Double-door type separable modularized mining transportation box body and using method thereof

Abstract

The invention relates to the field of mine material transportation, in particular to a double-door type separable modular mining transportation box and a using method thereof. The transportation box body comprises a box body assembly, a corner column assembly and a double-door assembly. The box body assembly comprises long side plates, short side plates and a bottom plate. The corner post assembly comprises a corner post, and corner fittings are fixedly arranged at the top and the bottom of the corner post; the double-door assembly comprises two oppositely-opened box doors, and the edge portions of the side edges of the box doors are pivoted to the corner columns through hinges. And a lock is arranged between the box door and the bottom plate. According to the transportation box body, modular design is adopted, the separable characteristic of the box body and the bearing platform is achieved, the transportation efficiency is improved, and small device components, materials capable of being manually carried and the like can be transported by means of the double-door characteristic; the dead point fixing type locking assembly has the advantages of being firm, reliable and resistant to vibration, and good in tensile pressure resistance and lateral force resistance.

Description

Technical Field

[0001] The invention relates to the field of mine material transportation, and in particular to a double-door detachable modular mining transportation box and a use method thereof. Background Art

[0002] In recent years, as the cornerstone of my country's energy security, the coal industry has achieved a transformation from manual and semi-mechanized to automated in its development process, and is now in the trend of intelligent transformation. Specifically in the transportation of coal mine materials, traditional mine cars have problems such as low standardization, low degree of loading automation, poor locking and vibration resistance, high labor costs, poor working environment for workers, and easy safety hazards. Summary of the invention

[0003] The object of the present invention is to provide a double-door detachable modular mining transport box and a method of using the same, so as to solve at least one technical problem in the above-mentioned background technology.

[0004] The double-door detachable modular mining transport box provided by the present invention comprises:

[0005] The box assembly comprises a long side plate, a short side plate and a bottom plate, wherein the four corners of the bottom plate have square notches; the short side plates have two and are respectively fixed to the two short side edge portions of the bottom plate; the long side plate is fixed to one of the long side edge portions of the bottom plate;

[0006] A corner column assembly, comprising a corner column, wherein the corner column is a columnar structure, and corner pieces are fixedly arranged at the top and bottom of the corner column; the bottom of the corner column passes through the square notch and is fixedly arranged at the bottom plate; the side edges of the long side plate and the short side plate are respectively fixedly arranged at the corresponding corner column;

[0007] A double-door assembly comprises two opposing doors, one of the side edges of which is pivotally connected to the corresponding corner column via a hinge; a lock is provided between the door and the bottom plate; one of the two doors is provided with a lock plate, and the other is provided with a lock catch; after the doors are closed, the lock secures the doors to the bottom plate, the lock plate and the lock catch cooperate to secure the two doors together, and the bottom plate, the doors, the long side plates, the short side plates and the bottom plate together form a box structure with an open upper end.

[0008] Optionally, the outer sides of the long side panels, the short side panels, the door and the bottom panel are all fixed with reinforcing ribs.

[0009] Optionally, the long side panels, the short side panels and the upper ends of the door are flush.

[0010] Optionally, the corner column and the corner piece are both hollow structures;

[0011] The outer side surface of the corner piece has a locking hole penetrating through the cavity therein.

[0012] Optionally, it also includes:

[0013] A crossbeam assembly, the crossbeam assembly includes a long crossbeam and a short crossbeam, the tops of the short crossbeam and the long crossbeam are both tightly attached to the lower bottom surface of the base plate, and both ends are respectively fixed to the corner pieces at the bottom of the corresponding corner columns; the middle of the short crossbeam and the long crossbeam has a strip notch for the fork to pass through.

[0014] Optionally, it also includes: a carrying platform;

[0015] The load-bearing platform comprises: a frame assembly, a body assembly, a locking assembly and a wheel assembly;

[0016] The frame assembly comprises: an iron plate, a fixing frame and an openable and closable flat plate, wherein the iron plate is fixed to the fixing frame, and the openable and closable flat plate is pivotally connected to the iron plate via a hinge;

[0017] The vehicle body assembly comprises: a latch, a latch anti-drop ring, a buffer, a bumper base and a vehicle body cross beam, the latch anti-drop ring is fixedly arranged on the bumper base, the bumper base has a cavity, the buffer can penetrate into the cavity from the outside to the inside and protrude outward from the outer side wall of the bumper base, the buffer has an insertion hole, the latch passes through the upper wall of the cavity of the bumper base, the latch anti-drop ring and the buffer in sequence from top to bottom; the bumper base is fixedly arranged on the vehicle body cross beam, and the vehicle body cross beam is fixedly arranged on the fixing frame;

[0018] The locking assembly comprises: a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a bracket, a lock head, a lock handle, a buckle, a slider, a bearing and a retaining spring, the bracket being fixedly arranged on the fixing frame, the bracket having a sliding cavity, a slider being slidably connected in the sliding cavity, a side wall of the sliding cavity having a sliding groove, the slider having a sliding protrusion protruding laterally outward, and the sliding protrusion being slidably connected to the sliding groove; the bearing is fixedly sleeved on the outer side wall of the lock handle, the retaining spring is clamped on the lock handle, and the bearing is clamped between the two retaining springs; the slider is fixedly sleeved on the outer side wall of the bearing; the lock handle is an L-shaped rod-shaped structure, the lock head is fixedly arranged on the upper end portion of the lock handle, the transverse rod of the lock handle is located outside the bracket, and the vertical rod of the lock handle is fixedly provided with a limiting disc, and the limiting disc is located below the lock head, for preventing the lock handle from reaching the highest position. The locking head can extend upwardly out of the bracket and extend into the corner piece cavity under the corner column so that the box assembly is fixedly connected to the load-bearing platform; the lower end of the bracket is fixedly provided with a lower cantilever extending laterally outward, and the upper end is fixedly provided with an upper cantilever extending laterally outward, one end of the first connecting rod is hinged to the outer end of the lower cantilever, and the other end is connected to one end of the second connecting rod, and the other end of the second connecting rod is connected to the sliding protrusion; the fourth connecting rod is an L-shaped arm structure, the free end of the horizontal arm of the fourth connecting rod is hinged to the outer end of the upper cantilever, the buckle is fixed to the vertical free end of the fourth connecting rod, and extends toward the bracket direction to extend into the corner piece cavity under the corner column; the lower end of the third connecting rod is hinged to the outer end of the second connecting rod, and the upper end is hinged to the lower corner of the fourth connecting rod;

[0019] The wheel assembly comprises: a wheel and an axle clamp, the wheel is pivotally connected to the axle clamp, and the axle clamp is fixed to the vehicle body cross beam.

