Uncovered separable modular mining transportation box body and use method thereof

Abstract

The invention provides an uncovered separable modularized mining transportation box body and a using method of the uncovered separable modularized mining transportation box body, relates to the technical field of mine material transportation, and aims to solve the problem of low transportation efficiency. The uncovered separable modularized mining transportation box comprises a box module and a bearing platform, the bearing platform comprises a first locking mechanism, and the first locking mechanism is detachably connected with the horizontal corner of the box module. The transportation efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mine material transportation, and in particular to a coverless detachable modular mining transportation box and a method for using the coverless detachable modular mining transportation box. 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. It is now in the trend of intelligent transformation, and has put forward specific requirements for the coal industry to strengthen the construction of intelligent and safe and efficient mines, and improve the cross-regional coal transportation channels and collection and distribution systems. Specifically in the transportation of coal mine materials, based on the low degree of standardization of materials transported by traditional mine cars, low degree of loading automation, high labor costs, poor working environment for workers, and easy safety hazards, a new type of coal mine material transportation system can be developed. Based on the original mechanical structure and control system, different solutions to the above problems can be designed and integrated into a mature system. Summary of the invention

[0003] The first aspect of the present invention aims to provide a coverless detachable modular mining transport box to solve the technical problem of low existing transport efficiency.

[0004] The first aspect of the present invention provides a coverless detachable modular mining transport box, which includes a box module and a load-bearing platform. The load-bearing platform includes a first locking mechanism, which is detachably connected to a horizontal corner of the box module.

[0005] The beneficial effects of the coverless detachable modular mining transport box of the present invention are:

[0006] By providing a first locking mechanism on the carrying platform to be detachably connected to the corner of the box module, the box module and the carrying platform can be separated. By utilizing the separable characteristics of the two, modular design can be achieved and transportation efficiency can be improved.

[0007] In an optional technical solution, the box module includes a corner column assembly, the corner column assembly includes corner pieces, the corner pieces are located at the four corners of the bottom of the box module, and the side walls of the corner pieces are provided with first locking recesses;

[0008] The first locking mechanism includes a locking bracket, a locking claw is pivotally connected to the upper part of the locking bracket, and the locking claw has a locking protrusion, and the locking protrusion can be embedded in the first locking recess; the locking claw is also pivotally connected to a locking link, and the locking link is pivotally connected to a locking slider, and the locking slider is movably connected to the locking bracket along the vertical direction.

[0009] In an optional technical solution, the first locking mechanism also includes a lifting drive member, which is axially fixedly connected to the locking slider for circumferential rotation, and the lifting drive member is provided with a rotating tongue; the locking bracket is provided with a fixing groove, and the locking slider has a transmission groove, and the rotating tongue can switch between the fixing groove and the transmission groove.

[0010] In an optional technical solution, the corner piece has a second locking recess; the first locking mechanism also includes a sliding lock head and a locking spring, and the sliding lock head is slidably connected to the locking bracket in a vertical direction; one end of the locking spring is connected to the sliding lock head, and the other end is connected to the locking slider; the locking slider is configured to push the sliding lock head upward through the locking spring and allow the sliding lock head to extend upward from the locking bracket to enter the second locking recess.

[0011] In an optional technical solution, the box module also 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 first box side plate and the second box side plate are equal in height; the corner column assembly includes a corner column, and the side edges of the first box side plate and the second box side plate are fixedly connected to the corner column; 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 length of 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.

[0012] In an optional technical solution, the load-bearing platform includes a frame assembly, which includes a vehicle plate body and a support frame, wherein the support frame is fixedly connected to the bottom surface of the vehicle plate body, and the vehicle plate body is also pivotally connected to an openable and closable flat plate that opens and closes downward, and the openable and closable flat plate is locked to the vehicle plate body by a second locking mechanism, and the second locking mechanism includes a locking slot arranged on the lower surface of the openable and closable flat plate and a locking plug plate rotatably connected to the lower surface of the vehicle plate body, the locking slot is formed by a slot lower plate fixedly connected to the lower surface of the openable and closable flat plate and the openable and closable flat plate, and the locking plug plate is configured to be inserted into the locking slot.

