are misplaced, controlling the transport vehicle to adjust to the advancing paths of the long magnetic nails and the short magnetic nails by an operator through a remote control panel on a remote controller;

and a third step of: an operator switches a mode switching knob on a remote control panel of a remote controller to a tracking mode, a transport vehicle senses actual positions of the long and short magnetic nails on the ground through a front tracking sensor and a rear tracking sensor, magnetic flux is fed back to an electric control system through the sensors, and the electric control system automatically aligns the deflection position of the transport vehicle and operates according to a preset travelling direction;

fourth step: the transport device is on an upward slope according to a preset direction, the follow-up tracking device is self-adjusted along with the change of the ground gradient, and the transport vehicle runs along a travelling path until a designated position is stopped;

fifth step: the transport vehicle leaves the factory building and is carried out according to the reverse direction of the step.

The patent utilizes combination formula magnetic navigation, initiative and passive stack hang and multiple novel techniques such as multiple spot pressure balance, solves the actual difficulty of overlength zero, subassembly business turn over factory building. The long magnetic nails and the end magnetic nails are distributed on the same straight line in a crossing way, and the induction ranges of different magnetic fluxes of the magnetic nails are inducted by the tracking sensor so as to adapt to the height difference of the gradient of the multiple angles; the technology of combining active suspension and passive suspension is adopted, the wheel sets are adjusted to adapt to the gradient of a plurality of angles, adapt to the abrupt change condition of the gradient of an upward slope and a downward slope, and ensure the horizontal state of the upper surface of the vehicle body; the multipoint pressure balancing technology ensures that the load stress of the overlength zero and assembly is dispersed and average, and the deformation or overturning of the vehicle body caused by the excessive concentration of the load is prevented. According to the requirements of the ultra-long zero and component transportation process, the inter-factory transfer function is executed, and products are transported in time, so that the purpose of transportation safety is achieved. Can be directly popularized to the transportation and turnover process and the manufacturing field of all special-shaped specification and size components.

Claims (9)

1. The utility model provides a seek trace detection conveyer of adaptation dihedral angle slope, its characterized in that contains transport vechicle, long magnetism nail, short magnetism nail, electric control system, long magnetism nail and short magnetism nail staggered arrangement are on the route of advancing of transport vechicle, and long magnetism nail and short magnetism nail are preset below the road surface, and the interval between long magnetism nail and the short magnetism nail is not less than 100mm, and the upper induction contact of long, short magnetism nail is parallel and level with ground, and electric control system controls the transport vechicle and advances to move back along the route that long, short magnetism nail formed, up to appointed position.

2. The track-finding detection transportation device adapting to the gradient of the angle of multiple faces is characterized in that the transportation vehicle comprises a plurality of travelling wheel mechanisms, a vehicle body, a plurality of intelligent bearing devices, a follow-up track-finding device, a rear sensor, a front laser lamp, a rear laser lamp and an electrical control system, the vehicle body is an elongated rigid body formed by splicing a vehicle head frame, a first vehicle body main frame, a vehicle body lengthening frame, a second vehicle body main frame and a vehicle tail frame in sequence, the top of the vehicle body is provided with a plurality of long grooves according to bearing points of products, the plurality of intelligent bearing devices are arranged in the long grooves at different positions, the long grooves are uniformly distributed in an external radiation state by the gravity center of the products, the electrical control system controls the lifting and the descending of the intelligent bearing devices, the products are placed on the plurality of intelligent bearing devices, the plurality of travelling wheel mechanisms are respectively arranged at the bottom of the vehicle body, two travelling wheel mechanisms which are arranged at two sides of the bottom of the vehicle body are a group, a plurality of groups of travelling wheel mechanisms are arranged at the bottom of the vehicle body, the electrical control system is arranged at the position close to the vehicle body, and the vehicle head inside the vehicle body, and the plurality of groups of travelling wheel mechanisms are driven to move; the inner side of the bottom of the main frame of the first car body is provided with a front fixed plate perpendicular to the axis direction of the car body, a follow-up tracking device is arranged on the front fixed plate and close to one face of the car head, the lower end of the follow-up tracking device is provided with a front sensor, the sensing height of the front sensor is kept at a distance of more than 50mm from the ground, the inner side of the bottom of the main frame of the second car body is provided with a rear fixed plate perpendicular to the axis direction of the car body, the rear sensor is arranged on one face of the rear fixed plate and close to the car tail, the sensing height of the rear sensor is kept at a distance of more than 50mm from the ground, the front sensor and the rear sensor are arranged on a plane parallel to the car body, and when the car body moves, the front sensor and the rear sensor sense magnetic fluxes emitted by long and short magnetic nails under the ground and feed the magnetic fluxes back to an electrical control system through the front sensor and the rear sensor, and the car body is controlled to be transported along a path formed by the long and short magnetic nails; the front laser lamp is arranged on one side of the follow-up trace searching device on the front fixing plate, the rear laser lamp is arranged on one side of the rear sensor on the rear fixing plate, light rays emitted by the front laser lamp and the rear laser lamp are perpendicular to the ground, and a connecting line of central points of two light spots formed on the ground is parallel to the axis of the vehicle body.