[0020] Optionally, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the bracket and the slider form a six-bar mechanism, and the slider is an active member; the locking handle is configured as follows: when the lower locking hole of the corner piece below the corner column is aligned with the lock head, the locking handle drives the slider to move upward, the inner end of the second connecting rod moves upward along with the sliding protrusion, and moves synchronously under the linkage action of the first connecting rod and the third connecting rod, the outer end of the second connecting rod moves upward and laterally outward at the same time, driving the upper end of the first connecting rod to move around the first connecting rod. The lower end of the third connecting rod rotates upward and outward, driving the third connecting rod to move upward, and the third connecting rod pushes the fourth connecting rod to rotate upward around the lateral free end of the fourth connecting rod, driving the buckle toward the side locking hole of the corner piece below the corner column, until the slider moves upward into place, the locking head passes through the lower locking hole upward, the limiting disc restricts the locking head from continuing to rise, the buckle is snapped into the side locking hole, the second connecting rod is in the dead point position, the locking handle is rotated, the locking head is snapped into the locking hole, and the box assembly is fixed to the bearing platform.

[0021] Optionally, the relationship between the rotation angle α of the fourth connecting rod and the lead H of the slider is:

[0022]

[0023] Among them, l1 is the length of the first connecting rod, l2 is the length of the second connecting rod, l3 is the length of the third connecting rod, l4 is the length of the fourth connecting rod, β is the angle between the first connecting rod and the vertical direction, and γ is the angle between the third connecting rod and the horizontal direction.

[0024] The method for using the double-door detachable modular mining transport box provided by the present invention uses the above-mentioned transport box, and the method for using includes:

[0025] Loading stage: When the load-bearing platform reaches the designated position, the box assembly is moved close to the load-bearing platform. When the box assembly reaches the target position, the corresponding corner pieces are aligned with the locks, the box assembly is lowered to the load-bearing platform, and the box assembly is fixed to the load-bearing platform through the locking assembly. The box door is opened to prepare for loading. After loading is completed, the box door is closed and locked, and loading is completed;

[0026] Unloading stage: unlock the locking assembly, detach the box assembly from the load-bearing platform, and transport it to the designated location.

[0027] Optionally, during the loading stage, the positioning of the box assembly is performed by collecting images through two binocular stereo vision systems formed by four cameras, and edge features and texture features are taken as feature vectors for transport box identification; when reaching the target position, the corner pieces are aligned with the lock heads and lowered to the load-bearing platform by the sling, and then the cameras identify and locate the four locking assemblies on the load-bearing platform and the four corner pieces at the bottom of the transport box, and the corresponding four locking assemblies are respectively identified and located by four cameras, and the corresponding locking assemblies are guided to be locked, the lock of the double-door assembly is opened and the upper lock buckle is opened together, the two box doors are opened outwards, and the box doors are closed after loading is completed, and the locks and lock buckles are closed;

[0028] During the unloading stage, four cameras are used to identify and locate the corresponding four locking components, and the corresponding locking components are guided to unlock. The coverless box is lifted by the lifting device and separated from the load-bearing platform and transported to the designated location.

[0029] The locking step includes: when the box assembly is lowered to the load-bearing platform and is recognized by the camera, the lock handle is pushed upward, the lock handle drives the slider to move upward, the lock head at the top of the lock handle passes through the bracket through-hole, the lock head passes through the bracket and is completely exposed, the movement of the slider drives the second connecting rod to move to a horizontal state, the first connecting rod and the third connecting rod are both rotated to a vertical state and collinear, the fourth connecting rod is rotated until its transverse rod is in a horizontal state, the buckle is inserted into the side hole of the angle piece, the transmission angle of the first connecting rod is 0°, forming a dead point, the lock handle is rotated 90°, the lock head is staggered with the bracket through-hole, the downward movement of the lock head is restricted, the vertical position of the lock handle is fixed, and the locking step is completed;

[0030] The unlocking step includes: the lock handle is rotated 90°, the lock head matches the bracket through hole, the handle is pulled downward, the lock head moves downward through the bracket through hole, the lock handle drives the slider to move downward, the first connecting rod rotates, the dead point is released, and the buckle of the fourth connecting rod extends from the side hole of the corner piece to complete the unlocking step.

[0031] The double-door detachable modular mining transport box and the use method thereof provided by the present invention have the following beneficial effects:

[0032] The double-door detachable modular transport box adopts modular design to realize the detachable characteristics of the box and the load-bearing platform and improve the transportation efficiency. It can transport small parts and materials that can be manually carried by relying on the double-door characteristics; the dead point fixed locking component is firm, reliable and vibration-resistant, and has good tensile pressure and lateral force performance. While ensuring the ability to quickly transport specific materials, it can achieve detachable modularity and can be loaded and unloaded on the load-bearing platform. Through the coordinated operation of the warehouse spreader device and the mechanical arm, the loading and unloading tasks of different types of materials can be completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0034] Figure 1 The schematic diagram of the overall structure of the double-door detachable modular mining transport box provided by the embodiment of the present invention, wherein the box assembly, the corner column assembly, and the double-door assembly are not assembled together;

[0035] Figure 2 for Figure 1 Schematic diagram of the structure of the middle box assembly;

[0036] Figure 3 for Figure 1 Schematic diagram of the structure of the center corner column assembly;

[0037] Figure 4 for Figure 1 Schematic diagram of the structure of the middle double door assembly;

[0038] Figure 5 for Figure 1 Schematic diagram of the structure of the middle cross beam assembly;

[0039] Figure 6 A schematic diagram of the overall structure of a load-bearing platform in a double-door detachable modular mining transport box provided by an embodiment of the present invention;

[0040] Figure 7 for Figure 6 Schematic diagram of the structure of the middle frame assembly;

[0041] Figure 8 for Figure 6 Schematic diagram of the structure of the mid-body component;

[0042] Figure 9a for Figure 6 A schematic diagram of the three-dimensional structure of the middle locking assembly;

[0043] Figure 9b for Figure 9a A schematic diagram of the structure of the middle locking assembly viewed from above;

[0044] Fig.9c for Figure 9a Schematic diagram of the structure of the middle lock head and lock handle;

[0045] Fig.10 for Figure 6 Schematic diagram of the structure of the middle wheel assembly;