[0013] In an optional technical solution, the supporting platform includes a body assembly, the body assembly includes a body crossbeam, the body crossbeam is fixedly connected to a connecting base, a buffer is provided in the connecting base, the buffer is fixedly connected to the connecting base through a connecting pin, the connecting pin is inserted from top to bottom into a pin anti-slip ring fixedly set on the top of the connecting base, the connecting base and the buffer, and a horizontal pin is also provided in the connecting pin, and the horizontal pin passes through the horizontal socket of the pin anti-slip ring.

[0014] In an optional technical solution, the supporting platform also includes a wheel assembly, the wheel assembly includes a wheelset and an axle clamp, the wheelset includes a pair of wheels, the wheels are rotatably connected to the axle clamp via the same wheel axle, and the axle clamp is fixed to the vehicle body cross beam.

[0015] The second aspect of the present invention aims to provide a method for using a coverless detachable modular mining transport box to solve the technical problem of low transport efficiency.

[0016] The second aspect of the present invention provides a method for using a coverless detachable modular mining transport box, which is applied to the above-mentioned coverless detachable modular mining transport box, and the method includes a loading method and an unloading method;

[0017] The loading method comprises:

[0018] Control the box module to move toward the carrying platform, identify and locate the center coordinates of the corner piece; if the box module is aligned with the carrying platform, control the box module to be lowered onto the carrying platform, the camera identifies and locates the first locking mechanism on the carrying platform, and guides the robot arm to lock the first locking mechanism;

[0019] The unloading method comprises:

[0020] After the carrying platform carries the box module to the unloading position, the center coordinates of the corner pieces are identified and located, and then the first locking mechanisms corresponding to the corner pieces are identified and located, and the robot arm is guided to unlock the first locking mechanisms, thereby controlling the box module to separate from the carrying platform.

[0021] The center coordinates of the corner pieces are identified to align the corner pieces with the first locking mechanism. When all the corner pieces of the uncovered box are aligned with the first locking mechanism, the box module is aligned with the carrying platform, and then the robotic arm can be guided to lock the first locking mechanism, thereby improving the degree of automation of the operation process.

[0022] In an optional technical solution, the identifying and locating the center coordinates of the corner piece includes:

[0023] Two binocular stereo vision systems are formed by four cameras to collect images, and the box module is synchronously captured. After preprocessing the collected images, edge features and texture features are selected as feature vectors recognized by the box module. The image edge is obtained by the edge detection algorithm, and then the image contour information is extracted using the contour extraction algorithm. The contour of the corner piece is screened out according to the contour features, and the center coordinates of the corner piece are obtained by calculating the center point of the circumscribed rectangle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the background technology, the drawings required for use in the embodiments or the background technology description will be briefly introduced below. Obviously, the drawings in the following description 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.

[0025] Figure 1 A schematic structural diagram of a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0026] Figure 2 A schematic structural diagram of a coverless detachable modular mining transport box provided in an embodiment of the present invention in which the box module is separated from the load-bearing platform.

[0027] Figure 3 A schematic structural diagram of a box module in a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0028] Figure 4 A schematic structural diagram of a corner column assembly in a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0029] Figure 5 A schematic structural diagram of a first locking mechanism in a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0030] Figure 6 A cross-sectional view in one direction of a first locking mechanism in a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0031] Figure 7 A cross-sectional view of a first locking mechanism in a coverless detachable modular mining transport box provided in an embodiment of the present invention in another direction.

[0032] Figure 8 A cross-sectional view of a first locking mechanism in a coverless detachable modular mining transport box provided in an embodiment of the present invention in another direction.

[0033] Fig. 9A schematic diagram of the first locking mechanism in the coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0034] Fig.10 A schematic structural diagram of a box assembly in a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0035] Fig.11 A schematic structural diagram of a box crossbeam assembly in a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0036] Fig.12 A schematic structural diagram of a load-bearing platform in a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0037] Fig.13 A schematic structural diagram of a frame assembly in a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0038] Fig.14 A schematic structural diagram of a body assembly in a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0039] Fig.15 A schematic structural diagram of a wheel assembly in a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0040] Fig.16 An operational flow chart of loading and unloading a box in a method for using a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0041] Fig.17 Another operational flow chart of loading and unloading a box in the method for using a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0042] Fig.18 A flowchart of locking and unlocking operations in a method for using a coverless detachable modular mining transport box provided in an embodiment of the present invention.