3. The tracking detection transportation device adapting to the gradient of the dihedral angle according to claim 2, wherein the main frame of the vehicle body is mainly used as a vehicle body for bearing, the structure is a frame rigid body, one side mounting surface of the main frame of the front vehicle body is fixed with one side mounting surface of the lengthened frame of the vehicle body, the other side mounting surface of the main frame of the rear vehicle body is fixed with the other side mounting surface of the lengthened frame of the vehicle body, the length of the lengthened frame of the vehicle body is customized according to the length of a transported product, the outer side surface of the main frame of the front vehicle body is connected with the tail part of the vehicle head frame, and the outer side surface of the main frame of the rear vehicle body is connected with the tail part of the vehicle tail frame.

4. The tracking detection transportation device adapting to the gradient of the dihedral angle according to claim 1, wherein the walking wheel mechanism comprises a wheel mounting plate, a suspension spring, an air spring air bag, an air bag lower fixing plate, side guide wheels, a rotating bearing, a steering motor, a bearing wheel and a walking motor, wherein the wheel mounting plate is fixed at the lower part of a vehicle body, the wheel mounting plate is a structural rigid body with grooves at two side ends, the two sides of the lower end of the wheel mounting plate are respectively provided with grooves with inward openings, the air spring air bag is positioned under the center of the wheel mounting plate, the upper end of the air spring air bag is connected with the lower surface of the wheel mounting plate, the lower part of the air spring air bag is connected with the upper surface of the air bag lower fixing plate, the air bag lower fixing plate is a concave rigid body, two side guide wheels are respectively fixed at the upper end and the lower end of the air bag, the side guide wheels are clamped in the grooves at the lower end of the wheel mounting plate, the lower fixing plate of the air bag floats up and down along with the compression and the extension of the air spring air bag, four suspension springs are respectively fixed between the wheel mounting plate and the lower fixing plate of the air bag, the upper ends of the suspension springs are connected with the lower parts of the wheel mounting plate, the lower ends of the suspension springs are fixed with the upper surface of the lower fixing plate of the air bag, the suspension springs move up and down along the vertical direction, the lower ends of the lower fixing plate of the air bag are fixed with rotating bearings, the lower ends of the rotating bearings are provided with a bearing wheel, the rotating bearings rotate around the central line of the air spring air bag, the side surfaces of the rotating bearings are provided with steering motors, the output end shafts of the steering motors are fixedly provided with pinions, power is provided for the steering of the bearing wheel through gear engagement, and the walking motors pass through the center of the bearing wheel and provide a power source for the bearing wheel through the output ends of the walking motors.

5. The tracking detection transportation device adapting to the gradient of the dihedral angle according to claim 1, wherein the intelligent bearing device comprises brackets, extension boxes, guide rods, linear bearings, bearing fixing seats, screw lifters, pressure sensors and speed reducing motors, the brackets are long-groove-shaped rigid bodies, the brackets are clamped in corresponding long grooves on the top of a vehicle body, products are placed on the brackets of the intelligent bearing devices, two extension boxes are respectively fixed at two ends of each bracket, the extension boxes can slide along the length direction of the brackets, the extension width of each extension box is adjusted according to the width of the products, the two guide rods are respectively fixed at the positions of the lower ends of the brackets close to the two ends, the guide rods penetrate through central holes of the linear bearings along the length direction, the linear bearings are fixed at the upper ends of bearing fixing seats, the bearing fixing seats are tower-shaped rigid bodies, the lower ends of the bearing fixing seats are fixed in the long grooves by screws, the centers of the lower ends of the brackets are fixed with a pressure sensor, the pressure sensor collects pressure signals from the products, the pressure sensor is fed back to an electrical control system, the height of each bracket is adjusted by the electrical control system, the intelligent bearing device can be connected with the lower ends of the screw lifters along the length direction, and the lower ends of the screw lifters can move, and the lifting shafts can be connected with the lower ends of the screw lifters along the power transmission directions.