[0046] Figures 11a-11c for Figure 6 Schematic diagram of the principle of the middle locking assembly;

[0047] Fig.12 A schematic diagram of the three-dimensional structure of a double-door detachable modular mining transport box from one perspective provided by an embodiment of the present invention, wherein the box and the leasing platform are in a locked state;

[0048] Fig.13a for Fig.12 In the partial exploded view, the box and the tenant platform are separated;

[0049] Fig.13b for Fig.13a A local enlarged schematic diagram of G0;

[0050] Fig.14a A schematic diagram of the three-dimensional structure of a double-door detachable modular mining transport box from another perspective provided by an embodiment of the present invention;

[0051] Fig.14b for Fig.14a A local enlarged schematic diagram of G1;

[0052] Fig.14c for Fig.14a A local enlarged schematic diagram of G2;

[0053] Fig.14d for Fig.14a A local enlarged schematic diagram of G3;

[0054] Fig.15 A schematic diagram of the three-dimensional structure of a double-door detachable modular mining transport box from another perspective provided by an embodiment of the present invention;

[0055] Fig.16a A schematic diagram of the three-dimensional structure of a double-door detachable modular mining transport box from another perspective provided by an embodiment of the present invention;

[0056] Fig.16b for Fig.16a Middle G4 partial enlarged schematic diagram;

[0057] Fig.16c for Fig.16a The enlarged schematic diagram of the G5 in the middle;

[0058] Fig.17a for Fig.12 A schematic diagram of the main structure of a double-door detachable modular mining transport box provided by an embodiment of the present invention;

[0059] Fig.17b for Fig.17a A partial enlarged schematic diagram of G6 in the middle;

[0060] Fig.18a for Fig.17a Middle AA section view;

[0061] Fig.18b for Fig.18a A partial enlarged schematic diagram of G7 in the middle;

[0062] Fig.19a for Fig.12 A schematic side view of the structure of a double-door detachable modular mining transport box provided by an embodiment of the present invention;

[0063] Fig.19b for Fig.19a The enlarged schematic diagram of the G8 in the middle;

[0064] Fig.20a for Fig.19a BB cutaway diagram;

[0065] Fig.20b for Fig.20a The enlarged schematic diagram of the G9 part;

[0066] Fig.21a for Fig.19a Middle CC cutaway diagram;

[0067] Figure 21b for Fig.21a The enlarged schematic diagram of the G10 in the middle;

[0068] Fig. 22 It is a schematic diagram of the control process of the double-door box;

[0069] Fig.23 The figure is a schematic diagram of the locking and unlocking process of the locking assembly.

[0070] In the figure:

[0071] 100-box assembly; 110-long side panel; 120-short side panel; 130-bottom panel;

[0072] 200-corner post assembly; 210-corner post; 220-corner piece;

[0073] 300-double door assembly; 310-box door; 320-hinge; 330-lock; 340-lock plate; 350-lock catch;

[0074] 400- beam assembly; 410- long beam; 420- short beam;

[0075] 500-carrying platform;

[0076] 510-frame assembly; 511-iron plate; 512-fixed frame; 513-openable and closable flat plate;

[0077] 520-body assembly; 521-latch; 522-latch anti-slip ring; 523-buffer; 524-header base; 525-body crossbeam;

[0078] 530-locking assembly; 5301-first connecting rod; 5302-second connecting rod; 5303-third connecting rod; 5304-fourth connecting rod; 5305-bracket; 5306-locking head; 5307-locking handle; 5308-buckle; 5309-slider; 5310-bearing; 5311-circlip; 5312-lower cantilever; 5313-upper cantilever;

[0079] 540-wheel assembly; 541-wheel; 542-axle clamp. DETAILED DESCRIPTION

[0080] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0081] The present invention is further described in detail below through specific implementation examples in conjunction with the accompanying drawings.

[0082] The embodiment of the present invention provides a double-door detachable modular mining transport box, such as Figure 1-Figure 2 As shown in FIG. 1 , the transport box includes: a box assembly 100, a corner column assembly 200 and a double-door assembly 300. The transport box is a detachable modular transport box and can transport small device components and manually transportable materials by relying on the double-door feature.

[0083] like Figure 2 As shown, the box assembly 100 includes a long side panel 110, a short side panel 120 and a bottom panel 130. The four corners of the bottom panel 130 have square notches; there are two short side panels 120, which are respectively fixed to the two short side edge portions of the bottom panel 130; and the long side panel 110 is fixed to one of the long side edge portions of the bottom panel 130.

[0084] like Figure 3 As shown, the corner column assembly 200 includes a corner column 210, which is a columnar structure. Corner pieces 220 are fixed to the top and bottom of the corner column 210; the bottom of the corner column 210 passes through the square notch and is fixed to the bottom plate 130; the side edges of the long side panels 110 and the short side panels 120 are respectively fixed to the corresponding corner columns 210.

[0085] like Figure 4As shown, the double-door assembly 300 includes two opposing doors 310, one of the side edges of the doors 310 is pivotally connected to the corresponding corner column 210 via a hinge 320; a lock 330 is provided between the door 310 and the bottom plate 130; one of the two doors 310 is provided with a lock plate 340, and the other is provided with a lock catch 350; after the doors 310 are closed, the lock 330 fixes the doors 310 to the bottom plate 130, and the lock plate 340 and the lock catch 350 cooperate to fix the two doors 310 together, and the bottom plate 130, the doors 310, the long side panels 110, the short side panels 120 and the bottom plate 130 together form a box structure with an open upper end. Specifically, the base of the hinge 320 is welded to the corner column 210, and the other end is welded to the box door 310, with two hinges on each side; the outer side of the box door 310 has a reinforcing rib structure to improve rigidity, and no reinforcing rib is provided at the position where the hinge 320 is welded. The outer dimensions of the box door in the length direction are half the length of the side panel, and space is left to ensure that the box doors 310 do not interfere with each other when they are closed; the two bases of the lock 330 are fixed to the reinforcing ribs of the box door 310 with bolts, and a locking structure is installed below. Since there is no top beam above the box door 310, the locking structure fixed to the beam on the upper part of the lock rod is removed, and the handle is first pulled upward out of the limit device and then rotated outward to unlock; the lock plate 340 is welded to the left end box door, and an opening is left at the lock hook position; the lock buckle 350 is welded to the corresponding position of the right end box door, and the lock handle at this position on the box door can be directly moved up and down to complete the locking or unlocking of the lock buckle 350. It should be noted that the hinge 320, the lock 330, the lock plate 340 and the lock buckle 350 are all purchased parts, and existing products can be used, such as Fig.14c , Fig.14d , Fig.16c shown.

