A platform and its usage method

Abstract

This invention provides a standardized mining transport container and a carrying platform, as well as a method of using the same, relating to the field of mine material transportation technology, to solve the problem of low utilization efficiency of transportation equipment. The standardized mining transport container includes corner post assemblies, each containing corner pieces. A fixed hook is provided in each corner piece and configured to be locked by a first locking mechanism of the carrying platform. The carrying platform, used to support the standardized mining transport container, includes a frame assembly and a first locking mechanism. The first locking mechanism is installed at the corner of the frame assembly and corresponds to the corner piece. The first locking mechanism includes a movable hook and a reset assembly, the movable hook being held in position by the reset assembly. This improves the utilization efficiency of the transportation equipment.

Description

Technical Field

[0001] This invention relates to the field of mine material transportation technology, and more specifically, to a standardized mine transport container and carrying platform and its usage method. Background Technology

[0002] In recent years, as the cornerstone of my country's energy security, the coal industry has transformed from manual and semi-mechanized to automated operations, and is now trending towards intelligent transformation. This has placed specific demands on the coal industry to strengthen the construction of intelligent, safe, and efficient mines, and to improve inter-regional coal transportation channels and collection and distribution systems. Specifically, in terms of coal and mineral material transportation, there are problems such as low standardization, low automation in loading, high labor costs, harsh working conditions for workers, and potential safety hazards associated with traditional mine car transportation. Summary of the Invention

[0003] The first objective of this invention is to provide a standardized mining transport container and carrying platform to solve the technical problem of low efficiency in existing transport equipment.

[0004] The first aspect of the present invention provides a standardized mining transport container, including a corner post assembly, the corner post assembly including corner pieces, the corner pieces being provided with a fixed hook, the fixed hook being configured to be locked by a first locking mechanism of the carrying platform.

[0005] The beneficial effects of this invention's standardized mining transport container are:

[0006] By installing fixed hooks in the corner pieces of the corner post assembly, which are then locked by the first locking mechanism of the carrying platform, the standardized mining transport container can be separated from the carrying platform. The standardized mining transport container adopts a modular design and can be used independently of the carrying platform, achieving a separable modular characteristic that improves the utilization efficiency of the transport equipment.

[0007] In an optional technical solution, the standardized mining transport box further includes a box assembly and a box beam assembly. The box assembly has a box bottom plate, a first box side plate, and a second box side plate. The bottoms of the first box side plate and the second box side plate are fixedly connected to the box bottom plate. The length of the first box side plate is greater than the length of the second box side plate, and the heights of the first box side plate and the second box side plate are equal. The corner post assembly includes corner posts, and the side edges of the first box side plate and the second box side plate are fixedly connected to the corner posts. The box beam assembly includes a first box beam and a second box beam. The length of the first box beam is greater than the second box beam, and the ends of the first box beam and the second box beam are fixedly connected to the opposite sides of each corner piece.

[0008] In an optional technical solution, the standardized mining transport container further includes a double-door assembly, which includes a door and a lock. The door is connected to the corner post assembly via a hinge, and the length of the door is half of the first container side panel. The lock is installed on the door and includes a lifting lock body, which is pivotally connected to a lock swing rod. The lock is vertically movable relative to the door. A latch is also installed on the first container crossbeam, and the lifting lock body can be inserted into the latch.

[0009] A second aspect of the present invention aims to provide a carrying platform to solve the technical problem of low efficiency in the use of transportation equipment.

[0010] The second aspect of the present invention provides a carrying platform for carrying the aforementioned standardized mining transport box. The carrying platform includes a frame assembly and a first locking mechanism. The first locking mechanism is installed at the corner of the frame assembly and is correspondingly arranged with respect to the corner piece. The first locking mechanism includes a movable coupler and a reset assembly. The movable coupler can be held in position by the reset assembly.

[0011] The beneficial effects of the platform provided by this invention are:

[0012] By setting a reset component to keep the movable coupler in position, the movable coupler can be opened using the reset component to facilitate the insertion of the fixed coupler of the corner piece. Then, the reset component can be used to reset the movable coupler and keep it in the locked position, ensuring that the movable coupler and the fixed coupler are securely locked.

[0013] In an optional technical solution, the first locking mechanism includes a locking bracket, and the movable coupler is pivotally connected to the locking bracket; the reset assembly includes a reset lever, a lock cylinder counterweight, a first connecting rod, a second connecting rod, a rotating slide groove, and a swing lock cylinder, the lock cylinder counterweight is slidably connected to the locking bracket in the vertical direction, the lock cylinder counterweight is pivotally connected to the first connecting rod, the first connecting rod is pivotally connected to the second connecting rod, the second connecting rod is pivotally connected to the swing lock cylinder, the second connecting rod is also slidably connected to the rotating slide groove, the rotating slide groove is pivotally connected to the locking bracket, and the swing lock cylinder has a horizontal protrusion; The reset lever is pivotally connected to the locking bracket. The horizontal protrusion extends above the first end of the reset lever, and the second end of the reset lever extends into the actuation groove of the movable coupler. The pivot axes between the first connecting rod and the second connecting rod, between the lock cylinder counterweight and the first connecting rod, between the second connecting rod and the swing lock cylinder, and between the rotating slide and the locking bracket are parallel. The rotation axis of the movable coupler is parallel to the rotation axis of the reset lever. The pivot axes between the movable coupler and the locking bracket, and between the rotating slide and the locking bracket, are perpendicular.

[0014] When the lock cylinder counterweight descends, the horizontal protrusion locks the movable coupler; when the lock cylinder counterweight rises, the horizontal protrusion drives the movable coupler to disengage from the fixed coupler.

[0015] In an optional technical solution, the bearing platform further includes a second lifting sleeve, which is installed at the corner of the frame assembly; an upper limit plate is fixedly connected to the top of the second lifting sleeve, a lower limit plate is fixedly connected to the bottom of the second lifting sleeve, a limit flange is fixedly connected to the outer side of the locking bracket, the locking bracket can move up and down in the second lifting sleeve, and the limit flange can abut against the upper limit plate or the lower limit plate.