[0043] Description of reference numerals:

[0044] 1-corner column assembly; 2-box assembly; 3-box crossbeam assembly; 4-corner piece; 5-corner column; 6-first box side panel; 7-second box side panel; 8-box bottom panel; 9-second box crossbeam; 10-first box crossbeam; 11-frame assembly; 12-body assembly; 13-first locking mechanism; 14-wheel assembly; 15-vehicle plate; 16-support frame; 17-openable and closable flat plate; 18-connecting pin ;19-latch anti-slip ring;20-buffer;21-connecting base;22-body cross beam;23-sliding lock;24-locking claw;241-locking protrusion;25-locking bracket;251-fixing groove;26-locking connecting rod;27-locking slider;271-transmission groove;28-locking drive member;281-rotating latch;282-locking handle;29-locking spring;30-wheel set;31-axle clamp. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] Embodiment 1:

[0047] Figure 1 A schematic structural diagram of a coverless detachable modular mining transport box provided in an embodiment of the present invention. Figure 2 A schematic structural diagram of a coverless detachable modular mining transport box provided in an embodiment of the present invention in which the box module is separated from the load-bearing platform. Figure 3 A schematic structural diagram of a box module in a coverless detachable modular mining transport box provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of the corner column assembly in the coverless detachable modular mining transport box provided by the embodiment of the present invention. Figure 1-Figure 3 As shown, the coverless detachable modular mining transport box provided in the first embodiment of the present invention includes a box module and a load-bearing platform. The load-bearing platform includes a first locking mechanism 13. The first locking mechanism 13 is detachably connected to the horizontal corner of the box module.

[0048] By providing a first locking mechanism 13 on the carrying platform to be detachably connected to the corner of the box module, the box module and the carrying platform can be separated. By utilizing the separable characteristics of the two, modular design can be achieved and transportation efficiency can be improved.

[0049] In this embodiment, the horizontal corners of the box module refer to the corners of the box module in the horizontal plane. For example, if the horizontal cross-section of the box module is roughly rectangular, it can be the four corners of the bottom of the box module rather than the four corners of a side wall of the box module.

[0050] Figure 5 A schematic structural diagram of a first locking mechanism in a coverless detachable modular mining transport box provided in an embodiment of the present invention. Figure 6 A cross-sectional view in one direction of a first locking mechanism in a coverless detachable modular mining transport box provided in an embodiment of the present invention. Figure 7 A cross-sectional view of a first locking mechanism in a coverless detachable modular mining transport box provided in an embodiment of the present invention in another direction. Figure 8 A cross-sectional view of a first locking mechanism in a coverless detachable modular mining transport box provided in an embodiment of the present invention in another direction. Fig. 9 A schematic diagram of the first locking mechanism in the coverless detachable modular mining transport box provided in an embodiment of the present invention. Figure 5-Figure 9 As shown, optionally, the box module includes a corner column assembly 1, the corner column assembly 1 includes corner pieces 4, the corner pieces 4 are located at the four corners of the bottom of the box module, and the side walls of the corner pieces 4 are provided with first locking recesses;

[0051] The first locking mechanism 13 includes a locking bracket 25, the upper part of which is pivotally connected with a locking claw 24, the locking claw 24 has a locking protrusion 241, and the locking protrusion 241 can be embedded in the first locking recess; the locking claw 24 is also pivotally connected to the locking link 26, the locking link 26 is pivotally connected to the locking slider 27, and the locking slider 27 is movably connected to the locking bracket 25 along the vertical direction.

[0052] By providing a first locking recess on the side wall of the corner piece 4 and embedding the locking protrusion 241 of the locking claw 24 of the first locking mechanism 13 into the first locking recess, the first locking recess and the corner piece 4 can be matched. Not only can the locking claw 24 match with the side wall of the corner piece 4 to limit the horizontal movement of the corner piece 4 relative to the supporting platform, but the locking protrusion 241 can also match with the first locking recess to limit the up and down movement of the corner piece 4.