[0086] In the embodiment of the present invention, the outer side surfaces of the long side panels 110, the short side panels 120, the box door 310 and the bottom panel 130 are all fixed with reinforcing ribs. The upper ends of the long side panels 110, the short side panels 120 and the box door 310 are flush, the long side panels 110 and the short side panels 120 are set to have different lengths and the same height, and the reinforcing rib structure designed on the outside of the long side panels 110, the short side panels 120 and the bottom panel 130 can improve the rigidity of the box body. The two sides of the two side panels are welded to the inner side surfaces of the corner column assembly 200, and the bottom is welded to the bottom panel 130; the bottom panel 130 is welded to the corner column 210, and square holes with the same shape as the corner column 210 are cut at the four corners so that the bottom panel 130 will not interfere with the corner column 210.

[0087] In the embodiment of the present invention, the outer side surface of the corner piece 220 has a locking hole that penetrates the cavity therein. The corner post 130 and the corner piece 220 are both hollow structures; the corner piece 220 is welded to the top and bottom of the corner post 210. During welding, due to different installation positions, each corner piece needs to expose a surface with three holes. Specifically, the upper surface and two outer side surfaces of the top corner piece 210 have locking holes, and the lower surface and two outer side surfaces of the bottom corner piece 210 have locking holes; the corner post 210 is a component used for connection and fixing. The hollow structure can effectively reduce the weight of the box body. The two corner posts 210 need to leave installation positions for the hinges in the double door assembly 300. The corner posts 210 are welded to the four corners of the bottom plate 130. The corner post assembly 200 is used to fix the hinges of the box assembly 100, the beam assembly 400 and the double door assembly 300.

[0088] like Figure 5 As shown, in the embodiment of the present invention, it also includes: a beam assembly 400, which includes a long beam 410 and a short beam 420. The tops of the short beam 420 and the long beam 410 are both in close contact with the bottom surface of the bottom plate 130, and both ends are respectively fixed to the corner pieces 220 at the bottom of the corresponding corner columns 210; the middle of the short beam 420 and the long beam 410 has a strip-shaped gap for the fork to pass through. Specifically, the two ends of the short beam 420 and the long beam 410 are welded to the inner side of the corner piece 220, the top is in close contact with the bottom surface of the bottom plate 130, and a hole (strip hole, strip-shaped gap) is left in the middle for the forklift to pass through, so as to facilitate forklift transportation.

[0089] In the embodiment of the present invention, the transport box further comprises: a carrying platform 500; Figure 6 As shown, the carrying platform 500 includes: a frame assembly 510, a body assembly 520, a locking assembly 530 and a wheel assembly 540; the carrying platform 500 can carry a modular box.

[0090] like Figure 7 As shown, the frame assembly 510 includes: an iron plate 511, a fixing frame 512 and an openable and closable flat plate 513, the iron plate 511 is fixedly mounted on the fixing frame 512, and the openable and closable flat plate 513 is pivotally connected to the iron plate 511 through hinges; specifically, the iron plate 511 has openings at its four corners according to the setting position of the locking assembly, and is welded to the fixing frame 512, and the fixing frame 512 is welded and fixed to the vehicle body through two middle cross beams; the openable and closable flat plate 513 is connected to the iron plate 511 through hinges, and the openable and closable flat plate 513 can be opened by moving the sheet iron pins on both sides, and when closing, the openable and closable flat plate 513 is pulled up, and the sheet iron pins are pushed back to their original positions to lock it.

[0091] like Figure 8 , Fig.14b , Fig.21a , Figure 21bAs shown, the vehicle body assembly 520 includes: a latch 521, a latch anti-slip ring 522, a buffer 523, a bumper base 524 and a vehicle body cross beam 525. The latch anti-slip ring 522 is fixedly mounted on the bumper base 524. The bumper base 524 has a cavity. The buffer 523 can penetrate into the cavity from the outside to the inside and protrude outward from the outer side wall of the bumper base 524. The buffer 523 has an insertion hole. The latch 521 passes through the latch anti-slip ring 522, the cavity upper wall of the bumper base 524 and the buffer 523 from top to bottom in sequence; the bumper base 524 is fixedly mounted on the vehicle body cross beam 525, and the vehicle body cross beam 525 is fixedly mounted on the fixing frame 512; specifically, when the chain link reaches the pin hole position, the latch 521 can be inserted into the pin hole, and the various vehicle bodies can be connected into a train, which is towed by a locomotive or a lifting winch to run on the track. The latch anti-drop ring 522 is welded to the bumper base 524 and used in conjunction with the latch 521 to effectively prevent the pin from jumping during transportation. The buffer 523 has a socket, which is installed in the bumper base 524 and fixed by a pin. The bumper base 524 can be used to install the buffer 523. A pin hole is punched in the middle to insert the latch 521, and a hole is punched in the installation position of the rear body cross beam 525. It is fixed to the body cross beam 525 with 6 rivets to ensure firmness and reliability. The body cross beam 525 is punched in the middle to install the axle clamp 542.

[0092] like Figure 9a , Figure 9b , Fig.14c , Fig.16b , Fig.17a , Fig.17b , Fig.18a , Fig.18b , Fig.19a , Fig.19b , Fig.20a , Fig.20b As shown, the locking assembly 530 includes: a first connecting rod 5301, a second connecting rod 5302, a third connecting rod 5303, a fourth connecting rod 5304, a bracket 5305, a locking head 5306, and a locking handle 5307 (as shown in FIG. Fig.9c), buckle 5308, slider 5309, bearing 5310 and spring 5311, bracket 5305 is fixed on fixing bracket 512, bracket 5305 has a sliding cavity, slider 5309 is slidably connected in the sliding cavity, side wall of the sliding cavity has a sliding groove, slider 5309 has a sliding protrusion protruding outward laterally, and the sliding protrusion is slidably connected to the sliding groove; bearing 5310 is fixedly sleeved on the outer wall of locking handle 5307, spring 5311 is clamped on locking handle 5307, and bearing 5310 is clamped on locking handle 5307. The slider 5309 is fixedly sleeved on the outer wall of the bearing 5310; the lock handle 5307 is an L-shaped rod structure, the lock head 5306 is fixedly arranged on the upper end of the lock handle 5307, the transverse rod of the lock handle 5307 is located outside the bracket 5305, and the vertical rod of the lock handle 5307 is fixedly provided with a limiting disc, which is located below the lock head 5306 and is used to limit the lock handle 5307 to move to the highest position, and the lock head 5306 can extend upward from the bracket 5 305 and extends into the cavity of the corner piece 220 below the corner column 210, so that the box assembly 100 is fixed to the load-bearing platform 500; the lower end of the bracket 5305 is fixedly provided with a lower cantilever 5312 extending laterally outward, and the upper end is fixedly provided with an upper cantilever 5313 extending laterally outward; one end of the first connecting rod 5301 is hinged to the outer end of the lower cantilever 5312, and the other end is connected to one end of the second connecting rod 5302, and the other end of the second connecting rod 5302 is connected to the sliding protrusion; The four-link rod 5304 is an L-shaped arm structure, the free end of the lateral arm of the fourth link rod 5304 is hinged to the outer end of the upper cantilever 5313, the buckle 5308 is fixed to the vertical free end of the fourth link rod 5304, and extends toward the bracket 5305 so as to extend into the cavity of the corner piece 220 under the corner column 210; the lower end of the third link rod 5303 is hinged to the outer end of the second link rod 5302, and the upper end is hinged to the lower corner of the fourth link rod 5304.

