WO2024036783A1 - 运输车及运输车的使用方法 - Google Patents

运输车及运输车的使用方法 Download PDF

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Publication number
WO2024036783A1
WO2024036783A1 PCT/CN2022/132077 CN2022132077W WO2024036783A1 WO 2024036783 A1 WO2024036783 A1 WO 2024036783A1 CN 2022132077 W CN2022132077 W CN 2022132077W WO 2024036783 A1 WO2024036783 A1 WO 2024036783A1
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WO
WIPO (PCT)
Prior art keywords
transport vehicle
trailer
equipment body
frame
chassis trailer
Prior art date
Application number
PCT/CN2022/132077
Other languages
English (en)
French (fr)
Inventor
田德坤
周立宾
李鑫
寇涛
刘旭
吴琼
Original Assignee
烟台杰瑞石油装备技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 烟台杰瑞石油装备技术有限公司 filed Critical 烟台杰瑞石油装备技术有限公司
Priority to US18/107,538 priority Critical patent/US20240059204A1/en
Publication of WO2024036783A1 publication Critical patent/WO2024036783A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
    • B66F7/16—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/22—Lifting frames, e.g. for lifting vehicles; Platform lifts with tiltable platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions

Definitions

  • This application belongs to the technical field of transport vehicles, and specifically relates to a transport vehicle and a method of using the transport vehicle.
  • the exhaust of vehicle-mounted gas turbine generator sets is mostly designed with a top row.
  • the exhaust muffler needs to be transported to the site using a transport vehicle, and the exhaust muffler needs to be hoisted to the installation position using a crane by connecting ropes, or from the installation position to Other positions to facilitate the installation, fixation or removal of the exhaust silencer.
  • the above method requires the cooperation of many people, and a crane needs to be prepared in advance so that the crane and the transport vehicle can cooperate to hoist the exhaust muffler.
  • personnel need to climb to the installation position to conduct high-altitude command operations. On the one hand, it will bring inconvenience to the installation or removal of the exhaust silencer and reduce the efficiency of installation or removal. On the other hand, it will also cause problems. Personnel pose a safety risk.
  • the purpose of the embodiments of the present application is to provide a transport vehicle and a method of using the transport vehicle, which can solve the problems that the current lifting method of the exhaust muffler is not conducive to installation or disassembly and causes safety risks.
  • the embodiment of the present application provides a transport vehicle, including: a chassis trailer, a lifting device and a suspension device; the chassis trailer has a load-bearing area and a suspension area; the lifting device includes a lifting drive mechanism and a frame, so The lifting drive mechanism connects the frame and the chassis trailer, the frame is reversibly connected to the chassis trailer, the frame has a first state and a second state relative to the chassis trailer, and in the third In one state, the frame is laid flat on the load-bearing area, and the frame is used to carry the equipment body. In the second state, the frame is erected on the chassis trailer, and the equipment body is erected on The suspension area; the suspension device is provided on the chassis trailer and is used to suspend the equipment body from the suspension area and move it to a preset position.
  • the embodiment of the present application also provides a method of using a transport vehicle, which is applied to the above-mentioned transport vehicle.
  • the method of using the transport vehicle includes: transporting the equipment body carried in the carrying area to the surroundings of the preset position through a chassis trailer; The lifting device lifts the equipment body to move the equipment body from the load-bearing area of the chassis trailer to the suspension area; the equipment body is grabbed and suspended by the suspension device to move the equipment body from the suspension area. Move the lifting area to the preset position.
  • Figure 1 is a schematic diagram of the suspension device in the transport vehicle disclosed in the embodiment of the present application in a high position
  • Figure 2 is a schematic diagram of the equipment body on the transport vehicle in an upright state disclosed in the embodiment of the present application;
  • FIG. 3 is a schematic diagram of the grabber device body of the suspension device in the transport vehicle disclosed in the embodiment of the present application;
  • Figure 4 is a schematic diagram of the state where the equipment body on the transport vehicle is separated from the frame disclosed in the embodiment of the present application;
  • Figure 5 is a schematic diagram of the frame retraction process in the transport vehicle disclosed in the embodiment of the present application.
  • Figure 6 is a schematic diagram of the frame of the transport vehicle disclosed in the embodiment of the present application being retracted to a flat state;
  • Figure 7 is a schematic diagram of the transportation vehicle suspension equipment body disclosed in the embodiment of the present application being transferred to the power generation vehicle;
  • Figure 8 is a schematic diagram of the transport vehicle suspension equipment body and height adjustment disclosed in the embodiment of the present application.
  • Figure 9 is a schematic diagram of the suspension equipment body of the transport vehicle to the top of the power generation vehicle disclosed in the embodiment of the present application.
  • Figure 10 is a schematic diagram of the transport vehicle suspension equipment body and adjusting the horizontal position disclosed in the embodiment of the present application;
  • Figure 11 is a schematic diagram of the transport vehicle suspension equipment body disclosed in the embodiment of the present application and placed on the top of the power generation vehicle;
  • Figure 12 is a schematic diagram of the body of the gripper releasing device in the transport vehicle disclosed in the embodiment of the present application.
  • Figure 13 is a schematic diagram of the recovery process of the suspension device in the transport vehicle disclosed in the embodiment of the present application.
  • Figure 14 is a schematic diagram of the suspension device in the transport vehicle disclosed in the embodiment of the present application being recovered to the transport state;
  • Figure 15 is a schematic connection diagram of the electrical components disclosed in the embodiment of the present application.
  • Figure 16 is a flow chart of the use process of the transport vehicle disclosed in the embodiment of the present application.
  • 100-chassis trailer 110-trailer body; 111-bearing area; 1111-first bearing surface; 112-suspension area; 1121-second bearing surface; 1131-inclined surface; 120-support legs; 130-fence;
  • 200-Lifting device 210-Lifting drive mechanism; 211-First lifting cylinder; 212-Second lifting cylinder; 220-Frame;
  • 300-suspension device 310-robot arm; 320-gripper;
  • first, second, etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the figures so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in orders other than those illustrated or described herein, and that "first,” “second,” etc. are distinguished Objects are usually of one type, and the number of objects is not limited. For example, the first object can be one or multiple.
  • “and/or” in the description and claims indicates at least one of the connected objects, and the character “/" generally indicates that the related objects are in an "or” relationship.
  • an embodiment of the present application discloses a transport vehicle for transporting an equipment body 700.
  • the equipment body 700 can be an overhead exhaust muffler for a gas turbine power generation project. Of course, it can also be Other devices are not specifically limited in the embodiments of this application.
  • the disclosed transport vehicle includes a chassis trailer 100, a lifting device 200 and a suspension device 300.
  • the chassis trailer 100 is the basic component of the transport vehicle. It can provide an installation foundation for the lifting device 200, the suspension device 300, etc. In addition, the chassis trailer 100 can also be used to carry the equipment body 700 to realize the installation of the equipment body 700. transportation.
  • the chassis trailer 100 may have a bearing area 111 and a suspension area 112, where the bearing area 111 is used to carry the equipment body 700 during transportation to ensure the stability and firmness of the equipment body 700; when After the transport vehicle transports the equipment body 700 to the destination, the equipment body 700 can be lifted and turned over by the lifting device 200 so that the equipment body 700 is moved to the suspension area 112 so that the equipment body 700 can be lifted by the suspension device 300 700 for suspension and transfer.
  • the load-bearing area 111 and the suspension area 112 are arranged adjacent to each other to facilitate the movement of the device body 700 from the load-bearing area 111 to the suspension area 112 .
  • the lifting device 200 is used to lift and turn the equipment body 700 to change the position and form of the equipment body 700, thereby facilitating the equipment body 700 to be moved to a designated position.