[0053] Specifically, in this embodiment, the locking bracket 25 is roughly in the shape of a rectangular cube, and the two top edges of the locking bracket 25 are both provided with locking claws 24. Correspondingly, the locking slider 27 is roughly L-shaped when viewed from a top view, and the free ends of the two arms of the L-shape are also pivotally connected to the locking link 26. More specifically, both sides of the free ends of the two arms of the locking slider 27 are pivotally connected to the locking link 26. The pivot point between the locking claw 24 and the locking bracket 25 is the first pivot point; the pivot point between the locking claw 24 and the link is the second pivot point; and the pivot point between the locking slider 27 and the link is the third pivot point.

[0054] Specifically, the shape and size of the locking protrusion 241 on the locking claw 24 are consistent with the first locking recess. In this embodiment, the corner piece 4 can be a hollow part, which has four side walls surrounding a closed shape, and the first locking recess is set on two adjacent side walls of the corner piece 4, more specifically, on the side wall on the outside of the corner piece 4. For example, if the corner piece 4 is located at the southeast corner of the box module, the first locking recess is set on the side walls on the south and east sides of the corner piece 4.

[0055] In this embodiment, the first locking recessed portion can be a through hole provided on the side wall of the corner piece 4 for the locking protrusion 241 to be embedded in. In fact, in another implementation, the first locking recessed portion can also be a pit or countersunk hole whose shape, size and depth match the locking protrusion 241.

[0056] The first locking mechanism 13 is designed as a crank slider mechanism, and the active member is the locking slider 27, which drives the locking connecting rod 26 and the locking claw 24 to move. When the locking slider 27 moves upward, the locking claw 24 simultaneously approaches the first locking recess on the corner piece 4. The relationship between the upward displacement Δd of the locking slider 27 and the opening angle θ of the locking claw 24 is as follows. The opening angle θ is the angle between the L-shaped horizontal part of the locking claw 24 and the top surface of the locking bracket 25, and the calculation method adopts the orthogonal projection method;

[0057] The displacement of the horizontal length of the bottom of the locking claw 24 on the vertical plane is Δd1

[0058] Δd1=l1 sinθ (1)

[0059] The length change Δd2 of the bottom horizontal portion of the locking claw 24 on the horizontal plane

[0060] Δd2=l1(1-cosθ) (2)

[0061] The length d3 of the locking link 26 on the horizontal plane

[0062] d3=l2 sinα-Δd2 (3)

[0063] The length d4 of the locking link 26 in the vertical plane

[0064]

[0065] The displacement of the locking link 26 in the vertical plane is Δd3

[0066] Δd3=d4-l2 cosα (5)

[0067] The displacement Δd of the locking slider 27 is composed of the displacement of the connecting rod and the locking link 26 in the vertical plane.

[0068] Δd=Δd1+Δd3 (6)

[0069] Combining (1), (2), (3), (4), (5), and (6) we get

[0070]

[0071] In the above formula (7), l1 is the length of the bottom connecting rod of the locking claw 24, 36 mm, l2 is the length of the locking link 26, 40 mm, Δd is the displacement length of the locking slider 27, ranging from 0 to 42 mm, θ is the opening and closing angle of the locking claw 24, and the angle range of θ is 0 to 85°. α is the angle between the locking link 26 and the vertical plane when locked, 34.5°.

[0072] like Figure 5-Figure 8 As shown, optionally, the first locking mechanism 13 also includes a locking drive 28, which is axially fixedly connected to the locking slider 27 for circumferential rotation, and the locking drive 28 is provided with a rotating tongue 281; the locking bracket 25 is provided with a fixing groove 251, and the locking slider 27 has a transmission groove 271, and the rotating tongue 281 can switch between the fixing groove 251 and the transmission groove 271.

[0073] By providing a locking driver 28 that is axially fixed to the locking slider 27 in the circumferential rotation direction, the locking driver 28 can be used to push the locking slider 27 from the outside, so that the locking slider 27 is lifted or lowered, and then the locking claw 24 is driven to open or retract. The locking bracket 25 is provided with a fixed groove 251 for the rotation tongue 281 to be inserted, so that the axial positioning of the locking driver 28 can be achieved and the position of the locking slider 27 can be limited. The transmission groove 271 is provided in the locking slider 27 for the rotation tongue 281 to be inserted, which can drive the locking slider 27 to move together. Therefore, only a rotation operation is required to control whether the locking slider 27 can move.