[0093] Specifically, Fig.17a , Fig.17b , Fig.18a , Fig.18b , Fig.19a , Fig.19b , Fig.20a , Fig.20bAs shown, the locking assembly 500 includes a lock head 5306, a bracket 5305, a lock handle 5307, a first connecting rod 5301, a second connecting rod 5302, a third connecting rod 5303, a buckle 5308 and a fourth connecting rod 5304. The fourth connecting rod 5304 and the buckle 5308 are the same component, that is, the two are an integrated structure, and the lock handle 5307 and the lock head 5306 are the same component, that is, the two are an integrated structure. A through hole is provided on the upper wall of the sliding cavity of the bracket 5305. The through hole is a special-shaped hole, such as a waist-shaped hole. The cross-sectional shape of the lock head 5306 is adapted to the through hole, so that the lock head 5306 can pass through the through hole to extend out of the bracket 5305 and pass through the locking hole at the bottom of the angle piece 220 to extend into the inside of the angle piece 220. When the lock head 5306 rotates, the lock head 5306 will be blocked by the upper edge of the through hole to prevent the lock head 5306 from sliding down. The lock handle 5307 is assembled with the inner ring of the bearing 5310, and the upper and lower positions are limited by the retaining spring 5311. The outer ring of the bearing 5310 is assembled with the slider 5309, and the slider 5309 serves as the active part of the six-bar mechanism. The bracket 5305 is embedded in the groove of the frame 525 through the front right-angle structure, and there is a round hole in the middle to allow the lock head 5306 to pass through. When the locking hole of the corner piece below the box is aligned with the lock head 5306, the lock head 5306 is lifted, the slider 5309 moves upward, and the corresponding connecting rod rotates. When the lock head 5306 reaches the target position, it passes through the locking hole, and the limiting disc of the lock handle 5307 just abuts against the upper inner wall of the sliding cavity, thereby limiting the lock head 5306 from continuing to rise. At this time, the buckle 5308 on the fourth connecting rod 5304 is inserted into the locking hole on the side of the corner piece and the second connecting rod 5302 is at the dead point. The lock handle 5307 is rotated to complete the locking, the lock head 5306 is stuck in the corner piece, the position of the lock handle 5307 is fixed, and the spatial movement of the slider 5309 connected thereto is limited, eliminating the influence of vibration on the dead point. When unlocking, the lock handle 5307 is reset, and the lock head 5306 falls below the upper surface of the bracket 5305 through the round hole of the bracket 5305 (the through hole provided on the upper wall of the sliding cavity), driving the corresponding connecting rod to rotate, and the dead point position of the second connecting rod 5302 is released. The lock head 5306 is limited to fall by pulling the first connecting rod 5302 and the second connecting rod 5302.

[0094] like Fig.10 As shown, the wheel assembly 540 includes: a wheel 541 and an axle clamp 542. The wheel 541 is pivotally connected to the axle clamp 542, and the axle clamp 542 is fixed to the body cross beam 525. Specifically, the wheel 541 is composed of two left and right track wheels firmly pressed on the same axle. The axle clamp 542 is a connecting piece between the body and the wheel, and can be installed on the axle by inserting. The connecting part of the axle clamp 542 is punched and fixed to the body cross beam 525 by rivets, as shown in FIG. Figure 6 shown.

[0095] In the embodiment of the present invention, as shown in FIG. 11, Fig.18b , 20bAs shown, the first link 5301, the second link 5302, the third link 5303, the fourth link 5404, the bracket 5305 and the slider 5309 form a six-bar mechanism, and the slider 5309 is an active member; the lock handle 5307 is configured as follows: when the lower locking hole of the corner piece 220 below the corner post 210 is aligned with the lock head 5306, the lock handle 5307 drives the slider 5309 to move upward, and the inner end of the second link 5302 moves upward along with the sliding protrusion, and moves synchronously under the linkage action of the first link 5301 and the third link 5303, and the outer end of the second link 5302 moves upward and laterally outward at the same time, driving the upper end of the first link 5301 to rotate around the third link 5303. The lower end of the first connecting rod 5301 rotates upward and outward, driving the third connecting rod 5303 to move upward. The third connecting rod 5303 pushes the fourth connecting rod 5304 to rotate upward around the lateral free end of the fourth connecting rod 5304, driving the buckle 5308 toward the side locking hole of the corner piece 220 below the corner column 210, until the slider 5309 moves upward into place, the lock head 5306 passes through the lower locking hole upward, the limit disc restricts the lock head 5306 from continuing to rise, the buckle 5308 is snapped into the side locking hole, the second connecting rod 5302 is in the dead point position, the locking handle 5307 is rotated, the lock head 5306 is snapped into the locking hole, and the box assembly 400 is fixed to the supporting platform 500.

[0096] In the embodiment of the present invention, the lock is designed as a six-bar mechanism with 1 degree of freedom. The active member is a slider 5309. The slider 5309 moves in the vertical direction (vertical direction) to drive the second connecting rod 5302 and the first connecting rod 5301 to move. A coordinate system is established. According to the coordinate projection method, an equation relationship is established to disassemble the six-bar mechanism into a four-bar mechanism (such as Fig.11b ) and crank slider mechanism (such as Fig.11c ), with the help of the intermediate variable β, the relationship between the rotation angle α of the fourth link (5304) and the lead H of the slider can be solved.