  • the lifting device 200 may include a lifting driving mechanism 210 and a frame 220, where the lifting driving mechanism 210 is used to provide driving force for lifting and turning, and the frame 220 is used to carry the equipment body 700, specifically,
  • the lifting drive mechanism 210 connects the frame 220 and the chassis trailer 100, and the frame 220 is reversibly connected to the chassis trailer 100. In this way, under the driving action of the lifting driving mechanism 210, the frame 220 can be flipped relative to the chassis trailer 100, so that the equipment body 700 can be driven to move through the frame 220 to achieve lifting and flipping.
  • one end of the frame 220 can be installed to the chassis trailer 100 through a rotating shaft, so that the frame 220 can rotate around the rotating shaft under the driving action of the lifting drive mechanism 210 to achieve lifting and turning of the equipment body 700 .
  • the lifting driving mechanism 210 may be a linear driving mechanism.
  • the frame 220 can have a first state and a second state relative to the chassis trailer 100, wherein the first state is a loading state and the second state is a flipping state.
  • the first state is a loading state
  • the second state is a flipping state.
  • the first state the frame 220 is laid flat on the bearing area 111.
  • the equipment body 700 is placed on the frame 220, and the frame 220 plays a bearing role for the equipment body 700, so as to ensure the stability during transportation.
  • the stability of the equipment body 700 In the second state, the frame 220 is erected on the chassis trailer 100 and the equipment body 700 is erected on the suspension area 112 .
  • the above-mentioned specific process from the first state to the second state is: in the initial state (that is, before the equipment body 700 is transported to the destination) the frame 220 is laid flat on the load-bearing area 111 (for example, it can be in a horizontal state), and The upper part of the frame 220 carries the equipment body 700; after arriving at the destination, in order to facilitate suspension, the state of the equipment body 700 needs to be changed first.
  • the lifting driving mechanism 210 is started. Under the driving action of the lifting driving mechanism 210, the frame 220 is flipped from a flat state to an upright state (for example, it can be in a vertical state).
  • the device body 700 is flipped together with the frame 220, so that it can be gradually lifted from the bearing area 111, and finally after being flipped
  • the equipment body 700 is erected in the suspension area 112, so that the equipment body 700 can be easily suspended by the suspension device 300 to improve the transfer efficiency of the equipment body 700.
  • the suspension device 300 is provided on the chassis trailer 100 and is used to suspend the equipment body 700 from the suspension area 112 and move it to a preset position.
  • the suspension device 300 can be connected at one end of the chassis trailer 100 , specifically the front end or the rear end of the chassis trailer 100 , so as to provide a large enough space for the carrying equipment body 700 .
  • the lifting device 200, the suspension device 300 and the chassis trailer 100 are effectively combined to achieve an integrated effect. Therefore, there is no need to prepare a crane separately, but through the suspension device provided on the chassis trailer 100. 300 to hoist the equipment body 700; in addition, the equipment body 700 can also be flipped and moved through the lifting device 200 to facilitate the suspension of the equipment body 700 by the suspension device 300; through the suspension device 300
  • the equipment body 700 can be suspended and moved to a preset position, and during this process, there is no need to use a sling, and there is no need for personnel to install or remove the sling at high altitude, and there is no need for personnel to direct the operation at high altitude, which can reduce the workload. difficulty, improve operational convenience, and avoid personnel safety risks.
  • the suspension device 300 in the embodiment of the present application can be a knuckle-arm crane.
  • the knuckle-arm crane can make the suspension process more flexible to improve adaptability.
  • the suspension device 300 may include a robotic arm 310 and a gripper 320, wherein one end of the robotic arm 310 is rotatably connected to the chassis trailer 100, and the gripper 320 is connected to the other end of the robotic arm 310. , used to grab or release the device body 700.
  • the robot arm 310 may be a multi-axis robot arm 310, which may include multiple small arms. Two adjacent small arms may rotate relative to each other, and the rotation axes may be parallel or non-parallel, thereby achieving Different swing forms can expand the range that the suspension device 300 can reach.
  • the gripper 320 can use a hydraulic clamp, which drives the gripper 320 through hydraulic means to perform a grabbing or releasing action. In this way, when grabbing the device body 700, it can be ensured that the device body 700 is not easy to fall off, and when the device body 700 is released, , can achieve quick release.
  • the transport vehicle in the embodiment of the present application may also include a first camera element 410 and a first laser emitting element 420, where the first laser emitting element 420 is To emit the laser marking line, the first camera element 410 is used to capture the laser marking line.
  • the first camera element 410 and the first laser emitting element 420 are both disposed on the gripper 320, and the first camera element 410 and the first laser emitting element 420 All are electrically connected to the control device 500 of the transport vehicle.
  • the equipment body 700 is first moved to an upper position near the preset position through the suspension device 300, and then the control device 500 controls the suspension device 300 to stop moving, and controls
  • the first laser emitting element 420 emits a laser marking line to a preset position
  • the first camera element 410 observes and photographs whether the laser marking line is located in the target area of the preset position, thereby determining whether the device body 700 is placed in the preset position. Location. When the laser marking line is within the target area, it indicates that the position of the equipment body 700 is relatively accurate.
  • the control device 500 controls the suspension device 300 to make adaptive adjustments so that the laser marking line is located within the target area.
  • the first laser emitting element 420 can emit a cross laser marking line.
  • the target area at the preset position can be a cross target area. In this way, positioning can be performed in two directions perpendicular to each other in the horizontal plane. , thereby improving the positioning accuracy to ensure the position accuracy of the device body 700 .
  • the first imaging element 410 may be a camera or the like.
  • both the robotic arm 310 and the gripper 320 can be hydraulically driven to improve the suspension capability of the robotic arm 310 and the grasping capability of the gripper 320, which can improve the suspension performance of the entire suspension device 300 to a certain extent. Hoisting ability.
  • the transport vehicle may include a hydraulic system 600, and the hydraulic system 600 may include an oil circuit, which is connected to the robotic arm 310 and the gripper 320 respectively, to transmit hydraulic oil to the robotic arm 310 and the gripper 320 through the oil circuit, and The return flow of the hydraulic oil is realized, thereby providing power for the robotic arm 310 and the gripper 320 .
  • the hydraulic system 600 may also include a hydraulic power unit (such as a hydraulic pump, etc.) and hydraulic control components (such as various control valves, etc.).
  • the oil circuit connected to the robotic arm 310 and/or the oil circuit connected to the gripper 320 is provided with a pressure detection element 460, which is connected to the pressure detection element 460.
  • the control device 500 of the transport vehicle is electrically connected. Based on this, the oil pressure in the oil circuit can be detected through the pressure detection element 460.
  • the oil circuit connected to the robotic arm 310 and The oil pressure in the oil circuit connected to the gripper 320 is relatively high; on the contrary, when the equipment body 700 is released, both the robotic arm 310 and the gripper 320 can be understood as having no load (gravity is negligible). At this time, The oil pressure in the oil circuit connected to the robotic arm 310 and the oil circuit connected to the gripper 320 is relatively low.
  • the pressure detection element 460 can be used to detect the oil pressure of at least one of the oil line connected to the robotic arm 310 and the oil line connected to the gripper 320 , and send the detected oil pressure result to the control device 500 , the control device 500 compares the detected oil pressure data with the preset oil pressure data to determine whether the equipment body 700 is released.
  • the equipment body 700 By determining whether the equipment body 700 has been released, it can effectively prevent the suspension device 300 from being affected by the equipment body 700 when it returns. In this way, on the one hand, the normal return of the suspension device 300 can be ensured to prepare for the next suspension. On the one hand, it can also prevent the suspension device 300 from bringing down the equipment body 700 and causing damage to the equipment body 700 .
  • the pressure detection element 460 may be a pressure sensor, and of course, may also be of other types, which is not specifically limited in the embodiment of the present application.