[0074] In this embodiment, a locking handle 282 is provided at the bottom of the locking driving member 28, and the locking handle 282 is connected to a cylindrical portion, and a rotating latch 281 is provided at the top of the cylindrical portion. The locking slider 27 also has a solid part at the top of the cylindrical portion, and when the locking driving member 28 rises, it can drive the locking slider 27 to rise. Figure 8 As shown, the fixing groove 251 of the locking bracket 25 and the transmission groove 271 of the locking slide block 27 form an annular groove as a whole. The rotating latch 281 can rotate 360 ​​degrees in the annular groove.

[0075] When the rotating latch 281 is rotated to Figure 8When the rotating latch 281 is facing left, leftward and downward, the rotating latch 281 is located in the fixing groove 251, and there is also a solid part of the locking slider 27 below the root of the rotating latch 281. Therefore, when the rotating latch 281 is in this position, the locking slider 27 can be fixed in the vertical direction relative to the locking bracket 25. At this time, the locking claw 24 is also in a relatively close position, and the locking protrusion 241 is inserted into the first locking recess.

[0076] When the rotating latch 281 is rotated to Figure 8 When the lock 27 is facing right, right-up and upward, the rotating latch 281 is located in the transmission groove 271 and does not interfere with the locking bracket 25. Therefore, the locking slider 27 can be lifted or lowered under the drive of the locking drive 28 or the locking claw 24.

[0077] like Figure 5-Figure 7 As shown, optionally, the corner piece 4 has a second locking recess; the first locking mechanism 13 also includes a sliding lock head 23 and a locking spring 29, and the sliding lock head 23 is slidably connected to the locking bracket 25 in the vertical direction; one end of the locking spring 29 is connected to the sliding lock head 23, and the other end is connected to the locking slider 27; the locking slider 27 is configured to push the sliding lock head 23 upward through the locking spring 29 and make the sliding lock head 23 extend upward from the locking bracket 25 to enter the second locking recess.

[0078] By arranging the locking spring 29 above the locking slider 27, the locking spring 29 can be used as a force transmission member when the locking slider 27 moves upward, thereby improving the ability of the sliding lock head 23 to resist lateral movement of the box after being inserted into the second locking recess.

[0079] In this embodiment, the locking spring 29 can be a cylindrical helical compression spring, one end of which is against the lower surface of the sliding lock head 23, and the other end is against the upper surface of the locking slider 27. A through hole can be provided on the local entity of the locking bracket 25 above the locking slider 27 for the locking spring 29 to pass through.

[0080] Fig.10 A schematic structural diagram of a box assembly in a coverless detachable modular mining transport box provided in an embodiment of the present invention. Fig.11 This is a schematic diagram of the structure of the box crossbeam assembly in the coverless detachable modular mining transport box provided by the embodiment of the present invention. Figure 1 , Figure 2 and Fig.10 , Fig.11As shown, optionally, the box module also includes a box assembly 2 and a box beam assembly 3, the box assembly 2 has a box bottom plate 8, a first box side plate 6 and a second box side plate 7, the bottoms of the first box side plate 6 and the second box side plate 7 are fixedly connected to the box bottom plate 8, the length of the first box side plate 6 is greater than the length of the second box side plate 7, and the first box side plate 6 and the second box side plate 7 are equal in height; the corner column assembly 1 includes a corner column 5, and the side edges of the first box side plate 6 and the second box side plate 7 are fixedly connected to the corner column 5; the box beam assembly 3 includes a first box beam 10 and a second box beam 9, the length of the first box beam 10 is greater than the second box beam 9, and the ends of the first box beam 10 and the second box beam 9 are fixedly connected to the opposite sides of each corner piece 4.

[0081] By providing the corner column assembly 1 to connect the first box side panel 6 and the second box side panel 7, the rigidity of the box assembly 2 can be significantly improved to avoid damage when the material is contained. The box cross beam assembly 3 is provided on the lower surface of the box bottom plate 8 to improve the strength of the box bottom plate 8.