[0097] According to the geometric relationship of the four-bar mechanism, the equation is established:

[0098] l4sinα+l3sinγ+l1cosβ=l3+l1 (1)

[0099] l4(1-cosα)=l1sinβ-l3cosγ (2)

[0100] Combining equations (1) and (2), we can obtain:

[0101]

[0102] According to the geometric relationship of the crank slider mechanism, the equation is established:

[0103]

[0104] In summary, the relationship between the rotation angle α of the fourth connecting rod 5304 and the lead H of the slider 5309 can be obtained as follows:

[0105]

[0106] Wherein, l1 is the length of the first connecting rod 5301, l2 is the length of the second connecting rod 5302, l3 is the length of the third connecting rod 5303, l4 is the length of the fourth connecting rod 5304, β is the angle between the first connecting rod 5301 and the vertical direction, and γ is the angle between the third connecting rod 5303 and the horizontal direction. For example, l1 is 75 mm, l2 is 90 mm, l3 is 74 mm, and l4 is 34 mm.

[0107] The embodiment of the present invention also provides a method for using a double-door detachable modular mining transport box, using the above transport box, such as Figure 22-Figure 23 As shown, the method of use includes:

[0108] Loading stage: the carrying platform 500 reaches the designated position, the box assembly 100 is moved close to the carrying platform 500, when the box assembly 100 reaches the target position, the corresponding corner piece 220 is aligned with the lock head 5306, the box assembly 100 is lowered to the carrying platform 500, the box assembly 100 is fixed to the carrying platform 500 by the locking assembly 530, the box door 310 is opened to prepare for loading, and the box door 310 is closed and locked after loading is completed, and the loading stage is completed;

[0109] Unloading stage: unlock the locking assembly 530, detach the box assembly 100 from the carrying platform 500, and transport it to a designated location.

[0110] In the embodiment of the present invention, during the loading stage, the positioning of the box assembly 100 is performed by four cameras to form two binocular stereo vision systems for image acquisition, and edge features and texture features are taken as feature vectors for transport box identification; when reaching the target position, the corner piece 220 is aligned with the lock head 5306 and is lowered to the load-bearing platform 500 by the sling, and then the camera identifies and locates the four locking assemblies 530 on the load-bearing platform 500 and the four corner pieces 220 at the bottom of the transport box, and the four cameras are used to identify and locate the corresponding four locking assemblies 530 respectively, guide the corresponding locking assemblies 530 to lock, open the lock of the double-door assembly 300 and open the upper lock buckle together, open the two box doors 310 to the outside, close the box doors 310 after loading is completed, and close the lock and lock buckle; during the unloading stage, the four cameras are used to identify and locate the corresponding four locking assemblies 530 respectively, guide the corresponding locking assemblies 530 to unlock, and the sling lifts the box and separates it from the load-bearing platform 500, and transports it to the designated location;

[0111] The locking steps include: when the box assembly 100 is lowered to the carrying platform 500 and is recognized by the camera, the handle of the lock handle 5307 is pushed upward, the lock handle 5307 drives the slider 5309 to move upward, and the lock head 5306 at the top of the lock handle 5307 passes through the through hole of the bracket 5305, which is a special-shaped hole located on the upper wall of the sliding cavity, such as a waist-shaped hole, and the cross-sectional shape of the lock head 5306 is adapted to the through hole. When the lock head 5306 passes through the bracket 5305 and is completely exposed, the slider 5309 moves to drive the second connecting rod 5302 to move to a horizontal state, and the first connecting rod 5301 and the second connecting rod 5302 are moved to a horizontal state. The three connecting rods 5303 are all rotated to a vertical state and in line, the fourth connecting rod 5304 is rotated until its transverse rod is in a horizontal state, the buckle 5308 is inserted into the side hole of the angle piece (side locking hole), the transmission angle of the first connecting rod 5301 is 0°, forming a dead point, the handle of the locking handle 5307 is rotated 90°, the locking head 5306 is staggered from the through hole of the bracket 5305, the downward movement of the locking head 5306 is restricted, the limiting disc is close to the inner wall of the sliding cavity of the bracket 5305, that is, the upper surface of the limiting disc is in contact with the upper inner wall of the sliding cavity, the vertical position of the locking handle 5307 is fixed, and the locking step is completed. Fig.18b , Fig.20b , Fig.23 As shown;

[0112] The unlocking steps include: the handle of the lock handle 5307 is rotated 90 degrees, the lock head 5306 is matched with the through hole of the bracket 5305, the handle is pulled downward, the lock head 5306 passes through the through hole of the bracket 5305 and moves downward, the lock handle 5307 drives the slider 5309 to move downward, the first connecting rod 5301 is rotated, the dead point is released, and the buckle 5308 of the fourth connecting rod 5304 extends from the side hole of the corner piece (side locking hole), completing the unlocking steps, such as Fig.13b , Fig.23 shown.

[0113] It should be noted that the general mining car box cannot be loaded and unloaded on the load-bearing platform. The transport box provided by the embodiment of the present invention can meet the requirements of detachable modularization by adding corner pieces. There are standard corner pieces at the eight vertices. It can be transported to the separation destination by hoisting equipment. The outer dimensions of the box are consistent with the modularization requirements. Modularization is achieved by ensuring the distance between the corner columns. The transportation of the double-door detachable modular mining transport box can be divided into two stages: loading and unloading. Fig. 22The control flow chart shown in the figure, wherein the loading stage is as follows: the flatbed truck reaches the designated position, and the double-door box approaches the platform; specifically, the double-door box to be loaded is brought close to the load-bearing platform by the lifting device, and the camera positions the box; specifically, the positioning of the double-door box is performed by four cameras forming two binocular stereo vision systems to collect images, and edge features and texture features are taken as feature vectors for transport box recognition. When the double-door box reaches the target position, the corner piece 220 at the bottom end of the corner column 210 is aligned with the lock; the box is lowered to the load-bearing platform, and specifically, the lifting device is still used to lower the double-door box to the load-bearing platform 50 0; then, the camera identifies the locking assembly 530, specifically, the camera identifies and locates the four locking assemblies 530 on the carrying platform 500 and the four corner pieces 220 at the bottom of the transport box, and uses four cameras to identify and locate the corresponding four locking assemblies 530 respectively; then, the robot arm locks, specifically, guides the corresponding robot arm to lock the corresponding locking assembly, at this time the box and the carrying platform 500 are fixed, the lock on the double door assembly can be opened and the upper lock buckle can be opened at the same time, the two box doors are opened to the outside, and the materials can be loaded conveniently at this time. After loading, close the box door, locks and lock buckles. Continue to see Fig. 22 According to the control flow chart, the unloading stage is: the camera identifies the locking component 530; specifically, the four corresponding locking components are identified and located by four cameras respectively; then, the robotic arm unlocks, specifically, the corresponding robotic arm is guided to unlock the corresponding locking component; the double-door box is lifted, and the box is separated from the load-bearing platform 500, that is, the double-door box is lifted by the hoist and separated from the load-bearing platform 5, and transported to the designated location.