[0016] In an optional technical solution, the reset assembly further includes a reset handle, the lower end of the locking bracket is fixedly connected to the first lifting sleeve, the lock cylinder counterweight is slidably connected to the first lifting sleeve, the side wall of the first lifting sleeve is provided with an L-shaped notch, and the reset handle can rotate horizontally and move up and down in the notch.

[0017] In an optional technical solution, the frame assembly includes a vehicle body and a support frame. The support frame is fixedly connected to the bottom surface of the vehicle body. The vehicle body also has a downwardly opening and closing plate pivotally connected to it. The opening and closing plate is locked to the vehicle body by a second locking mechanism. The second locking mechanism includes a locking slot disposed on the lower surface of the opening and closing plate and a locking insert rotatably connected to the lower surface of the vehicle body. The locking slot is formed by a slot lower plate fixedly connected to the lower surface of the opening and closing plate and the opening and closing plate. The locking insert is configured to be inserted into the locking slot.

[0018] In an optional technical solution, the load-bearing platform includes a vehicle body assembly, the vehicle body assembly includes a vehicle body crossbeam, the vehicle body crossbeam is fixedly connected to a connecting base, the connecting base is provided with a buffer member, the buffer member is fixedly connected to the connecting base by a connecting pin, the connecting pin passes through from top to bottom into a pin anti-disengagement ring fixedly set at the top of the connecting base, the connecting base and the buffer member, the connecting pin is also provided with a horizontal pin, the horizontal pin passes through the horizontal insertion hole of the pin anti-disengagement ring.

[0019] A third aspect of the present invention aims to provide a method of use to solve the technical problem of low efficiency in the use of transportation equipment.

[0020] The third aspect of the present invention provides a method of use, which is applied to a container transport system, the container transport system including the above-mentioned standardized mining transport container and the above-mentioned carrying platform, and the method of use includes a loading method and an unloading method.

[0021] The loading method includes: controlling the standardized mining transport container to move towards the carrying platform, identifying and locating the center coordinates of the corner piece; if the standardized mining transport container is aligned with the carrying platform, controlling the standardized mining transport container to be lowered onto the carrying platform, the camera identifying and locating the first locking mechanism on the carrying platform, guiding the robotic arm to lock the first locking mechanism; opening the lock and opening the container door; after loading materials into the standardized mining transport container, closing the container door and closing the lock;

[0022] The unloading method includes: after the standardized mining transport container is carried by the carrying platform to the unloading position, identifying and locating the center coordinates of the corner piece, then identifying and locating the first locking mechanism corresponding to the corner piece, guiding the robotic arm to unlock the first locking mechanism, and controlling the standardized mining transport container to separate from the carrying platform.

[0023] By identifying the center coordinates of the corner pieces, the corner pieces are aligned with the first locking mechanism. When all the corner pieces of the uncovered box are aligned with the first locking mechanism, the standardized mining transport box is aligned with the carrying platform. Then, the robotic arm can be guided to lock the first locking mechanism, thereby improving the automation level of the operation process. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments or background art of the present invention, the drawings used in the description of the embodiments or background art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 This is a structural schematic diagram of the standardized mining transport container and carrying platform provided in Example 1.

[0026] Figure 2 This is a structural schematic diagram of the lower corner component of the standardized mining transport box provided in Example 1.

[0027] Figure 3 This is a schematic diagram of the structure in the standardized mining transport container provided in Embodiment 1, in which the fixed hook is locked by the first locking mechanism.

[0028] Figure 4 This is a structural schematic diagram of the container assembly in the standardized mining transport container provided in Example 1.

[0029] Figure 5 This is a schematic diagram of the corner post assembly installed on the bottom plate of the standardized mining transport box provided in Example 1.

[0030] Figure 6 This is a schematic diagram of the standardized mining transport container provided in Example 1, omitting the double-door assembly.

[0031] Figure 7 This is a structural schematic diagram of the double-door assembly in the standardized mining transport container provided in Example 1.

[0032] Figure 8 This is a schematic diagram of the lock mechanism in the standardized mining transport container provided in Example 1.

[0033] Figure 9 This is a schematic diagram of the structure of the support platform provided in Embodiment 2.

[0034] Figure 10 This is a schematic diagram of the structure of the carrying platform for supporting the standardized mining transport container provided in Example 2.

[0035] Figure 11 This is a structural diagram of the carrying platform and the standardized mining transport container provided in Example 2, in their separated state.

[0036] Figure 12 This is a schematic diagram of the first locking mechanism in the locked state in the carrying platform provided in Embodiment 2.

[0037] Figure 13 This is a schematic diagram of the structure of the first locking mechanism in the carrier platform provided in Embodiment 2, viewed from another direction in the locked state.

[0038] Figure 14 This is a cross-sectional view of the first locking mechanism in the locked state in the carrying platform provided in Embodiment 2.

[0039] Figure 15 This is a schematic diagram of the first locking mechanism in the carrier platform provided in Embodiment 2 during the unlocking process.

[0040] Figure 16 This is a simplified diagram of the first locking mechanism in the carrier platform provided in Embodiment 2 during the unlocking process.

[0041] Figure 17 This is a simplified diagram of another mechanism in the unlocking process of the first locking mechanism in the carrier platform provided in Embodiment 2.

[0042] Figure 18 This is a schematic diagram of the first locking mechanism in the carrier platform provided in Embodiment 2 after it is unlocked.

[0043] Figure 19 This is a schematic diagram of the structure of the second lifting sleeve in the bearing platform provided in Embodiment 2.

[0044] Figure 20This is a structural schematic diagram of the frame assembly in the load-bearing platform provided in Embodiment 2.

[0045] Figure 21 This is a schematic diagram of the openable and closable flat plate in the support platform provided in Embodiment 2.

[0046] Figure 22 This is a structural schematic diagram of the vehicle body components in the support platform provided in Embodiment 2.

[0047] Figure 23 This is a partial structural diagram of the end of the vehicle body component in the support platform provided in Embodiment 2.

[0048] Figure 24 This is a schematic diagram of the wheel assembly in the load-bearing platform provided in Embodiment 2.