[0082] In this embodiment, a notch is provided at the top of the first box cross beam 10 for the fork arm of the forklift to be inserted. In addition, reinforcing ribs are provided on the outside of the first box side plate 6 and the second box side plate 7 to improve the rigidity of the first box side plate 6 and the second box side plate 7.

[0083] Fig.12 A schematic structural diagram of a load-bearing platform in a coverless detachable modular mining transport box provided in an embodiment of the present invention. Fig.13 This is a schematic diagram of the structure of the frame assembly in the coverless detachable modular mining transport box provided by the embodiment of the present invention. Fig.12 and Fig.13 As shown, optionally, the load-bearing platform includes a frame assembly 11, the frame assembly 11 includes a vehicle plate body 15 and a support frame 16, the support frame 16 is fixedly connected to the bottom surface of the vehicle plate body 15, and the vehicle plate body 15 is also pivotally connected to an openable and closable flat plate 17 that opens and closes downward, and the openable and closable flat plate 17 is locked to the vehicle plate body 15 by a second locking mechanism, and the second locking mechanism includes a locking slot arranged on the lower surface of the openable and closable flat plate 17 and a locking plug plate rotatably connected to the lower surface of the vehicle plate body 15, the locking slot is formed by a slot lower plate fixedly connected to the lower surface of the openable and closable flat plate 17 and the openable and closable flat plate 17, and the locking plug plate is configured to be inserted into the locking slot.

[0084] Among them, the support frame 16 is a tic-tac-toe structure formed by criss-cross support tubes. The vehicle plate 15 is located above the tic-tac-toe structure. The locking plug plate can be a rectangular plate body, and the position near one end of the locking plug plate is rotatably connected to the vehicle plate body 15, and the rotation axis of the locking plug plate is a vertical axis. The locking lower plate is a bent plate, a part of the locking lower plate is in contact with the vehicle plate body 15, and a gap is left between the other part and the vehicle plate body 15, and the gap forms a locking slot. When the locking plug plate is inserted into the locking slot, the openable and closable flat plate 17 cannot be opened. If it is necessary to open the openable and closable flat plate 17, the locking plug plate can be rotated out of the area of ​​the openable and closable flat plate 17, and the openable and closable flat plate 17 can be opened downward.

[0085] Fig.14 This is a schematic diagram of the structure of the body assembly in the coverless detachable modular mining transport box provided by an embodiment of the present invention. Fig.14 As shown, optionally, the bearing platform includes a body assembly 12, the body assembly 12 includes a body cross beam 22, the body cross beam 22 is fixedly connected to a connecting base 21, a buffer member 20 is provided in the connecting base 21, the buffer member 20 is fixedly connected to the connecting base 21 through a connecting pin 18, the connecting pin 18 penetrates from top to bottom into a pin anti-slip ring 19 fixedly arranged on the top of the connecting base 21, the connecting base 21 and the buffer member 20, a horizontal pin is also provided in the connecting pin 18, and the horizontal pin passes through the horizontal insertion hole of the pin anti-slip ring 19.

[0086] Among them, there are two body cross beams 22 in the body assembly 12, and the length direction of the two body cross beams 22 is consistent with the length direction of the vehicle and is arranged in parallel and spaced apart. The ends of the body cross beams 22 are fixedly connected to the connecting base 21 by rivets. A latch anti-slip ring 19 is provided on the surface of the connecting base 21, and the axis of the latch anti-slip ring 19 is arranged in the vertical direction. The side wall of the latch anti-slip ring 19 is provided with a horizontal plug hole penetrating along the wall thickness direction, and the connecting pin 18 is inserted into the latch anti-slip ring 19 in the vertical direction, and the horizontal pin passes through the horizontal plug hole in the horizontal direction and is inserted into the connecting pin 18. Since a horizontal latch is provided, and when the horizontal latch is inserted into the connecting pin 18, it overlaps with the latch anti-slip ring 19 in the vertical projection, so when the connecting pin 18 is subjected to an upward force, the connecting pin 18 can be prevented from being pulled out of the latch anti-slip ring 19.

[0087] Fig.15 This is a schematic diagram of the structure of the wheel assembly in the coverless detachable modular mining transport box provided by the embodiment of the present invention. Fig.15 As shown, optionally, the load-bearing platform further includes a wheel assembly 14 , the wheel assembly 14 includes a wheelset 30 and an axle clamp 31 , the wheelset 30 includes a pair of wheels, the wheels are rotatably connected to the axle clamp 31 via the same wheel axle, and the axle clamp 31 is fixed to the vehicle body cross beam 22 .