6. The tracking detection transportation device adapting to the gradient of the dihedral angle according to claim 1, wherein the tracking device comprises a bottom plate, a limiting block, a limiting plate, a follow-up plate, a front sensor and pulleys, wherein the bottom plate is arranged on a front fixing plate at the bottom of a main frame of a first vehicle body and is close to one face of a vehicle head, a guide rail is fixed in the middle position of the front face of the bottom plate and is connected with a sliding block at the back of the follow-up plate, two limiting blocks are respectively fixed on the upper side and the lower side of the front face of the bottom plate to limit the upper floating position and the lower floating position of the follow-up plate, the follow-up plate is an L-shaped rigid body, the lower end of the follow-up plate is fixedly provided with the front sensor, the signal output end of the front sensor is connected into an electric control system, and two pulleys are respectively fixed on the left side and the right side of the front end of the follow-up plate to prevent damage caused by too low distance between the front sensor and the ground in the transportation process.

7. The tracking detection transportation device adapting to the multi-angle gradient according to claim 1, wherein the electric control system comprises a remote controller, a remote control receiver, a vehicle-mounted controller and a driver, an operator controls a remote control panel on the remote controller to transmit command signals, the command signals transmitted by the remote controller are transmitted to the remote control receiver on a vehicle body, the command signals are retransmitted to the vehicle-mounted controller through a PROFINET bus, the vehicle-mounted controller converts the command signals into driver signals, and finally the signals are transmitted to a walking motor, a steering motor and a speed reduction motor.

8. The tracking detection transportation device adapting to the gradient of the dihedral angle according to claim 1, wherein the upper end of a remote control panel of the remote controller is provided with an indicator light for displaying, the left and right ends of the middle part respectively control operation rockers for driving, reversing, left turning, right turning, middle turning and the like of a vehicle body, and the lower end is respectively provided with a speed selection, an autonomous running mode, a mode switching, an intelligent bearing lifting, obstacle detection, illumination and an emergency stop switch, wherein the mode switching is respectively provided with two modes of switching, namely an autonomous running mode and a tracking mode, and the autonomous running mode is that an operator controls the transportation vehicle by operating the remote control panel on the remote controller to realize the functions of forward, reversing, left turning, right turning, middle turning and the like of the transportation vehicle; the track-seeking mode is to enable the transport vehicle to sense the actual positions of the long and short magnetic nails on the ground through the front track-seeking sensor and the rear track-seeking sensor, feed magnetic flux back to the electric control system through the sensors, and enable the electric control system to automatically align the position of the transport vehicle and run according to a preset running direction.

9. A detection method of a tracking detection transportation device adapting to the gradient of a dihedral angle based on any one of claims 1-8, comprising the following specific steps:

the first step: firstly, an operator switches a mode switching knob on a remote control panel of a remote controller to an autonomous running mode, controls a transport vehicle to travel outside a factory building, and adjusts the position of the transport vehicle through the functions of turning, translation, in-situ rotation and the like of the vehicle body, wherein the vehicle head faces the inside of the factory building;

and a second step of: then, by observing the superposition of the light spots irradiated by the front laser lamp and the rear laser lamp and the positions of the long magnetic nails and the short magnetic nails, primarily judging that the extending direction of the vehicle body and the magnetic nails are on the same straight line, and if the positions of the light spots are misplaced, controlling the transport vehicle to adjust to the advancing paths of the long magnetic nails and the short magnetic nails by an operator through a remote control panel on a remote controller;

and a third step of: an operator switches a mode switching knob on a remote control panel of a remote controller to a tracking mode, a transport vehicle senses actual positions of the long and short magnetic nails on the ground through a front tracking sensor and a rear tracking sensor, magnetic flux is fed back to an electric control system through the sensors, and the electric control system automatically aligns the deflection position of the transport vehicle and operates according to a preset travelling direction;

fourth step: the transport device is on an upward slope according to a preset direction, the follow-up tracking device is self-adjusted along with the change of the ground gradient, and the transport vehicle runs along a travelling path until a designated position is stopped;

fifth step: the transport vehicle leaves the factory building and is carried out according to the reverse direction of the step.