[0049] Figure 25 This is a flowchart illustrating the usage method provided in Example 3.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1-Box body assembly; 2-Corner post assembly; 3-Double door assembly; 4-Box body crossbeam assembly; 5-First box body side panel; 6-Second box body side panel; 7-Box body bottom plate; 8-Upper corner piece; 9-Corner post; 10-Lower corner piece; 11-Hinge; 12-Box door; 13-Lock; 131-Lock base; 132-Lock lever; 133-Lifting lock body; 134-Latch; 14-Second box body crossbeam; 15-First box body crossbeam; 16-Upper crossbeam; 29-Fixed hook;

[0052] 17-Frame assembly; 18-Body assembly; 19-First locking mechanism; 20-Wheel assembly; 21-Vehicle body; 22-Support frame; 23-Openable and closable plate; 231-Locking insert; 232-Locking lower plate; 24-Connecting pin; 25-Pin anti-disengagement ring; 26-Buffer component; 27-Connecting base; 28-Body crossbeam;

[0053] 31-Moving coupler; 32-Coupler pivot; 322-Actuating groove; 33-Locking bracket; 34-Limiting flange; 35-Reset lever; 36-Reset handle; 37-First lifting sleeve; 38-Lock cylinder counterweight; 39-First connecting rod; 40-Second connecting rod; 41-Rotating slide; 42-Swing lock cylinder; 421-Horizontal protrusion; 43-Limiting part; 44-Notch part; 45-Upper limit plate; 46-Lower limit plate; 47-Second lifting sleeve; 48-Wheelset; 49-Axle clip. Detailed Implementation

[0054] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0055] Example 1:

[0056] like Figures 1-3 As shown, the standardized mining transport box provided in Embodiment 1 of the present invention includes a corner post assembly 2, the corner post assembly 2 includes corner pieces, and a fixed hook 29 is provided in the corner pieces. The fixed hook 29 is configured to be locked by the first locking mechanism 19 of the carrying platform.

[0057] By setting a fixed hook 29 in the corner piece of the corner post assembly 2, which is locked by the first locking mechanism 19 of the carrying platform, the standardized mining transport box can be separated from the carrying platform. The standardized mining transport box adopts a modular design and can be used independently of the carrying platform, realizing a separable modular characteristic, which is conducive to improving the utilization efficiency of the transport equipment.

[0058] like Figure 5 As shown, the corner post assembly 2 also includes corner posts 9. Since the standardized mining transport box is generally rectangular, the corner post assembly 2 is positioned at the four corners of the standardized mining transport box. The top of the corner post 9 is connected to an upper corner piece 8, and the bottom of the corner post 9 is connected to a lower corner piece 10, which can be connected to the support platform. To facilitate connection between this standardized mining transport box and other types of support platforms besides those in Embodiment 2, openings can be provided on the side walls of the corner pieces.

[0059] like Figure 4 and Figure 6 As shown, optionally, the standardized mining transport box also includes a box assembly 1 and a box beam assembly 4. The box assembly 1 has a box bottom plate 7, a first box side plate 5, and a second box side plate 6. The bottoms of the first box side plate 5 and the second box side plate 6 are both fixedly connected to the box bottom plate 7. The length of the first box side plate 5 is greater than the length of the second box side plate 6, and the heights of the first box side plate 5 and the second box side plate 6 are equal. The corner post assembly 2 includes corner posts 9, and the side edges of the first box side plate 5 and the second box side plate 6 are both fixedly connected to the corner posts 9. The box beam assembly 4 includes a first box beam 15 and a second box beam 14. The length of the first box beam 15 is greater than the second box beam 14, and the ends of the first box beam 15 and the second box beam 14 are both fixedly connected to the opposite sides of each corner piece.

[0060] By setting up corner post assemblies 2 to connect the first box side panel 5 and the second box side panel 6, the rigidity of the box assembly 1 can be significantly improved, preventing damage when storing materials. Furthermore, setting the box crossbeam assembly 4 on the lower surface of the box bottom plate 7 can improve the strength of the box bottom plate 7.

[0061] In this embodiment, a notch is provided at the top of the first box beam 15 for the insertion of the forklift's forks. In this embodiment, there are two second box side panels 6, while there is one first box side panel 5. Furthermore, notches of the same dimensions as the corner posts 9 are cut at the four corners of the box bottom plate 7 to prevent interference between the box bottom plate 7 and the corner posts 9. Additionally, reinforcing ribs are provided on the outer sides of the first box side panel 5 and the second box side panel 6 to improve their rigidity. Furthermore, an upper crossbeam 16 is provided at the top of the box assembly 1, connecting to two upper corner pieces 8 to improve the rigidity of the top of the side of the box assembly 1 where the first box side panel 5 is not located.

[0062] like Figures 7-8 As shown, optionally, the standardized mining transport container also includes a double-door assembly 3, which includes a door 12 and a lock 13. The door 12 is connected to the corner post assembly 2 via a hinge 11, and the length of the door 12 is half of the first container side panel 5. The lock 13 is installed on the door 12 and includes a lifting lock body 133, which is pivotally connected to a lock swing rod 132. The lock 13 and the door 12 are vertically movable relative to each other. A latch 134 is also installed on the first container crossbeam 15, and the lifting lock body 133 can be inserted into the latch 134.

[0063] By using hinge 11 to pivotally connect the door 12 to the corner post assembly 2, when materials need to be transported horizontally into the standardized mining transport container, the locking lever 132 drives the lifting lock body 133 to rise, causing the lock body to be pulled out from the latch 134, thereby unlocking the lock 13 so that the door 12 can be opened and materials can be transported horizontally into the standardized mining transport container.

[0064] Of the four corner posts 9, the two corner posts 9 located on either side of the front surface of the standardized mining transport box have an L-shaped cross-section to accommodate the hinges 11, while the remaining corner posts 9 have a rectangular cross-section. One base of the hinge 11 can be fixedly connected to the corner post 9 by means such as welding, while the swinging part of the hinge 11 can be fixedly connected to the box door 12. Each box door 12 has two hinges 11 on its side. The outer side of the box door 12 is also equipped with reinforcing ribs to improve rigidity, and the positions connecting the hinges 11 should avoid the reinforcing ribs.