[0114] In summary, when transporting a double-door detachable modular transport box, first move the box assembly 100 close to the carrying platform 500, and use four cameras to form two binocular stereo vision systems to collect images, and take edge features and texture features as feature vectors for transport box identification. When reaching the target position, the corresponding corner holes of the corner pieces 220 are aligned with the locks 5306, and the box is lowered onto the carrying platform by the sling and locked by the locking assembly 530. When unloading, first reset the locking handle 5307, and the lock 5306 can pass through the corresponding locking holes of the corner pieces 220 and fall below the upper surface of the bracket 5305 to complete the unlocking. At this time, the box can be lifted to complete the separation. By introducing a double-door detachable modular transport box and its load-bearing platform, corner fittings and locking structure, a modular design is adopted to achieve the detachable characteristics of the box and the load-bearing platform and improve the transportation efficiency; the dead-point fixed lock structure of the six-bar mechanism of the locking assembly is firm, reliable and vibration-resistant, and has good tensile pressure and lateral force resistance; the embodiment of the present invention also introduces a multi-camera recognition and positioning technology of machine vision, and guides the mechanical arm to lock and unlock the corresponding locking assembly through the recognition and positioning of the box and the locking assembly, thereby improving the degree of automation of the operation; by introducing a double-door detachable modular transport box and its load-bearing platform, a modular design is adopted to achieve the detachable characteristics and improve the transportation efficiency, so that the material transport box and its load-bearing platform have a wide range of application scenarios in the field of mine material transportation.

[0115] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "horizontal", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0116] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "installation" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A double-door detachable modular mining transport box, characterized in that: include: The box assembly (100) comprises a long side plate (110), a short side plate (120) and a bottom plate (130); the four corners of the bottom plate (130) have square notches; the short side plates (120) have two and are respectively fixed to two short side edge portions of the bottom plate (130); the long side plate (110) is fixed to one of the long side edge portions of the bottom plate (130); A corner column assembly (200) comprises a corner column (210), wherein the corner column (210) is a columnar structure, and corner pieces (220) are fixedly arranged at the top and bottom of the corner column (210); the bottom of the corner column (210) passes through the square notch and is fixedly arranged on the bottom plate (130); and the side edges of the long side plate (110) and the short side plate (120) are respectively fixedly arranged on the corresponding corner column (210); A double-door assembly (300) comprises two opposing doors (310), one side edge of each of the doors (310) being pivotally connected to a corresponding corner column (210) via a hinge (320); a lock (330) being provided between the door (310) and the bottom plate (130); one of the two doors (310) being provided with a lock plate (340), and the other being provided with a lock catch (350); after the doors (310) are closed, the lock (330) fixes the doors (310) to the bottom plate (130), the lock plate (340) and the lock catch (350) cooperate to fix the two doors (310) together, and the bottom plate (130), the doors (310), the long side plate (110), the short side plate (120) and the bottom plate (130) together form a box structure with an open top.

2. The transport box according to claim 1, characterized in that: The outer sides of the long side panels (110), the short side panels (120), the box door (310) and the bottom panel (130) are all fixedly provided with reinforcing ribs.

3. The transport box according to claim 1, characterized in that: The upper ends of the long side plate (110), the short side plate (120) and the box door (310) are flush.

4. The transport box according to claim 1, characterized in that: The corner column (130) and the corner piece (220) are both hollow structures; The outer side surface of the corner piece (220) has a locking hole penetrating the cavity therein.

5. The transport box according to any one of claims 1 to 4, characterized in that: Also includes: A crossbeam assembly (400), the crossbeam assembly comprising a long crossbeam (410) and a short crossbeam (420), the tops of the short crossbeam (420) and the long crossbeam (410) are both closely attached to the bottom surface of the bottom plate (130), and both ends are respectively fixed to the corner pieces (220) at the bottom of the corresponding corner columns (210); the middle of the short crossbeam (420) and the long crossbeam (410) are provided with strip-shaped notches for forks to pass through.

6. The transport box according to claim 5, characterized in that: Also includes: A carrying platform (500); The load-bearing platform (500) comprises: a frame assembly (510), a body assembly (520), a locking assembly (530) and a wheel assembly (540); The frame assembly (510) comprises: an iron plate (511), a fixing frame (512) and an openable and closable flat plate (513); the iron plate (511) is fixed to the fixing frame (512); and the openable and closable flat plate (513) is pivotally connected to the iron plate (511) via a hinge; The vehicle body component (520) comprises: a latch (521), a latch anti-slip ring (522), a buffer (523), a bumper base (524) and a vehicle body cross beam (525); the latch anti-slip ring (522) is fixedly arranged on the bumper base (524); the bumper base (524) has a cavity; the buffer (523) can penetrate into the cavity from the outside to the inside and protrude outward from the outer side wall of the bumper base (524); the buffer (523) has an insertion hole; the latch (521) passes through the upper wall of the cavity of the bumper base (524), the latch anti-slip ring (522) and the buffer (523) in sequence from top to bottom; the bumper base (524) is fixedly arranged on the vehicle body cross beam (525); and the vehicle body cross beam (525) is fixedly arranged on the fixing frame (512); The locking assembly (530) includes: a first connecting rod (5301), a second connecting rod (5302), a third connecting rod (5303), a fourth connecting rod (5304), a bracket (5305), a locking head (5306), a locking handle (5307), a buckle (5308), a slider (5309), a bearing (5310) and a retaining spring (5311), wherein the bracket (5305) is fixed to the fixing frame (512), the bracket (5305) has a sliding cavity, the sliding cavity is slidably connected with the slider (5309), the side wall of the sliding cavity has a sliding groove, the slider (5309) has a sliding protrusion protruding laterally outward, and the sliding protrusion is slidably connected to The slide groove; the bearing (5310) is fixedly sleeved on the outer wall of the lock handle (5307), the retaining ring (5311) is clamped on the lock handle (5307), and the bearing (5310) is clamped between the two retaining rings (5311); the slider (5309) is fixedly sleeved on the outer wall of the bearing (5310); the lock handle (5307) is an L-shaped rod structure, the lock head (5306) is fixedly mounted on the upper end of the lock handle (5307), the transverse rod of the lock handle (5307) is located outside the bracket (5305), and the vertical rod of the lock handle (5307) is fixedly provided with a limiting disc, and the limiting disc is located at the lock handle (5307). The locking head (5306) is arranged below the bracket (5305) to prevent the locking handle (5307) from reaching the highest position. The locking head (5306) can extend upwards out of the bracket (5305) and extend into the cavity of the corner piece (220) below the corner column (210), so that the box assembly (100) is fixed to the load-bearing platform (500); a lower cantilever (5312) extending laterally outward is fixed at the lower end of the bracket (5305), and an upper cantilever (5313) extending laterally outward is fixed at the upper end; one end of the first connecting rod (5301) is hinged to the outer end of the lower cantilever (5312), and the other end is connected to the second connecting rod (5302) ) at one end, and the other end of the second connecting rod (5302) is connected to the sliding protrusion; the fourth connecting rod (5304) is an L-shaped arm structure, the free end of the horizontal arm of the fourth connecting rod (5304) is hinged to the outer end of the upper cantilever (5313), and the buckle (5308) is fixed to the vertical free end of the fourth connecting rod (5304) and extends toward the bracket (5305) to extend into the cavity of the corner piece (220) below the corner column (210); the lower end of the third connecting rod (5303) is hinged to the outer end of the second connecting rod (5302), and the upper end is hinged to the lower corner of the fourth connecting rod (5304); The wheel assembly (540) comprises a wheel (541) and an axle clamp (542), wherein the wheel (541) is pivotally connected to the axle clamp (542), and the axle clamp (542) is fixed to the vehicle body cross beam (525).