  • the lifting driving mechanism 210 may include a first lifting cylinder 211 and a second lifting cylinder 212, wherein one end of the first lifting cylinder 211 is movably connected to On one side of the chassis trailer 100 along the left and right direction, the other end of the first lifting cylinder 211 is movably connected to the frame 220; similarly, one end of the second lifting cylinder 212 is movably connected on the other side of the chassis trailer 100 along the left and right direction. The other end of the second lifting cylinder 212 is movably connected to the frame 220, wherein the left and right directions are perpendicular to the traveling direction of the transport vehicle.
  • one end of the first lifting cylinder 211 can be connected to one side of the chassis trailer 100 through a rotating shaft, the other end can be connected to the frame 220 through a rotating shaft, and one end of the second lifting cylinder 212 can be connected to the chassis trailer through a rotating shaft.
  • the other side of 100, the other end, can be connected to the frame 220 through a rotating shaft.
  • the first lifting cylinder 211 and the second lifting cylinder 212 can apply driving force to the frame 220 from the left and right sides respectively, so that the forces on the left and right sides of the frame 220 are relatively balanced, thereby effectively preventing the frame 220 from being
  • the uneven force on both sides causes deformation, thereby ensuring the stability of the frame 220, further improving the lifting stability of the equipment body 700, and effectively preventing the equipment body 700 from tipping over and being damaged during the lifting process.
  • connection points between the first lifting cylinder 211 and the second lifting cylinder 212 and the frame 220 are far away from the rotation connection between the frame 220 and the chassis trailer 100, so that the driving torque can be increased under the same driving force. That is, when achieving the same driving torque, the first lifting cylinder 211 and the second lifting cylinder 212 with smaller specifications can be selected, thereby reducing costs.
  • the transport vehicle may further include a distance measurement element 430, which is disposed on the side of the chassis trailer 100, and the distance measurement element 430 is electrically connected to the control device 500 of the transport vehicle.
  • a distance measurement element 430 which is disposed on the side of the chassis trailer 100, and the distance measurement element 430 is electrically connected to the control device 500 of the transport vehicle.
  • multiple distance measurement elements 430 may be provided on the left and/or right side of the chassis trailer 100 , and the multiple distance measurement elements 430 may be spaced apart along the front and rear directions of the chassis trailer 100 , so that the multiple distance measurement elements 430 may be used.
  • the distances between the chassis trailer 100 and the preset position in the left and right directions are respectively detected, wherein the front and rear directions are parallel to the traveling direction of the transport vehicle.
  • the equipment body 700 can be placed on the top surface of the power generation car 800, and a certain area on the top surface of the power generation car 800 is the preset position.
  • the multiple distance measuring elements 430 can measure the distance between the chassis trailer 100 and the generator car 800. The distance between the chassis trailer 100 and the generator car 800 is adjusted so that the distance between the chassis trailer 100 and the generator car 800 is within the preset range embedded in the control device 500, such as , within the range of 2.3 meters to 3 meters, etc.
  • the distances between multiple areas between the chassis trailer 100 and the power generation car 800 can be detected through the multiple distance measuring elements 430, and the distance information is sent to the control device 500.
  • the control device 500 uses the multiple distance detection elements
  • the detected distance information is compared with the preset range to determine whether it is within the preset range.
  • the distance measuring element 430 may be a laser range finder to improve distance measurement accuracy.
  • the transport vehicle may further include a second camera element 440 and a second laser emitting element 450 , wherein the second camera element 440 and the second laser emitting element 450 are both Disposed on the side of the chassis trailer 100, the second camera element 440 is used to emit the laser marking line, and the second camera element 440 is used to photograph the laser marking line, and the second laser emitting element 450 and the second camera element 440 are both connected to the transport vehicle.
  • the control device 500 is electrically connected, and the control device 500 can determine the distance between the chassis trailer 100 and the preset position in the front and rear direction according to the laser marking line captured by the second camera element 440 .
  • the second camera element 440 is controlled to emit the laser marking line to the preset position, and the second camera element 440 is used to observe and photograph whether the laser marking line is located in the target area of the preset position. , to determine whether the transport vehicle has reached the specified location.
  • the laser marking line is within the target area, it indicates that the position of the transport vehicle is relatively accurate, and suspension operations can be performed at this time; when the laser marking line exceeds the target area, it indicates that there is a deviation in the position of the transport vehicle, and the control device 500 controls the chassis trailer 100 to make adaptive adjustments so that the laser marking line is located within the target area.
  • the second laser emitting element 450 can emit a cross laser marking line.
  • the target area at the preset position can be a cross target area. In this way, positioning can be performed in two directions perpendicular to each other in the horizontal plane. , thereby improving the positioning accuracy to ensure the position accuracy of the device body 700 .
  • the second imaging element 440 may be a camera or the like.
  • the distance between the transport vehicle and the equipment body 700 it carries and the preset position in the front-to-back direction can be adjusted, thereby realizing the adjustment of the front-to-back distance.
  • the equipment body 700 can be placed on the top surface of the power generation car 800, and a certain area on the top surface of the power generation car 800 is the preset position. At this time, before moving the equipment body 700 to the preset position , you can first adjust the distance between the chassis trailer 100 and the generator car 800 in the front and rear direction. At this time, the second laser emitting element 450 and the second camera element 440 cooperate with each other to collect the position of the chassis trailer 100, so as to facilitate the adjustment of the chassis.
  • the front-to-back distance between the trailer 100 and the generator car 800 is such that the front-to-back distance between the chassis trailer 100 and the generator car 800 is within the preset range embedded in the control device 500 .
  • the chassis trailer 100 may also include a trailer body 110 and a plurality of retractable support legs 120.
  • the plurality of support legs 120 are respectively provided on the trailer body 110.
  • the telescopic movements of the plurality of supporting legs 120 can be hydraulically driven to increase the supporting force of the supporting legs 120 and improve the stability of the chassis trailer 100 to a certain extent.
  • the transport vehicle may also include a hydraulic system 600, which may include an oil circuit, and the plurality of support legs 120 are connected to the oil circuit of the hydraulic system 600 of the transport vehicle to transmit hydraulic oil to each support through the oil circuit. legs 120, and realizes the return flow of hydraulic oil, thereby providing power for each supporting leg 120.
  • the transport vehicle may also include a leveling device, wherein the leveling device may include an inclination detection element 470 provided on the trailer body 110, an inclination detection element 470 and a hydraulic pressure
  • the system 600 is connected to the control device 500 of the transport vehicle.
  • the control device 500 is used to control at least part of the supporting legs 120 to expand and contract correspondingly through the hydraulic system 600 according to the inclination information of the trailer body 110 detected by the inclination angle detection element 470, so as to control the trailer body 110. Perform leveling.
  • the inclination angle detection element 470 detects the inclination angle of the trailer body 110.
  • the detected inclination angle When it is within the preset inclination range embedded in the control device 500, it is determined that the trailer body 110 meets the suspension requirements and does not need to be leveled; when at least part of the detected inclination angle is not within the preset inclination range embedded in the control device 500, It is determined that the trailer body 110 is tilted too much and needs to be leveled.
  • control device 500 controls the corresponding support legs 120 to expand and contract through the hydraulic system 600 so as to lift and lower parts of the trailer body 110 accordingly, thereby realizing the trailer body.
  • the leveling process of 110 can meet the suspension requirements to ensure that the transport vehicle will not tilt or roll over during the suspension process, and the stability of the transport vehicle can be ensured.
  • the inclination detection element 470 may be an inclinometer or the like.
  • a part of the chassis trailer 100 can be set as a sunken area to increase the size of the equipment body through the sunken area. 700' of lift space.