[0088] In this embodiment, the wheel assembly 14 includes two pairs of wheels 30, and the two pairs of wheels 30 are arranged along the length direction of the vehicle. Specifically, the wheel can be rotatably arranged relative to the wheel axle, and the axle clamp 31 is fixedly connected to the body cross beam 22 by rivets.

[0089] Embodiment 2:

[0090] Fig.16 An operational flow chart of loading and unloading a box in a method for using a coverless detachable modular mining transport box provided in an embodiment of the present invention. Fig.17 Another operation flow chart of loading and unloading the box in the method of using the coverless detachable modular mining transport box provided by the embodiment of the present invention. Fig.16 and Fig.17 As shown, the second embodiment also provides a method for using the coverless detachable modular mining transport box, which is applied to the above-mentioned coverless detachable modular mining transport box, and the method for using includes a loading method and an unloading method;

[0091] Loading methods include:

[0092] Control the box module to move toward the carrying platform, identify and locate the center coordinates of the corner piece 4; if the box module is aligned with the carrying platform, control the box module to be lowered onto the carrying platform, the camera identifies and locates the first locking mechanism 13 on the carrying platform, and guides the robot arm to lock the first locking mechanism 13;

[0093] Unloading methods include:

[0094] After the carrying platform carrying the box module reaches the unloading position, the center coordinates of the corner piece 4 are identified and located, and then the first locking mechanisms 13 corresponding to the corner pieces 4 are identified and located, and the robot arm is guided to unlock the first locking mechanisms 13, and the control box module is separated from the carrying platform.

[0095] The center coordinates of the corner piece 4 are identified to align the corner piece 4 with the first locking mechanism 13. When all the corner pieces 4 of the uncovered box are aligned with the first locking mechanism 13, the box module is aligned with the supporting platform, and then the robot arm can be guided to lock the first locking mechanism 13, thereby improving the degree of automation of the operation process.

[0096] Confirming whether the box module is aligned with the carrying platform can be achieved by confirming whether the corner piece 4 is aligned with the first locking mechanism 13. More specifically, the Hough straight line detection technology can be used.

[0097] Fig.18 The present invention provides a flowchart of the locking and unlocking operation in the method of using the coverless detachable modular mining transport box provided in the embodiment of the present invention. Fig.18 As shown, the specific process of guiding the mechanical arm to lock the first locking mechanism 13 includes:

[0098] After the box module contacts the load-bearing platform, the first locking mechanism 13 is identified and the mechanical arm is driven to approach the locking handle 282 of the locking driver 28. The mechanical arm pushes the locking driver 28 vertically upward so that the locking slider 27 contacts the top of the locking bracket 25, so that the locking slider 27 drives the locking claw 24 to grab the corner piece 4 through the locking link 26, and the locking protrusion 241 is embedded in the first locking recess. The mechanical arm drives the locking driver 28 to rotate 90° so that the rotating tongue 281 is engaged in the fixing groove 251 to fix the locking slider 27, thereby ensuring the reliable locking of the locking claw 24.

[0099] When the first locking mechanism 13 needs to be unlocked, the mechanical arm rotates the locking driver 28 in the opposite direction, so that the rotating tongue 281 leaves the fixing groove 251 and returns to the transmission groove 271 of the locking slide 27. The mechanical arm pulls the locking driver 28 vertically downward to drive the locking slide 27 to descend. When the locking slide 27 is pulled to the bottom, the sliding lock head 23 and the locking claw 24 are separated from the corner piece 4, and the box module can float relative to the carrier module.

[0100] like Fig.16 As shown, optionally, identifying and locating the center coordinates of the corner piece 4 includes:

[0101] Four cameras are used to form two binocular stereo vision systems to collect images, and synchronous image acquisition is performed on the box module. After preprocessing the collected images, edge features and texture features are selected as feature vectors for box module recognition. The image edge is obtained through the edge detection algorithm, and then the image contour information is extracted using the contour extraction algorithm. The contour of the corner piece 4 is screened out according to the contour features, and the center coordinates of the corner piece 4 are obtained by calculating the center point of the circumscribed rectangle.