[0065] The lock 13 includes a lock base 131 with a through slot extending horizontally. The height of this slot is greater than the height of the lock lever 132. The lock lever 132 can move horizontally relative to the lock base 131, and can also swing and move vertically within the lock base 131. The lifting lock body 133 can specifically be a locking rod. The bottom of the locking rod passes through the latch 134, and both ends of the locking rod are fixed to the door 12 via sliding bases. That is, taking the left side of the door 12 as an example, when the left end of the lock lever 132 is pressed down, the lock lever 132 not only rotates relative to the lock base 131, but the right end of the lock lever 132 also rises. When the lifting lock body 133 rises and falls, it can move vertically relative to the sliding base. The lock lever 132 also moves to the right to prevent interference.

[0066] Example 2:

[0067] like Figures 9-12 As shown, the carrying platform provided in Embodiment 2 is used to carry the aforementioned standardized mining transport box. The carrying platform includes a frame assembly 17 and a first locking mechanism 19. The first locking mechanism 19 is installed at the corner of the frame assembly 17 and is correspondingly arranged with the corner piece. The first locking mechanism 19 includes a movable coupler 31 and a reset assembly. The movable coupler 31 can be held in position by the reset assembly.

[0068] By setting a reset component to keep the movable coupler 31 in position, the movable coupler 31 can be opened using the reset component to facilitate the insertion of the fixed coupler 29 of the corner piece. Then, the movable coupler 31 can be reset using the reset component to keep the movable coupler 31 in the locked position, ensuring that the movable coupler 31 and the fixed coupler 29 are securely locked.

[0069] like Figures 12-18As shown, optionally, the first locking mechanism 19 includes a locking bracket 33, and the movable hook 31 is pivotally connected to the locking bracket 33; the reset assembly includes a reset lever 35, a lock cylinder counterweight 38, a first connecting rod 39, a second connecting rod 40, a rotating slide 41, and a swing lock cylinder 42. The lock cylinder counterweight 38 is slidably connected to the locking bracket 33 in the vertical direction, and the lock cylinder counterweight 38 is pivotally connected to the first connecting rod 39. The first connecting rod 39 is pivotally connected to the second connecting rod 40, the second connecting rod 40 is pivotally connected to the swing lock cylinder 42, and the second connecting rod 40 is also slidably connected to the rotating slide 41, which is pivotally connected to the locking bracket 33. The swing lock cylinder 42 has a horizontal protrusion. 421; The reset lever 35 is pivotally connected to the locking bracket 33. The horizontal protrusion 421 extends above the first end of the reset lever 35, and the second end of the reset lever 35 extends into the actuation groove 322 of the movable coupler 31. The pivot axes between the first link 39 and the second link 40, between the lock cylinder counterweight 38 and the first link 39, between the second link 40 and the swing lock cylinder 42, and between the rotating slide 41 and the locking bracket 33 are parallel. The rotation axis of the movable coupler 31 is parallel to the rotation axis of the reset lever 35. The pivot axes between the movable coupler 31 and the locking bracket 33, and between the rotating slide 41 and the locking bracket 33, are perpendicular.

[0070] When the lock cylinder counterweight 38 descends, the horizontal protrusion 421 can lock the movable hook 31; when the lock cylinder counterweight 38 rises, the horizontal protrusion 421 can drive the movable hook 31 to disengage from the fixed hook 29.

[0071] This configuration allows the swing lock cylinder 42 to rotate when the lock cylinder counterweight 38 rises, utilizing the first link 39, the second link 40, and the rotating slide 41. This rotation causes the horizontal protrusion 421 of the swing lock cylinder 42 to press down the reset lever 35, which in turn presses down one end of the actuation groove 322, opening the movable hook 31. When the lock cylinder counterweight 38 moves downwards under its own weight, the first link 39 and the second link 40 can cause the swing lock cylinder 42 to swing in the opposite direction, locking the movable hook 31 to the fixed hook 29. Furthermore, since the pivot axis of the movable hook 31 and the locking bracket 33 is perpendicular to the pivot axis of the second link 40 and the swing lock cylinder 42, any continued swinging of the movable hook 31 will press against the swing lock cylinder 42 in a direction parallel to the rotation axis of the swing lock cylinder 42. Therefore, the swing lock cylinder 42 can be used to prevent the movable hook 31 from continuing to swing, ensuring a secure connection between the movable hook 31 and the fixed hook 29.

[0072] In this embodiment, the movable coupler 31 is pivotally connected to the upper part of the locking bracket 33 via the coupler pivot 32.

[0073] Among them, such as Figure 15 and Figure 16As shown, when the lock cylinder counterweight 38 is in the lower position, the lower end of the first link 39, which is pivotally connected to the lock cylinder counterweight 38, descends. Meanwhile, the second link 40 is slidably connected to the rotating slide 41, and under the influence of the upper end of the first link 39, the angle between the second link 40 and the horizontal plane increases. Since the rotating slide 41 is pivotally connected to the locking bracket 33, the second link 40... Figure 13 The upper end moves to the left, and the horizontal protrusion 421 of the swing lock cylinder 42 moves to the side of the movable hook 31 facing the observer, blocking the continued swing of the movable hook, so as to achieve a reliable connection between the movable hook 31 and the fixed hook 29.

[0074] like Figures 12-14 and Figure 17 As shown, when the lock cylinder counterweight 38 moves upward, it pushes the lower end of the first connecting rod 39 at its top. Since the first connecting rod 39 is pivotally connected to the second connecting rod 40, and the second connecting rod 40 is slidably connected to the rotating slide 41, which is pivotally connected to the locking bracket 33, the second connecting rod 40 is pushed upward by the first connecting rod 39. The second connecting rod 40 moves upward relative to the rotating slide 41. At the same time, the angle between the second connecting rod 40 and the horizontal plane decreases, and the pivot point between the second connecting rod 40 and the swing lock cylinder 42 moves to the right. Simultaneously, since a limiting part 43 is provided at the top of the swing bracket, the top of the swing lock cylinder 42 abuts against the limiting part 43, thus the swing lock cylinder 42 begins to swing. Continuing to move the lock cylinder counterweight 38 upward causes the pivot point between the swing lock cylinder 42 and the second connecting rod 40 to move to the upper right of the figure, causing the swing lock cylinder 42 to... Figure 15 When rotated counterclockwise, the horizontal protrusion 421 presses down on the reset lever 35, and the reset lever 35 moves the bottom end of the toggle groove 322, causing the movable coupler 31 to open outward to release the fixed coupler 29.