  • the load-bearing area 111 has a first load-bearing surface 1111
  • the suspension area 112 has a second load-bearing surface 1121
  • the horizontal position of the first load-bearing surface 1111 is lower than the horizontal position of the second load-bearing surface 1121
  • the first bearing surface 1111 and the second bearing surface 1121 are connected by an inclined surface 1131 .
  • the load-bearing area 111 is the sinking area.
  • the frame 220 is located within the load-bearing area 111, and the equipment body 700 is located above the frame 220. Since the load-bearing area 111 is low, the equipment body 700 is also relatively low.
  • the suspension area 112 is higher.
  • the equipment body 700 located in a low-lying area can be lifted and turned over to the suspension area 112 at a high level through the lifting device 200, thereby increasing the lifting capacity.
  • Space is provided to facilitate the equipment body 700 to be lifted and turned over on the chassis trailer 100, thereby facilitating the movement of the equipment body 700 from the load-bearing area 111 to the suspension area 112, and to increase the arrangement space of the lifting cylinders in the lifting device 200.
  • the load-bearing area 111 of the chassis trailer 100 may adopt a box beam structure to increase the strength of the chassis trailer 100 .
  • the transport vehicle may further include a fence 130 , the fence 130 is provided on the chassis trailer 100 , and the fence 130 surrounds the chassis trailer 100 to form a receiving space.
  • components such as the control device 500 and the hydraulic system 600 may be disposed in the accommodation space.
  • the fence 130 can protect the components contained in the accommodating space to prevent external factors from causing interference or damage to the components in the accommodating space.
  • the fence 130 can be disposed at an end of the chassis trailer 100 away from the suspension device 300 . Of course, it can also be disposed at other locations on the chassis trailer 100 .
  • the transport vehicle in the embodiment of the present application can also be remotely controlled through a remote control system.
  • the transport vehicle can be remotely controlled by operating a wireless remote control, thereby improving control convenience and reducing personnel labor intensity.
  • the embodiment of the present application also discloses a method of using the transport vehicle, which is applied to the above-mentioned transport vehicle.
  • the method of using the transport vehicle may include:
  • the equipment body 700 carried in the carrying area 111 is transported by the chassis trailer 100 to the surroundings of the preset position;
  • the equipment body 700 is lifted by the lifting device 200, so that the equipment body 700 moves from the load-bearing area 111 of the chassis trailer 100 to the suspension area 112;
  • the equipment body 700 is grabbed and suspended by the suspension device 300 to move the equipment body 700 from the suspension area 112 to a preset position.
  • the installation process of the device body 700 includes:
  • the frame 220 of the lifting device 200 is in a flat state, and the equipment body 700 is placed on the frame 220; a plurality of supporting legs 120 are extended, and the chassis trailer 100 is leveled;
  • lift the grab handle 320 of the suspension device 300 to the maximum height to make enough space for the flipping of the equipment body 700; as shown in Figure 2, through the first lifting cylinder 211 of the lifting device 200 and the second lifting cylinder 212 push the frame 220, and the frame 220 drives the equipment body 700 to flip to the upright state;
  • the gripper 320 of the suspension device 300 moves to the top of the equipment body 700, and grabs the equipment body 700;
  • the manipulator drives the equipment body 700 away from the frame 220 through the gripper 320; as shown in Figures 5 and 6, the first lifting cylinder 211 and the second lifting cylinder 212 drive the frame 220 back to Flat state; as shown in Figures 7 and 8, the suspension device 300 moves the equipment body 700 above
  • the control device 500 determines whether the equipment body 700 is located directly above the preset position; when it is directly above, there is no need to adjust the position; when it is not, there is no need to adjust the position.