7. The transport box according to claim 6, characterized in that: The first connecting rod (5301), the second connecting rod (5302), the third connecting rod (5303), the fourth connecting rod (5404), the bracket (5305) and the slider (5309) form a six-bar mechanism, and the slider (5309) is an active member; the locking handle (5307) is configured as follows: when the lower locking hole of the corner piece (220) below the corner column (210) is aligned with the lock head (5306), the locking handle (5307) drives the slider (5309) to move upward, the inner end of the second connecting rod (5302) moves upward along with the sliding protrusion, and moves synchronously under the linkage action of the first connecting rod (5301) and the third connecting rod (5303), the outer end of the second connecting rod (5302) moves upward and laterally outward at the same time, driving the upper end of the first connecting rod (5301) to rotate around the first connecting rod (5301). The lower end of the connecting rod (5301) rotates upward and outward, driving the third connecting rod (5303) to move upward, and the third connecting rod (5303) pushes the fourth connecting rod (5304) to rotate upward around the lateral free end of the fourth connecting rod (5304), driving the buckle (5308) toward the side locking hole of the corner piece (220) below the corner column (210), until the slider (5309) moves upward into place, the locking head (5306) passes through the lower locking hole upward, the limiting disc restricts the locking head (5306) from continuing to rise, the buckle (5308) is snapped into the side locking hole, the second connecting rod (5302) is in the dead point position, the locking handle (5307) is rotated, the locking head (5306) is snapped into the locking hole, and the box assembly (400) is fixed to the supporting platform (500).

8. The transport box according to claim 6, characterized in that: The relationship between the rotation angle α of the fourth connecting rod (5304) and the lead H of the slider is: Among them, l1 is the length of the first connecting rod, l2 is the length of the second connecting rod, l3 is the length of the third connecting rod, l4 is the length of the fourth connecting rod, β is the angle between the first connecting rod and the vertical direction, and γ is the angle between the third connecting rod and the horizontal direction.

9. A method for using a double-door detachable modular mining transport box, characterized in that: Using the transport box according to any one of claims 1 to 8, the method of using the box comprises: Loading stage: When the load-bearing platform reaches the designated position, the box assembly is moved close to the load-bearing platform. When the box assembly reaches the target position, the corresponding corner pieces are aligned with the locks, the box assembly is lowered to the load-bearing platform, and the box assembly is fixed to the load-bearing platform through the locking assembly. The box door is opened to prepare for loading. After loading is completed, the box door is closed and locked, and loading is completed; Unloading stage: unlock the locking assembly, detach the box assembly from the load-bearing platform, and transport it to the designated location.

10. The method of use according to claim 9, characterized in that: During the loading stage, the positioning of the box assembly is performed by collecting images through two binocular stereo vision systems formed by four cameras, and edge features and texture features are taken as feature vectors for transport box identification; when the target position is reached, the corner pieces are aligned with the lock heads and lowered to the load-bearing platform by the sling, and then the camera identifies and locates the four locking components on the load-bearing platform and the four corner pieces at the bottom of the transport box, and the four corresponding locking components are identified and located by the four cameras respectively, and the corresponding locking components are guided to lock, the lock of the double-door assembly is opened and the upper lock buckle is opened together, the two box doors are opened outwards, and the box doors are closed after loading is completed, and the locks and lock buckles are closed; During the unloading stage, four cameras are used to identify and locate the corresponding four locking components, and the corresponding locking components are guided to unlock. The coverless box is lifted by the lifting device and separated from the load-bearing platform and transported to the designated location. The locking step includes: when the box assembly is lowered to the load-bearing platform and is recognized by the camera, the lock handle is pushed upward, the lock handle drives the slider to move upward, the lock head at the top of the lock handle passes through the bracket through-hole, the lock head passes through the bracket and is completely exposed, the movement of the slider drives the second connecting rod to move to a horizontal state, the first connecting rod and the third connecting rod are both rotated to a vertical state and collinear, the fourth connecting rod is rotated until its transverse rod is in a horizontal state, the buckle is inserted into the side hole of the angle piece, the transmission angle of the first connecting rod is 0°, forming a dead point, the lock handle is rotated 90°, the lock head is staggered with the bracket through-hole, the downward movement of the lock head is restricted, the vertical position of the lock handle is fixed, and the locking step is completed; The unlocking step includes: the lock handle is rotated 90°, the lock head matches the bracket through hole, the handle is pulled downward, the lock head moves downward through the bracket through hole, the lock handle drives the slider to move downward, the first connecting rod rotates, the dead point is released, and the buckle of the fourth connecting rod extends from the side hole of the corner piece to complete the unlocking step.

Images