[0075] In the first locking mechanism 19, the lock cylinder counterweight 38, under the action of gravity, applies a leftward constraint force to the swing lock cylinder 42 through the first connecting rod 39 and the second connecting rod 40. In the locked state, this keeps the horizontal protrusion 421 of the swing lock cylinder 42 and the bottom surface of the movable coupler 31 in contact, restricting the rotational movement of the movable coupler 31 and achieving self-locking of the movable coupler 31. The transmission chain consists of the lock cylinder counterweight 38, the first connecting rod 39, the second connecting rod 40, the rotating slide 41, and the swing lock cylinder 42. All components move in a vertical plane; a simplified motion model is shown below. Figure 16 The simplified diagram of the first locking mechanism is shown below. Based on the planar self-...

[0076] Calculated using the degree formula:

[0077] F = 3n - 2P L -P H =3×5-2×7-1×0=1 (1) F is the number of planar degrees of freedom; n is the number of moving links; P L It is the number of lower secondary components; P H It refers to the number of higher-ranking officials.

[0078] It can be seen that the number of degrees of freedom of the internal transmission chain of the first locking mechanism 19 is 1. Based on the closed-chain kinematics, further calculations and derivations show that the up-and-down movement of the lock cylinder counterweight 38 corresponds to the left-and-right movement of the swing lock cylinder 42.

[0079] Right translational motion relationship:

[0080] L1cosθ1+acosθ2=x (2)

[0081] L1sinθ1+asinθ2=h (3)

[0082] (L2-a)sinθ2=Δh (4)

[0083] p=x+(L2-a)cosθ2 (5)

[0084] L1 is the length of the first link 39, with an actual size of 22mm; L2 is the length of the second link 40, with an actual size of 42mm; θ1 is the angle between the first link 39 and the horizontal direction; θ2 is the angle between the second link 40 and the horizontal direction; a is the intercept of the second link 40 below the rotating slide 41; x is the horizontal distance from the rotating slide 41 to the lock cylinder counterweight 38, with an actual size of 17.8mm; Δh is the vertical distance from the rotating slide 41 to the swing lock cylinder 42, with an actual size of 13.5mm; p is the horizontal position of the swing lock cylinder 42.

[0085] In the locked state, the swing lock core 42 is located directly above the rotating slide 41, i.e., p = x. Combining formulas (5) and (6), the rotation angle of the transmission link can be obtained:

[0086]

[0087] a=L2-Δh=42-13.5=28.5 (7)

[0088] Substituting formulas (2) and (3) into the equations and solving them simultaneously, we can obtain:

[0089] h0 = 41.5 (8)

[0090] In the unlocked state, the right side of the swing lock cylinder 42 is engaged with the limiting part 43, i.e., p = 31.4, forming a linkage.

[0091] From formulas (5) and (6), we can obtain: θ2=0.782 (9)

[0092] a = 22.8 (10)

[0093] Substituting formulas (2) and (3) into the equations and solving them simultaneously, we can obtain:

[0094] h1 = 37.9 (11)

[0095] After the swing lock cylinder 42 engages with the limiting part 43, the upward movement of the lock cylinder counterweight 38 is transformed into a downward rotation around the engagement axis, changing the motion model as follows: Figure 17 The simplified diagram of the first locking mechanism 19 is shown. Calculations are performed according to the planar degrees of freedom formula:

[0096] F = 3n - 2P L -P H =3×5-2×7-1×0=1 (12)

[0097] It can be seen that the number of degrees of freedom of the internal transmission chain of the first locking mechanism 19 is still 1. Based on further calculation and derivation of closed-chain kinematics, the mapping relationship between the up-and-down translational motion of the lock cylinder counterweight 38 and the rotational motion of the swing lock cylinder 42 around the axis can be obtained:

[0098] L1cosθ1+acosθ2=x (13)

[0099] L1sinθ1+asinθ2=h (14)

[0100] (L2-a)cosθ2+L3cosθ3=w (15)

[0101] (L2-a)sinθ2+L3sinθ3=Δh (16)

[0102] L3 is the length of the connecting rod of the swing lock cylinder 42 simplified to its actual size, which is 36mm; θ3 is the angle between the connecting rod of the swing lock cylinder 42 simplified to its actual size and the horizontal direction; w is the horizontal distance from the rotating slide 41 to the pivot, which is 14.8mm; Δh is the vertical distance from the rotating slide 41 to the pivot of the swing lock cylinder 42, which is 35.0mm.

[0103] The unlocking process requires the swing lock cylinder 42 to rotate 60 degrees around its axis, and the lower reset lever 35 to rotate the movable hook 31 outward to unlock it. Substitute the closed-loop equations (15) and (16) into the equations and solve them simultaneously.

[0104] We can obtain:

[0105] θ2=2.27 (17)

[0106] a = 27.7 (18)

[0107] Substituting (13) and (14) into the equations and solving simultaneously, we get:

[0108] h2 = 28.5 (19)

[0109] The counterweight 38 of the lock cylinder can be raised, so that the lead h of the first locking mechanism 19 during the locking to unlocking and reset process is:

[0110] h=h0-h2=41.5-28.5=13 (20)

[0111] The designed lock cylinder has a counterweight of 38 and a liftable lead L = 30, which satisfies that L is greater than the lead h.