  • control the suspension device 300 to adjust the position of the equipment body 700 so that the equipment body 700 is directly above the preset position, as shown in Figures 9 and 10; as shown in Figure 11, after the position is determined, control the suspension The grab handle 320 of the hanging device 300 loosens and releases the equipment body 700 so that the equipment body 700 falls at the preset position; as shown in Figures 12 to 14, the hanging device 300 returns to its position; the plurality of supporting legs 120 are retracted , the transport vehicle leaves the well site, and the installation of the equipment body 700 is completed.
  • the disassembly process of the device body 700 includes:
  • the distance between the transport vehicle and the power generation vehicle 800 in the left and right directions can be measured through the distance measuring element 430, and the distance is generally adjusted to a range of 2.3 meters to 3 meters;
  • the second laser emitting element 450 emits a laser marking line to the power generation car 800, and the second camera element 440 observes and photographs the position of the laser marking line on the power generation car 800, and sends the photographing result to the control device 500 for judgment by the control device 500 Whether the position of the transport vehicle and the generator vehicle 800 in the front and rear directions is appropriate.
  • the corresponding support legs 120 are controlled to telescope and contract to achieve leveling; the suspension device 300 extends and grabs the equipment body 700 through the grabber 320; 700 is suspended to the suspension area 112 of the chassis trailer 100; the first lifting cylinder 211 and the second lifting cylinder 212 of the lifting device 200 drive the frame 220 to flip to the upright state, and make the side of the equipment body 700 rest against on the frame 220; the first lifting cylinder 211 and the second lifting cylinder 212 drive the frame 220 to gradually flatten, so that the equipment body 700 lies flat on the frame 220; the plurality of supporting legs 120 retract, and the transport vehicle drives out of the well field, the disassembly of the device body 700 is completed.
  • the lifting device 200 and the suspension device 300 are integrated with the chassis trailer 100 respectively, so that no additional preparation of a crane is required; the equipment body 700 can be flipped and moved through the lifting device 200. It is convenient for the suspension device 300 to suspend the equipment body 700; the equipment body 700 can be suspended and moved to a preset position through the suspension device 300, and in this process, there is no need to use a sling, so there is no need Personnel can install or remove slings while working at height, and there is no need for personnel to direct the operation at height, which can reduce the difficulty of the operation, improve the convenience of operation, and avoid personnel safety risks.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

一种运输车及其使用方法。其中，一种运输车，包括：底盘拖车（100）、举升装置（200）和悬吊装置（300）；底盘拖车具有承载区域（111）和悬吊区域（112）；举升装置包括举升驱动机构（210）和框架（220），举升驱动机构连接框架与底盘拖车，框架可翻转地连接于底盘拖车，框架相对于底盘拖车具有第一状态和第二状态，在第一状态下，框架平铺于承载区域，框架用于承载设备本体（700），在第二状态下，框架竖立于底盘拖车，并使设备本体竖立于悬吊区域；悬吊装置设置于底盘拖车，用于将设备本体从悬吊区域悬吊起，并移送至预设位置。该运输车及运输车的使用方法，能够解决当前排气消音器的吊装方式不利于安装或拆卸，并造成安全风险等问题。

Description

运输车及运输车的使用方法
交叉引用
本发明要求在2022年08月19日提交中国专利局、申请号为202210998622.2、发明名称为“运输车及运输车的使用方法”的中国专利申请的优先权，该申请的全部内容通过引用结合在本发明中。
技术领域
本申请属于运输车技术领域，具体涉及一种运输车及运输车的使用方法。
背景技术
目前，车载燃气轮机发电机组排气多为顶排的设计，排气消音器需要使用运输车辆运至现场，并通过连接绳索，使用吊车将排气消音器吊装至安装位置，或者从安装位置吊装至其他位置，以便于对排气消音器进行安装固定或拆卸。上述方式需要多人协同配合，且需要提前准备吊车，使吊车与运输车配合，实现对排气消音器的吊装。然而，在排气消音器吊装过程中，需要人员爬到安装位置进行高空指挥作业，一方面会给排气消音器的安装或拆卸带来不便，降低安装或拆卸效率，另一方面还会给人员带来安全风险。
发明内容
本申请实施例的目的是提供一种运输车及运输车的使用方法，能够解决当前排气消音器的吊装方式不利于安装或拆卸，并造成安全风险等问题。
为了解决上述技术问题，本申请是这样实现的：
本申请实施例提供了一种运输车，包括：底盘拖车、举升装置和悬吊装置；所述底盘拖车具有承载区域和悬吊区域；所述举升装置包括举升驱动机构和框架，所述举升驱动机构连接所述框架与所述底盘拖车，所述框架可翻 转地连接于所述底盘拖车，所述框架相对于所述底盘拖车具有第一状态和第二状态，在所述第一状态下，所述框架平铺于所述承载区域，所述框架用于承载设备本体，在所述第二状态下，所述框架竖立于所述底盘拖车，并使所述设备本体竖立于所述悬吊区域；所述悬吊装置设置于所述底盘拖车，用于将所述设备本体从所述悬吊区域悬吊起，并移送至预设位置。
本申请实施例还提供了一种运输车的使用方法，应用于上述运输车，所述运输车的使用方法包括：通过底盘拖车将承载于承载区域的设备本体运输至预设位置的周围；通过举升装置举升设备本体，使所述设备本体从底盘拖车的承载区域运动至悬吊区域；通过悬吊装置抓取并悬吊起所述设备本体，以将所述设备本体从所述悬吊区域移送至预设位置。