[0112] like Figures 12-15 and Figure 18 As shown, optionally, the reset assembly also includes a reset handle 36, the lower end of the locking bracket 33 is fixedly connected to the first lifting sleeve 37, the lock cylinder counterweight 38 is slidably connected in the first lifting sleeve 37, the side wall of the first lifting sleeve 37 is provided with an L-shaped notch 44, and the reset handle 36 can rotate horizontally and move up and down in the notch 44.

[0113] By providing an L-shaped notch 44 on the side wall of the first lifting sleeve 37, the lower part of the L-shaped notch 44 allows the reset handle 36 to rotate in the horizontal plane, preventing external interference from causing the reset handle 36 to move upward and thus unlocking the first locking mechanism 19. The vertical extension of the L-shaped notch 44 allows the reset handle 36 to move up and down to abut against the lock cylinder counterweight 38, thereby pushing the first locking mechanism 19 to operate.

[0114] The bottom of the notch 44 is located at the bottom of the first lifting sleeve 37, and the top of the notch 44 extends to the upper part of the first lifting sleeve 37. The reset handle 36 includes a portion extending out of the first lifting sleeve 37 and a cylindrical portion that can rotate within the first lifting sleeve 37. The inner surface of the first lifting sleeve 37 is cylindrical. When the reset handle 36 rotates horizontally in the horizontal portion of the L-shaped notch 44, there is a gap between the upper surface of the cylindrical portion of the reset handle 36 and the lower end of the lock cylinder counterweight 38. When the reset handle 36 rotates to the vertical portion of the notch 44, the reset handle 36 rises before it can contact the lock cylinder counterweight 38 and push the lock cylinder counterweight 38 upward.

[0115] like Figure 19 As shown, optionally, the support platform also includes a second lifting sleeve 47, which is installed at the corner of the frame assembly 17; an upper limit plate 45 is fixedly connected to the top of the second lifting sleeve 47, a lower limit plate 46 is fixedly connected to the bottom of the second lifting sleeve 47, a limit flange 34 is fixedly connected to the outer side of the locking bracket 33, the locking bracket 33 can be raised and lowered in the second lifting sleeve 47, and the limit flange 34 can abut against the upper limit plate 45 or the lower limit plate 46.

[0116] By setting a second lifting sleeve 47 and setting an upper limit plate 45 and a lower limit plate 46 in the second lifting sleeve 47, the first locking mechanism 19 can slide in the second lifting sleeve 47. This allows the first locking mechanism 19 to be lower than the upper surface of the carrying platform when the movable hook 31 and the fixed hook 29 do not need to be locked, thus facilitating the standardized mining transport box to be transported to the precise position on the surface of the carrying platform.

[0117] In this embodiment, the upper limit plate 45 is U-shaped, meaning its outer edge is rectangular or square. A rectangular or square through hole is provided in the middle of the upper limit plate 45, facilitating the extension of the upper part of the locking bracket 33 from the upper limit plate 45. The two opposite sides of the through hole in the upper limit plate 45 also form flanges protruding inward from the inner side of the second lifting sleeve 47, limiting the highest position of the limiting flange 34, thus limiting the highest position of the first locking mechanism. The second lifting sleeve 47 is a cylindrical tube with a rectangular cross-section, extending vertically. The lower limit plate 46 can be located at the bottom of the inner wall of the second lifting sleeve 47. There are two lower limit plates 46, corresponding to the limiting flange 34, limiting the lowest downward movement of the limiting flange 34, thus limiting the lowest position of the first locking mechanism 19. Figure 18 and Figure 15 The comparison shows that, Figure 15 The bottom of the locking bracket 33 is still above the bottom of the second lifting sleeve 47, while Figure 18 The bottom of the locking bracket 33 has extended downwards beyond the bottom of the second lifting sleeve 47.

[0118] like Figure 20 and Figure 21 As shown, optionally, the frame assembly 17 includes a vehicle body 21 and a support frame 22. The support frame 22 is fixedly connected to the bottom surface of the vehicle body 21. The vehicle body 21 is also pivotally connected to a downwardly opening and closing plate 23. The opening and closing plate 23 is locked to the vehicle body 21 by a second locking mechanism. The second locking mechanism includes a locking slot disposed on the lower surface of the opening and closing plate 23 and a locking insert 231 rotatably connected to the lower surface of the vehicle body 21. The locking slot is formed by a slot lower plate fixedly connected to the lower surface of the opening and closing plate 23 and the opening and closing plate 23. The locking insert 231 is configured to be inserted into the locking slot.

[0119] The support frame 22 is a grid-shaped structure formed by crisscrossing support tubes. The vehicle body 21 is located above the grid-shaped structure. The locking plate 231 can be a rectangular plate, with one end of the locking plate 231 rotatably connected to the vehicle body 21. The rotation axis of the locking plate 231 is a vertical axis. The lower locking plate 232 is a bent plate, with a part of the lower locking plate 232 fitting against the vehicle body 21 and a part leaving a gap between it and the vehicle body 21, forming a locking slot. When the locking plate 231 is inserted into the locking slot, the openable / closable plate 23 cannot be opened. If it is necessary to open the openable / closable plate 23, the locking plate 231 can be rotated out of the area of ​​the openable / closable plate 23, and the openable / closable plate 23 opens downwards.

[0120] like Figure 22 and Figure 23 As shown, optionally, the carrying platform includes a body assembly 18, the body assembly 18 includes a body crossbeam 28, the body crossbeam 28 is fixedly connected to a connecting base 27, the connecting base 27 is provided with a buffer 26, the buffer 26 is fixedly connected to the connecting base 27 by a connecting pin 24, the connecting pin 24 passes through the pin anti-disengagement ring 25 fixedly set at the top of the connecting base 27, the connecting base 27 and the buffer 26 from top to bottom, the connecting pin 24 is also provided with a horizontal pin, the horizontal pin passes through the horizontal insertion hole of the pin anti-disengagement ring 25.