附图说明
图1为本申请实施例公开的运输车中悬吊装置处于高位状态的示意图；
图2为本申请实施例公开的运输车上设备本体处于竖立状态的示意图；
图3为本申请实施例公开的运输车中悬吊装置的抓手抓取设备本体的示意图；
图4为本申请实施例公开的运输车上设备本体脱离框架状态的示意图；
图5为本申请实施例公开的运输车中框架收回过程的示意图；
图6为本申请实施例公开的运输车中框架收回至平铺状态的示意图；
图7为本申请实施例公开的运输车悬吊设备本体向发电车移送的示意图；
图8为本申请实施例公开的运输车悬吊设备本体并调节高度的示意图；
图9为本申请实施例公开的运输车悬吊设备本体至发电车顶部的示意图；
图10为本申请实施例公开的运输车悬吊设备本体并调节水平位置的示意图；
图11为本申请实施例公开的运输车悬吊设备本体并放置于发电车顶部的示意图；
图12为本申请实施例公开的运输车中抓手松开设备本体的示意图；
图13为本申请实施例公开的运输车中悬吊装置回收过程的示意图；
图14为本申请实施例公开的运输车中悬吊装置回收至运输状态的示意图；
图15为本申请实施例公开的电气元件的连接示意图；
图16为本申请实施例公开的运输车使用过程的流程图。
附图标记说明：
100-底盘拖车；110-拖车本体；111-承载区域；1111-第一承载面；112-悬吊区域；1121-第二承载面；1131-倾斜面；120-支撑腿；130-围栏；
200-举升装置；210-举升驱动机构；211-第一举升油缸；212-第二举升油缸；220-框架；
300-悬吊装置；310-机械臂；320-抓手；
410-第一摄像元件；420-第一激光发射元件；430-测距元件；440-第二摄像元件；450-第二激光发射元件；460-压力检测元件；470-倾角检测元件；
500-控制装置；
600-液压系统；
700-设备本体；
800-发电车。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的 数据在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”等所区分的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
下面结合附图，通过具体的实施例及其应用场景对本申请实施例进行详细地说明。
参考图1至图16，本申请实施例公开了一种运输车，用于运输设备本体700，其中，设备本体700可以是燃气涡轮轮机发电项目的顶置排气消音器，当然，还可以是其他设备，本申请实施例对此不作具体限定。所公开的运输车包括底盘拖车100、举升装置200和悬吊装置300。
底盘拖车100为运输车的基础部件，其可以为举升装置200、悬吊装置300等提供安装基础，除此以外，底盘拖车100还可以用于承载设备本体700，以实现对设备本体700的运输。一些实施例中，底盘拖车100可以具有承载区域111和悬吊区域112，其中，承载区域111用于在运输过程中对设备本体700进行承载，以保证设备本体700的稳定性和牢固性；当运输车将设备本体700运输到目的地后，可以通过举升装置200对设备本体700进行举升、翻转，使设备本体700被移送至悬吊区域112，以便于通过悬吊装置300对设备本体700进行悬吊和移送。一种较为具体的实施例中，承载区域111与悬吊区域112邻近设置，以便于使设备本体700从承载区域111运动至悬吊区域112。
举升装置200用于对设备本体700进行举升和翻转，以改变设备本体700的位置形态，从而便于设备本体700被移送至指定位置。一些实施例中，举升装置200可以包括举升驱动机构210和框架220，其中，举升驱动机构210用于提供举升和翻转的驱动力，框架220用于承载设备本体700，具体为，举升驱动机构210连接框架220与底盘拖车100，框架220可翻转地连接于 底盘拖车100。如此，在举升驱动机构210的驱动作用下，框架220可以相对于底盘拖车100翻转，从而可以通过框架220带动设备本体700运动，以实现举升和翻转。
可选地，框架220的一端可以通过转轴安装至底盘拖车100，使得框架220在举升驱动机构210的驱动作用下可以围绕转轴转动，以实现对设备本体700的举升和翻转。另外，举升驱动机构210可以为直线驱动机构。
由于框架220相对于底盘拖车100可翻转，使得框架220可以相对于底盘拖车100具有第一状态和第二状态，其中，第一状态为承载状态，第二状态为翻转状态。如此，在第一状态下，框架220平铺于承载区域111，此时，设备本体700放置于框架220上，通过框架220对设备本体700起到承载作用，以便于在运输过程中，保证对设备本体700承载的稳定性。在第二状态下，框架220竖立于底盘拖车100，并使设备本体700竖立于悬吊区域112。
上述由第一状态至第二状态的具体过程为：初始状态下(即，在设备本体700未被运输到达目的地之前)框架220平铺在承载区域111(例如，可以成水平状态)，且框架220上部承载设备本体700；当到达目的地后，为了方便悬吊，首先需要改变设备本体700的状态，此时，启动举升驱动机构210，在举升驱动机构210的驱动作用下，框架220由平铺状态翻转至竖立状态(例如，可以成竖直状态)，在此过程中，设备本体700随着框架220一并翻转，从而可以从承载区域111逐渐被托起，最终经过翻转后的设备本体700竖立在悬吊区域112，从而可以方便于后续通过悬吊装置300对设备本体700进行悬吊，以提高设备本体700的移送效率。
悬吊装置300设置于底盘拖车100，用于将设备本体700从悬吊区域112悬吊起，并移送至预设位置。示例性地，可以将悬吊装置300连接在底盘拖车100的一端处，具体可以是底盘拖车100的前端或后端等，以便于为承载设备本体700提供足够大的空间。
本申请实施例中，将举升装置200、悬吊装置300与底盘拖车100有效 结合，以达到集成的效果，从而可以无需单独准备吊车，而是通过设置于底盘拖车100设有的悬吊装置300来实现对设备本体700的吊装；除此以外，还可以通过举升装置200可以对设备本体700进行翻转移动，以方便于悬吊装置300对设备本体700进行悬吊；通过悬吊装置300可以将设备本体700悬吊起并移送至预设位置，且在此过程中，无需使用吊索，也就不需要人员高空作业安装或拆除吊索，且无需人员高空指挥作业，从而可以降低作业难度，提高操作便捷性，且规避人员安全风险。
为了使悬吊装置300的运动更加灵活，本申请实施例中的悬吊装置300可以为折臂吊，通过折臂吊可以使悬吊过程更加灵活，以便于提高适应性。
参考图2，一些实施例中，悬吊装置300可以包括机械臂310和抓手320，其中，机械臂310的一端可转动地连接于底盘拖车100，抓手320连接于机械臂310的另一端，用于抓取或释放设备本体700。示例性地，机械臂310可以为多轴机械臂310，其可以包括多个小臂，相邻的两个小臂之间可以相对转动，且转动轴线可以平行或不平行，由此，可以实现不同的摆动形式，从而可以扩大悬吊装置300所能达到的范围。
抓手320可以采用液压夹爪，其通过液压方式驱动抓手320进行抓取动作或释放动作，如此，在抓取设备本体700时，可以保证设备本体700不易脱落，而在释放设备本体700时，可以实现快速释放。
基于上述设置，可以无需在设备本体700上设置绳索，也就无需人员安装或拆卸绳索，从而可以降低人员劳动强度和安全风险，并且可以提高设备本体700的悬吊或释放效率，以便于提高设备本体700的安装或拆卸效率。
参考图2和图15，为了提高设备本体700的放置位置精度，本申请实施例中的运输车还可以包括第一摄像元件410和第一激光发射元件420，其中，第一激光发射元件420用于发出激光标线，第一摄像元件410用于拍摄激光标线，第一摄像元件410和第一激光发射元件420均设置于抓手320，且第一摄像元件410和第一激光发射元件420均与运输车的控制装置500电连接。
具体地，在设备本体700被移送至预设位置的过程中，首先通过悬吊装置300将设备本体700移送至预设位置附近的上方，而后控制装置500控制悬吊装置300停止移动，并控制第一激光发射元件420向预设位置发射激光标线，通过第一摄像元件410观察并拍摄激光标线是否位于预设位置的标靶区域，以此来确定设备本体700是否被放置于预设位置。当激光标线位于标靶区域之内，表明设备本体700的位置较为精确，此时可以直接向下放置即可保证位置精度；当激光标线超出到标靶区域之外，表明设备本体700的位置存在偏差，此时控制装置500控制悬吊装置300做出适应性调整，以使激光标线位于标靶区域之内。
可选地，第一激光发射元件420可以发出十字激光标线，相应地，预设位置的标靶区域可以为十字标靶区域，此种方式可以在水平面内相互垂直的两个方向上进行定位，从而可以提高定位精度，以保证设备本体700的位置精度。另外，第一摄像元件410可以为摄像头等。
在一些实施例中，机械臂310和抓手320均可以采用液压驱动，以提高机械臂310的悬吊能力和抓手320的抓取能力，在一定程度上可以提高整个悬吊装置300的悬吊能力。基于此，运输车可以包括液压系统600，液压系统600可以包括油路，油路与机械臂310及抓手320分别连接，以通过油路将液压油传输至机械臂310和抓手320，并实现液压油的回流，从而可以为机械臂310和抓手320提供动力。除此以外，液压系统600还可以包括液压动力单元(如，液压泵等)、液压控制部件(如，各种控制阀等)。
为了判断抓手320是否已经完全释放设备本体700，一些实施例中，与机械臂310连接的油路和/或与抓手320连接的油路设有压力检测元件460，该压力检测元件460与运输车的控制装置500电连接。基于此，通过压力检测元件460可以对油路中的油压进行检测，当设备本体700未被释放时，机械臂310和抓手320均具有负载，此时与机械臂310连接的油路以及与抓手320连接的油路中的油压均相对较高；相反，当设备本体700被释放后，机 械臂310和抓手320均可以理解为不具有负载(重力可忽略不计)，此时与机械臂310连接的油路以及与抓手320连接的油路中的油压均相对较低。基于上述情况，可以通过压力检测元件460检测与机械臂310连接的油路以及与抓手320连接的油路中的至少一者的油压，并将检测到的油压结果发送至控制装置500，通过控制装置500将检测到的油压数据与预设油压数据进行对比，从而判定设备本体700是否被释放。
通过判断设备本体700是否被释放，可以有效避免悬吊装置300回位时受到设备本体700的影响，如此，一方面可以保证悬吊装置300的正常回位，以为下一次悬吊做准备，另一方面还可以防止悬吊装置300将设备本体700带倒而导致设备本体700损坏的情况发生。
可选地，压力检测元件460可以为压力传感器，当然，还可以是其他类型，本申请实施例对此不作具体限定。
参考图3和图4，为提高举升过程的稳定性，举升驱动机构210可以包括第一举升油缸211和第二举升油缸212，其中，第一举升油缸211的一端活动连接于底盘拖车100沿左右方向的一侧，第一举升油缸211的另一端活动连接于框架220；同理，第二举升油缸212的一端活动连接于底盘拖车100沿左右方向的另一侧，第二举升油缸212的另一端活动连接于框架220，其中，左右方向与运输车的行进方向垂直。示例性地，第一举升油缸211的一端可以通过转轴转动连接至底盘拖车100的一侧，另一端可以通过转轴连接至框架220，第二举升油缸212的一端可以通过转轴连接至底盘拖车100的另一侧，另一端可以通过转轴连接至框架220。
基于上述设置，通过第一举升油缸211和第二举升油缸212可以分别从左右两侧对框架220施加驱动力，以使框架220的左右两侧受力较为均衡，从而可以有效防止框架220两侧受力不均而出现变形的现象，进而保证了框架220的稳定性，进一步提高对于设备本体700的举升稳定性，有效防止举升过程中设备本体700倾翻而损坏。
另外，第一举升油缸211及第二举升油缸212两者与框架220的连接处均远离框架220与底盘拖车100的转动连接处，从而可以在同等驱动力的情况下增大驱动力矩，也即，在实现同等驱动力矩的情况下可以选用更小规格的第一举升油缸211和第二举升油缸212，进而可以降低成本。
参考图15，在一些实施例中，运输车还可以包括测距元件430，该测距元件430设置于底盘拖车100的侧部，且测距元件430与运输车的控制装置500电连接，用于检测底盘拖车100与预设位置之间在左右方向上的距离。实例地，底盘拖车100的左侧和/或右侧可以设有多个测距元件430，且多个测距元件430沿底盘拖车100的前后方向间隔设置，从而可以通过多个测距元件430分别检测底盘拖车100与预设位置在左右方向上的距离，其中，前后方向与运输车的行进方向平行。
一些情况下，可以将设备本体700放置于发电车800的顶面，而发电车800的顶面上的某一区域即为预设位置，此时，在将设备本体700移送至预设位置之前，可以首先将底盘拖车100与发电车800平行放置，即，底盘拖车100的前后方向与发电车800的前后方向平行，此时，多个测距元件430可以对底盘拖车100与发电车800之间的多个区域进行测距，以便于调整底盘拖车100与发电车800之间的距离，使底盘拖车100与发电车800之间的距离在控制装置500内嵌入的预设范围之内，如，2.3米至3米范围内等。
基于上述设置，可以通过多个测距元件430检测底盘拖车100与发电车800之间的多个区域之间的距离，并将距离信息发送至控制装置500，控制装置500将多个距离检测元件检测到的距离信息与预设范围进行比对，判断是否位于预设范围之内，当检测到的多个距离信息均位于预设范围之内时，则表明底盘拖车100与发电车800之间的相对位置满足要求，从而可以进行下一步操作而将设备本体700吊装至发电车800的顶部；当检测到的多个距离信息中的至少部分不在预设范围之内时，则表明底盘拖车100与发电车800之间的相对位置不满足要求，此时可以控制调节底盘拖车100的位置，以调 整至满足悬吊要求为止。
可选地，测距元件430可以为激光测距仪，以便于提高测距精度。
继续参考图15，为了确定运输车在前后方向上的位置精度，运输车还可以包括第二摄像元件440和第二激光发射元件450，其中，第二摄像元件440和第二激光发射元件450均设置于底盘拖车100的侧部，第二摄像元件440用于发出激光标线，第二摄像元件440用于拍摄激光标线，且第二激光发射元件450及第二摄像元件440均与运输车的控制装置500电连接，控制装置500可以根据第二摄像元件440拍摄的激光标线确定底盘拖车100与预设位置在前后方向上的距离。
具体地，在运输车靠近预设位置的过程中，控制第二摄像元件440向预设位置发射激光标线，通过第二摄像元件440观察并拍摄激光标线是否位于预设位置的标靶区域，以此来确定运输车的位置是否到达指定位置。当激光标线位于标靶区域之内，表明运输车的位置较为精确，此时可以进行悬吊作业；当激光标线超出标靶区域之外，表明运输车的位置存在偏差，此时控制装置500控制底盘拖车100做出适应性调整，以使激光标线位于标靶区域之内。
可选地，第二激光发射元件450可以发出十字激光标线，相应地，预设位置的标靶区域可以为十字标靶区域，此种方式可以在水平面内相互垂直的两个方向上进行定位，从而可以提高定位精度，以保证设备本体700的位置精度。另外，第二摄像元件440可以为摄像头等。
基于上述设置，可以调整运输车及其承载的设备本体700与预设位置在前后方向上的距离，从而实现对前后距离的调节。
一些情况下，可以将设备本体700放置于发电车800的顶面，而发电车800的顶面上的某一区域即为预设位置，此时，在将设备本体700移送至预设位置之前，可以首先调节底盘拖车100与发电车800在前后方向上的距离，此时，第二激光发射元件450和第二摄像元件440相互配合可以实现对底盘 拖车100的位置的采集，以便于调整底盘拖车100与发电车800的前后距离，使底盘拖车100与发电车800的前后距离在控制装置500内嵌入的预设范围之内。
参考图2，为提高举升和悬吊过程中整个运输车的稳定性，底盘拖车100还可以包括拖车本体110和多个可伸缩的支撑腿120，多个支撑腿120分别设置于拖车本体110的边缘处，一些实施例中，多个支撑腿120的伸缩动作可以采用液压驱动，以提高支撑腿120的支撑力，在一定程度上可以提高底盘拖车100的稳定性。基于此，运输车还可以包括液压系统600，该液压系统600可以包括油路，多个支撑腿120均与运输车的液压系统600的油路连接，以通过油路将液压油传输至各个支撑腿120，并实现液压油的回流，从而可以为各个支撑腿120提供动力。
为了进一步提升举升和悬吊过程中整个运输车的稳定性，运输车还可以包括调平装置，其中，调平装置可以包括设置于拖车本体110的倾角检测元件470，倾角检测元件470及液压系统600均与运输车的控制装置500连接，控制装置500用于根据倾角检测元件470检测到的拖车本体110的倾角信息，通过液压系统600控制至少部分支撑腿120对应伸缩，以对拖车本体110进行调平。
具体地，在悬吊设备本体700之前，多个支撑腿120分别伸长，以对拖车本体110进行支撑，与此同时，倾角检测元件470对拖车本体110的倾角进行检测，当检测到的倾角在控制装置500内嵌入的预设倾角范围之内时，判定拖车本体110满足悬吊要求，无需调平；当检测到的至少部分倾角不在控制装置500内嵌入的预设倾角范围之内时，判定拖车本体110倾斜过大，需要进行调平，此时，控制装置500通过液压系统600控制对应的支撑腿120进行伸缩，以便于对拖车本体110的局部进行相应地升降，从而实现对拖车本体110的调平处理，进而可以满足悬吊要求，以保证悬吊过程中运输车不会出现倾斜、侧翻的情况，可以保证运输车的稳定性。
可选地，倾角检测元件470可以为倾角仪等。
考虑到一些情况下设备本体700的高度尺寸较大而无法满足实际要求，并且影响举升装置200的布置空间，可以使底盘拖车100的局部设置为下沉区域，以通过下沉区域增加设备本体700的举升空间。
参考图4，一些实施例中，承载区域111具有第一承载面1111，悬吊区域112具有第二承载面1121，第一承载面1111的水平位置低于第二承载面1121的水平位置，且第一承载面1111与第二承载面1121之间通过倾斜面1131连接。基于此，承载区域111即为下沉区域，在举升装置200未举升之前，框架220位于承载区域111之内，设备本体700位于框架220之上，由于承载区域111较低，使得设备本体700也相对较低，相应地，悬吊区域112较高，如此，通过举升装置200可以将位于低洼处的设备本体700举升和翻转至高位处的悬吊区域112，从而可以增加举升空间，以便于设备本体700在底盘拖车100上被举升和翻转，进而便于设备本体700从承载区域111运动至悬吊区域112，并且可以增加举升装置200中举升油缸的布置空间。
可选地，底盘拖车100的承载区域111可以采用箱型梁结构，以增加底盘拖车100的强度。
参考图3，在一些实施例中，运输车还可以包括围栏130，该围栏130设置于底盘拖车100，且围栏130在底盘拖车100上围设成容纳空间。示例性地，控制装置500、液压系统600等部件可以设置于容纳空间内。通过围栏130可以对容纳空间内的盛装的部件起到防护作用，以防止外界因素对容纳空间内的部件造成干扰或损坏。
一种较为具体的实施例中，围栏130可以设置在底盘拖车100的背离悬吊装置300的端部，当然，还可以设置于底盘拖车100的其他位置。
本申请实施例中的运输车还可以通过远程操控系统进行远程控制，如，通过操作无线遥控器实现对运输车的远程控制，从而可以提高控制便捷性，且减少人员劳动强度。
基于上述运输车，本申请实施例还公开了一种运输车的使用方法，应用于上述运输车，参考图1至图16，运输车的使用方法可以包括：
通过底盘拖车100将承载于承载区域111的设备本体700运输至预设位置的周围；
通过举升装置200举升设备本体700，使设备本体700从底盘拖车100的承载区域111运动至悬吊区域112；
通过悬吊装置300抓取并悬吊起设备本体700，以将设备本体700从悬吊区域112移送至预设位置。