[0121] The body assembly 18 includes two body beams 28, whose lengths are parallel and spaced apart, aligning with the length of the vehicle. The ends of the body beams 28 are riveted to connecting bases 27. Connecting bases 27 have anti-detachment pin rings 25 on their surface, with their axis vertically aligned. The sidewalls of the anti-detachment pin rings 25 have horizontal insertion holes extending along their wall thickness. Connecting pins 24 are inserted vertically into the anti-detachment pin rings 25, while horizontal pins pass horizontally through the horizontal insertion holes and into the connecting pins 24. Because of the horizontal pins, and the overlap between their vertical projections and the anti-detachment pin rings 25 when inserted into the connecting pins 24, an upward force on the connecting pins 24 prevents them from being pulled out of the anti-detachment pin rings 25.

[0122] like Figure 24 As shown, optionally, the load-bearing platform also includes a wheel assembly 20, which includes a wheelset 48 and an axle clip 49. The wheelset 48 includes a pair of wheels that are rotatably connected to the axle clip 49 via the same wheel axle. The axle clip 49 is fixed to the vehicle body crossbeam 28.

[0123] In this embodiment, the wheel assembly 20 includes two pairs of wheelsets 48, which are arranged along the length of the vehicle. Specifically, the wheels can be rotated relative to the wheel axle, and the axle clips 49 are fixedly connected to the vehicle body crossbeam 28 by rivets.

[0124] Example 3:

[0125] like Figure 25 As shown in Embodiment 3, the usage method is applied to a container transport system, which includes the aforementioned standardized mining transport container and the aforementioned carrying platform. The usage method includes a loading method and an unloading method.

[0126] The loading method includes: controlling the standardized mining transport container to move towards the carrying platform, identifying and locating the center coordinates of the corner pieces; if the standardized mining transport container is aligned with the carrying platform, controlling the standardized mining transport container to be lowered onto the carrying platform, the camera identifying and locating the first locking mechanism 19 on the carrying platform, guiding the robotic arm to lock the first locking mechanism 19; opening the lock 13 and opening the container door 12; after loading materials into the standardized mining transport container, closing the container door 12 and closing the lock 13;

[0127] The unloading method includes: after the standardized mining transport container on the carrying platform reaches the unloading position, identifying and locating the center coordinates of the corner piece, then identifying and locating the first locking mechanism 19 corresponding to the corner piece, guiding the robotic arm to unlock the first locking mechanism 19, and controlling the separation of the standardized mining transport container from the carrying platform.

[0128] By identifying the center coordinates of the corner pieces, the corner pieces are aligned with the first locking mechanism 19. When all the corner pieces of the uncovered box are aligned with the first locking mechanism 19, the standardized mining transport box is aligned with the carrying platform. Then, the robotic arm can be guided to lock the first locking mechanism 19, thereby improving the automation level of the operation process.

[0129] Confirming whether the standardized mining transport container is aligned with the carrying platform can be achieved by checking whether the corner fittings are aligned with the first locking mechanism 19. More specifically, the Hough line detection technology can be used.

[0130] The specific process of guiding the robotic arm to lock the first locking mechanism 19 includes:

[0131] After the standardized mining transport container contacts the carrying platform, especially after materials are loaded into the container, the camera identifies the first locking mechanism 19 and drives the robotic arm to approach the reset handle 36. The robotic arm drives the reset handle 36 to descend and then rotate horizontally into the bottom horizontal part of the notch 44. The lock cylinder counterweight 38 descends, causing the first locking mechanism 19 to lock. The specific operating principle of the first locking mechanism 19 can be found above and will not be repeated here.

[0132] The process of guiding the robotic arm to unlock the first locking mechanism 19 includes:

[0133] The camera identifies the first locking mechanism 19, causing the reset handle 36 to rotate horizontally from the horizontal extension of the notch 44 to the vertical extension of the notch 44. This pushes the reset handle 36 upwards, causing the lock cylinder counterweight 38 to rise and unlocking the first locking mechanism 19. The specific operating principle of unlocking the first locking mechanism 19 can be found above and will not be repeated here.

[0134] Optionally, identifying and locating the center coordinates of the corner piece includes:

[0135] Two binocular stereo vision systems are formed by four cameras to acquire images. The images of the box module are acquired synchronously. After the acquired images are preprocessed, edge features and texture features are selected as feature vectors for the recognition of the box module. The image edges are obtained by edge detection algorithm, and the image contour information is extracted by contour extraction algorithm. The contour of the corner piece is selected according to the contour features. The center coordinates of the corner piece are obtained by calculating the center point of the circumscribed rectangle.

[0136] With this configuration, when the corner piece moves into the camera's field of view, its center coordinates can be obtained visually without contact measurement. It also allows the corner piece to be visually identified over a larger area without needing to move to the exact position on the first attempt. After identification, the corner piece is precisely aligned with the first locking mechanism 19, thus reducing the accuracy requirements for the initial movement of the housing module.

[0137] The edge detection algorithm can be the Canny edge detection algorithm, and the center left of the corner piece can be obtained by calculating the center point of the circumscribed rectangle, which can be done by the contour area method or the contour perimeter method.

[0138] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

[0139] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0140] In the above embodiments, descriptions of directions such as "up" and "down" are based on the accompanying drawings.

[0141] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention.