此处需要说明的是，运输车的使用方法的具体实施过程可以参考上述运输车中对应的内容，此处不再赘述。
本申请实施例中对于设备本体700的安装过程包括：
如图1所示，初始状态下，举升装置200的框架220处于平铺状态，设备本体700放置于框架220上；使多个支撑腿120伸出，并对底盘拖车100进行调平；调平完成后，将悬吊装置300的抓手320举升至最大的高度，以为设备本体700翻转腾出足够大的空间；如图2所示，通过举升装置200的第一举升油缸211和第二举升油缸212推动框架220，通过框架220带动设备本体700翻转至竖立状态；如图3所示，悬吊装置300的抓手320移动至设备本体700的上方，并抓取设备本体700的顶部；如图4所示，机械手通过抓手320带动设备本体700脱离框架220；如图5和图6所示，第一举升油缸211和第二举升油缸212带动框架220回归至平铺状态；如图7和图8所示，悬吊装置300将设备本体700移送至发电车800的上方；第一激光发射元件420向发电车800的顶部发射激光标线，第一摄像元件410观察并拍摄激光标线的位置，并将拍摄结果发送至控制装置500，通过控制装置500判断设备本体700是否位于预设位置的正上方；当位于正上方时，则无需调整位置，当不在正上方时，控制悬吊装置300调整设备本体700的位置，使设备本体700位于预设位置的正上方，如图9和图10所示；如图11所示， 待确定位置后，控制悬吊装置300的抓手320松开并释放设备本体700，以使设备本体700落在预设位置；如图12至图14所示，悬吊装置300进行回位；将多个支撑腿120收回，运输车驶离井场，至此完成设备本体700的安装。
本申请实施例中对于设备本体700的拆卸过程包括：
将运输车移动至指定位置，并与发电车800平行放置；通过测距元件430可以测量运输车与发电车800在左右方向上的距离，一般将距离调整到2.3米至3米范围内；第二激光发射元件450向发电车800发射激光标线，通过第二摄像元件440观察并拍摄激光标线在发电车800上的位置，并将拍摄结果发送至控制装置500，以通过控制装置500判断运输车与发电车800在前后方方向上的位置是否合适，当不合适时，调整运输车的位置，以满足实际要求；使多个支撑腿120伸出，支撑底盘拖车100，通过倾角检测元件470检测底盘拖车100是否满足水平要求，当不满足时，控制对应的支撑腿120进行伸缩，以实现调平；悬吊装置300伸出，并通过抓手320抓取设备本体700；将设备本体700悬吊至底盘拖车100的悬吊区域112；通过举升装置200的第一举升油缸211和第二举升油缸212驱动框架220翻转至竖立状态，并使设备本体700的侧面抵靠在框架220上；通过第一举升油缸211和第二举升油缸212驱动框架220逐渐放平，从而使设备本体700平放至框架220上；多个支撑腿120回缩，运输车驶离井场，完成对设备本体700的拆卸。
综上所述，本申请实施例中，将举升装置200、悬吊装置300分别与底盘拖车100集成设置，从而可以无需额外准备吊车；通过举升装置200可以对设备本体700进行翻转移动，以方便于悬吊装置300对设备本体700进行悬吊；通过悬吊装置300可以将设备本体700悬吊起并移送至预设位置，且在此过程中，无需使用吊索，也就不需要人员高空作业安装或拆除吊索，且无需人员高空指挥作业，从而可以降低作业难度，提高操作便捷性，且规避人员安全风险。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (10)

  1. 一种运输车，包括：底盘拖车(100)、举升装置(200)和悬吊装置(300)；
    所述底盘拖车(100)具有承载区域(111)和悬吊区域(112)；
    所述举升装置(200)包括举升驱动机构(210)和框架(220)，所述举升驱动机构(210)连接所述框架(220)与所述底盘拖车(100)，所述框架(220)可翻转地连接于所述底盘拖车(100)，所述框架(220)相对于所述底盘拖车(100)具有第一状态和第二状态，在所述第一状态下，所述框架(220)平铺于所述承载区域(111)，所述框架(220)用于承载设备本体(700)，在所述第二状态下，所述框架(220)竖立于所述底盘拖车(100)，并使所述设备本体(700)竖立于所述悬吊区域(112)；
    所述悬吊装置(300)设置于所述底盘拖车(100)，用于将所述设备本体(700)从所述悬吊区域(112)悬吊起，并移送至预设位置。
  2. 根据权利要求1所述的运输车，其中，所述悬吊装置(300)为折臂吊，所述悬吊装置(300)包括机械臂(310)和抓手(320)；
    所述机械臂(310)的一端可转动地连接于所述底盘拖车(100)，所述抓手(320)连接于所述机械臂(310)的另一端，用于抓取或释放所述设备本体(700)。
  3. 根据权利要求2所述的运输车，其中，所述运输车还包括第一摄像元件(410)和第一激光发射元件(420)，所述第一激光发射元件(420)用于发出激光标线，所述第一摄像元件(410)用于拍摄所述激光标线；
    所述第一摄像元件(410)和所述第一激光发射元件(420)均设置于所 述抓手(320)，且两者均与所述运输车的控制装置(500)电连接。
  4. 根据权利要求2所述的运输车，其中，所述运输车还包括液压系统(600)，所述液压系统(600)的油路与所述机械臂(310)及所述抓手(320)分别连接；
    与所述机械臂(310)连接的油路和/或与所述抓手(320)连接的油路设有压力检测元件(460)，所述压力检测元件(460)与所述运输车的控制装置(500)电连接。
  5. 根据权利要求1所述的运输车，其中，所述举升驱动机构(210)包括第一举升油缸(211)和第二举升油缸(212)；
    所述第一举升油缸(211)的一端活动连接于所述底盘拖车(100)的沿左右方向的一侧，所述第一举升油缸(211)的另一端活动连接于所述框架(220)；
    所述第二举升油缸(212)的一端活动连接于所述底盘拖车(100)的沿左右方向的另一侧，所述第二举升油缸(212)的另一端活动连接于所述框架(220)；
    其中，所述左右方向与所述运输车的行进方向垂直。
  6. 根据权利要求1所述的运输车，其中，所述运输车还包括测距元件(430)，所述测距元件(430)设置于所述底盘拖车(100)的侧部，并与所述运输车的控制装置(500)电连接，用于检测所述底盘拖车(100)与所述预设位置之间在左右方向上的距离，所述左右方向与所述运输车的行进方向垂直；
    和/或，所述运输车还包括第二摄像元件(440)和第二激光发射元件(450)， 所述第二摄像元件(440)和所述第二激光发射元件(450)均设置于所述底盘拖车(100)的侧部，且均与所述运输车的控制装置(500)电连接，所述第二激光发射元件(450)用于发出激光标线，所述第二摄像元件(440)用于拍摄所述激光标线，所述控制装置(500)用于根据所述第二摄像元件(440)拍摄的所述激光标线确定所述底盘拖车(100)与所述预设位置在前后方向上的相对位置，所述前后方向与所述运输车的行进方向平行。
  7. 根据权利要求1所述的运输车，其中，所述底盘拖车(100)包括拖车本体(110)和多个可伸缩的支撑腿(120)，多个所述支撑腿(120)分别设置于所述拖车本体(110)的边缘处，且多个所述支撑腿(120)均与所述运输车的液压系统(600)的油路连接；
    所述运输车还包括调平装置，所述调平装置包括设置于所述拖车本体(110)的倾角检测元件(470)，所述倾角检测元件(470)及所述液压系统(600)均与所述运输车的控制装置(500)连接，所述控制装置(500)用于根据所述倾角检测元件(470)检测到的所述拖车本体(110)的倾角信息，通过所述液压系统(600)控制至少部分所述支撑腿(120)对应伸缩，以对所述拖车本体(110)进行调平。
  8. 根据权利要求1所述的运输车，其中，所述承载区域(111)具有第一承载面(1111)，所述悬吊区域(112)具有第二承载面(1121)，所述第一承载面(1111)的水平位置低于所述第二承载面(1121)的水平位置，所述第一承载面(1111)与所述第二承载面(1121)之间通过倾斜面(1131)连接。
  9. 根据权利要求1或4所述的运输车，其中，所述运输车还包括围栏(130)， 所述围栏(130)设置于所述底盘拖车(100)；
    所述围栏(130)在所述底盘拖车(100)上围设成容纳空间。
  10. 一种运输车的使用方法，应用于权利要求1至9中任意一项所述的运输车，所述运输车的使用方法包括：
    通过底盘拖车(100)将承载于承载区域(111)的设备本体(700)运输至预设位置的周围；
    通过举升装置(200)举升设备本体(700)，使所述设备本体(700)从底盘拖车(100)的承载区域(111)运动至悬吊区域(112)；
    通过悬吊装置(300)抓取并悬吊起所述设备本体(700)，以将所述设备本体(700)从所述悬吊区域(112)移送至预设位置。
PCT/CN2022/132077 2022-08-19 2022-11-15 运输车及运输车的使用方法 WO2024036783A1 (zh)

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JPS54131216A (en) * 1978-04-03 1979-10-12 Yoshinori Fukada Dump truck with crane
CN201350860Y (zh) * 2009-01-20 2009-11-25 北京和田汽车改装有限公司 一种可自装自卸的汽车
CN101954880A (zh) * 2010-07-29 2011-01-26 徐州天地重型机械制造有限公司 一种背罐起重运输车
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