[0142] Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A carrier platform, characterized in that, The standard mining transport container is characterized in that the standard mining transport container includes a corner post assembly (2), the corner post assembly (2) includes corner pieces, and the corner pieces are provided with fixed hooks (29), the fixed hooks (29) are configured to be locked by a first locking mechanism (19) of the carrying platform; the carrying platform includes a frame assembly (17) and a first locking mechanism (19), the first locking mechanism (19) is installed at the corner of the frame assembly (17) and is correspondingly provided with the corner pieces; the first locking mechanism (19) includes a movable hook (31) and a reset assembly, the movable hook (31) can be held in position by the reset assembly; The first locking mechanism (19) includes a locking bracket (33), and the movable hook (31) is pivotally connected to the locking bracket (33); the reset assembly includes a reset lever (35), a lock cylinder counterweight (38), a first connecting rod (39), a second connecting rod (40), a rotating slide (41), and a swing lock cylinder (42). The lock cylinder counterweight (38) is slidably connected to the locking bracket (33) in the vertical direction. The lock cylinder counterweight (38) is pivotally connected to the first connecting rod (39). The first connecting rod (39) is pivotally connected to the second connecting rod (40). The second connecting rod (40) is pivotally connected to the swing lock cylinder (42). The second connecting rod (40) is also slidably connected to the rotating slide (41), which is pivotally connected to the locking bracket (33). The swing lock cylinder (42) has a horizontal protrusion (421). The reset lever (35) is pivotally connected to the locking bracket (33), the horizontal protrusion (421) extends above the first end of the reset lever (35), and the second end of the reset lever (35) extends into the actuation groove (322) of the movable hook (31); the pivot axes between the first connecting rod (39) and the second connecting rod (40), between the lock cylinder counterweight (38) and the first connecting rod (39), between the second connecting rod (40) and the swing lock cylinder (42), and between the rotating slide (41) and the locking bracket (33) are parallel; the rotation axis of the movable hook (31) is parallel to the rotation axis of the reset lever (35); the pivot axes between the movable hook (31) and the locking bracket (33), and between the rotating slide (41) and the locking bracket (33) are perpendicular; When the lock cylinder counterweight (38) descends, the horizontal protrusion (421) can lock the movable hook (31); when the lock cylinder counterweight (38) rises, the horizontal protrusion (421) can drive the movable hook (31) to disengage from the fixed hook (29).

2. The bearing platform according to claim 1, characterized in that, The standardized mining transport box also includes a box assembly (1) and a box beam assembly (4). The box assembly (1) has a box bottom plate (7), a first box side plate (5), and a second box side plate (6). The bottoms of the first box side plate (5) and the second box side plate (6) are fixedly connected to the box bottom plate (7). The length of the first box side plate (5) is greater than the length of the second box side plate (6). The height of the first box side plate (5) and the second box side plate (6) is... Equal; the corner post assembly (2) includes a corner post (9), and the side edges of the first box side plate (5) and the second box side plate (6) are fixedly connected to the corner post (9); the box beam assembly (4) includes a first box beam (15) and a second box beam (14), the length of the first box beam (15) is greater than that of the second box beam (14), and the ends of the first box beam (15) and the second box beam (14) are fixedly connected to the opposite sides of each corner piece.

3. The bearing platform according to claim 2, characterized in that, The standardized mining transport box also includes a double-door assembly (3), which includes a box door (12) and a lock (13). The box door (12) is connected to the corner post assembly (2) via a hinge (11). The length of the box door (12) is half of the first box side panel (5). The lock (13) is installed on the box door (12). The lock (13) includes a lifting lock body (133), which is pivotally connected to the lock swing rod (132). The lock (13) is vertically movable relative to the box door (12). A latch (134) is also installed on the first box crossbeam (15), and the lifting lock body (133) can be inserted into the latch (134).

4. The bearing platform according to claim 1, characterized in that, The carrying platform also includes a second lifting sleeve (47), which is installed at the corner of the frame assembly (17). An upper limit plate (45) is fixedly connected to the top of the second lifting sleeve (47), and a lower limit plate (46) is fixedly connected to the bottom of the second lifting sleeve (47). A limit flange (34) is fixedly connected to the outer side of the locking bracket (33). The locking bracket (33) can be raised and lowered in the second lifting sleeve (47), and the limit flange (34) can abut against the upper limit plate (45) or the lower limit plate (46).

5. The bearing platform according to claim 1, characterized in that, The reset assembly also includes a reset handle (36), the lower end of the locking bracket (33) is fixedly connected to the first lifting sleeve (37), the lock cylinder counterweight (38) is slidably connected in the first lifting sleeve (37), the side wall of the first lifting sleeve (37) is provided with an L-shaped notch (44), and the reset handle (36) can rotate horizontally and move up and down in the notch (44).

6. The bearing platform according to claim 1, characterized in that, The frame assembly (17) includes a vehicle body (21) and a support frame (22). The support frame (22) is fixedly connected to the bottom surface of the vehicle body (21). The vehicle body (21) is also pivotally connected to a downwardly opening and closing plate (23). The opening and closing plate (23) is locked to the vehicle body (21) by a second locking mechanism. The second locking mechanism includes a locking slot disposed on the lower surface of the opening and closing plate (23) and a locking insert plate (231) rotatably connected to the lower surface of the vehicle body (21). The locking slot is formed by a slot lower plate fixedly connected to the lower surface of the opening and closing plate (23) and the opening and closing plate (23). The locking insert plate (231) is configured to be inserted into the locking slot.

7. The bearing platform according to claim 1, characterized in that, The supporting platform includes a body assembly (18), the body assembly (18) includes a body crossbeam (28), the body crossbeam (28) is fixedly connected to a connecting base (27), the connecting base (27) is provided with a buffer (26), the buffer (26) is fixedly connected to the connecting base (27) by a connecting pin (24), the connecting pin (24) passes through the pin anti-disengagement ring (25) fixedly set at the top of the connecting base (27), the connecting base (27) and the buffer (26) from top to bottom, the connecting pin (24) is also provided with a horizontal pin, the horizontal pin passes through the horizontal insertion hole of the pin anti-disengagement ring (25).

8. A method of use, characterized in that, The method of use is applied to a container transport system, the container transport system including the carrying platform of any one of claims 1-7, the standardized mining transport container further including a double door assembly (3), the double door assembly (3) including a door (12) and a lock (13), and the method of use including a loading method and an unloading method; The loading method includes: Control the standardized mining transport container to move towards the carrying platform, identify and locate the center coordinates of the corner piece; if the standardized mining transport container is aligned with the carrying platform, control the standardized mining transport container to be lowered onto the carrying platform, the camera identifies and locates the first locking mechanism (19) on the carrying platform, and guides the robotic arm to lock the first locking mechanism (19); open the lock (13) and open the container door (12); after loading materials into the standardized mining transport container, close the container door (12) and close the lock (13). The unloading method includes: After the standardized mining transport box is carried by the carrying platform to the unloading position, the center coordinates of the corner piece are identified and located, and then the first locking mechanism (19) corresponding to the corner piece is identified and located. The robotic arm is guided to unlock the first locking mechanism (19) and control the standardized mining transport box to separate from the carrying platform.

Images