[0102] With such arrangement, when the corner piece 4 moves into the shooting range of the camera, the center coordinates of the corner piece 4 can be obtained visually without contact measurement, and the corner piece 4 can be allowed to move to the correct position without the first time, and can be identified visually within a larger range. After identification, the corner piece 4 is controlled to be precisely aligned with the first locking mechanism 13, thereby reducing the motion accuracy requirement for the initial movement of the box module.

[0103] The edge detection algorithm may be a Canny edge detection algorithm, and the center point of the circumscribed rectangle is calculated to obtain the center left side of the corner piece 4, and the contour area method or the contour perimeter method may be used.

[0104] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

[0105] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0106] In the above embodiments, the descriptions of directions such as “upper” and “lower” are all based on the drawings.

[0107] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be 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 present invention.

[0108] Thus, the present invention will not 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 coverless detachable modular mining transport box, characterized in that: It comprises a box module and a carrying platform, wherein the carrying platform comprises a first locking mechanism (13), and the first locking mechanism (13) is detachably connected to a horizontal corner of the box module.

2. The coverless detachable modular mining transport box according to claim 1 is characterized in that: The box module comprises a corner column assembly (1), the corner column assembly (1) comprises corner pieces (4), the corner pieces (4) are located at the four corners of the bottom of the box module, and the side walls of the corner pieces (4) are provided with first locking recessed portions; The first locking mechanism (13) comprises a locking bracket (25), the upper part of which is pivotally connected with a locking claw (24), the locking claw (24) having a locking protrusion (241), the locking protrusion (241) being capable of being embedded in the first locking recess; the locking claw (24) is also pivotally connected to a locking link (26), the locking link (26) is pivotally connected to a locking slide (27), and the locking slide (27) is movably connected to the locking bracket (25) along a vertical direction.

3. The coverless detachable modular mining transport box according to claim 2 is characterized in that: The first locking mechanism (13) further comprises a lifting drive member, the lifting drive member is axially fixedly connected to the locking slider (27) in a circumferentially rotating manner, and the lifting drive member is provided with a rotating latch (281); the locking bracket (25) is provided with a fixing groove (251), the locking slider (27) has a transmission groove (271), and the rotating latch (281) can switch between the fixing groove (251) and the transmission groove (271).

4. The coverless detachable modular mining transport box according to claim 2 is characterized in that: The corner piece (4) has a second locking recess; the first locking mechanism (13) also includes a sliding lock head (23) and a locking spring (29), the sliding lock head (23) is slidably connected to the locking bracket (25) in the vertical direction; one end of the locking spring (29) is connected to the sliding lock head (23), and the other end is connected to the locking slider (27); the locking slider (27) is configured to push the sliding lock head (23) upward through the locking spring (29) and make the sliding lock head (23) extend upward from the locking bracket (25) to enter the second locking recess.

5. The coverless detachable modular mining transport box according to any one of claims 1 to 4, characterized in that: The box module further comprises a box assembly (2) and a box crossbeam assembly (3), wherein the box assembly (2) comprises a box bottom plate (8), a first box side plate (6) and a second box side plate (7), the bottoms of the first box side plate (6) and the second box side plate (7) are both fixedly connected to the box bottom plate (8), the length of the first box side plate (6) is greater than the length of the second box side plate (7), and the first box side plate (6) and the second box side plate (7) are of equal height; The corner post assembly (1) comprises a corner post (5), and the side edges of the first box side panel (6) and the second box side panel (7) are fixedly connected to the corner post (5); the box cross beam assembly (3) comprises a first box cross beam (10) and a second box cross beam (9), the length of the first box cross beam (10) is greater than that of the second box cross beam (9), and the ends of the first box cross beam (10) and the second box cross beam (9) are fixedly connected to the opposite sides of each corner piece (4).

6. The coverless detachable modular mining transport box according to claim 1, characterized in that: The load-bearing platform comprises a frame assembly (11), wherein the frame assembly (11) comprises a vehicle plate (15) and a support frame (16), wherein the support frame (16) is fixedly connected to the bottom surface of the vehicle plate (15), and an openable and closable flat plate (17) which is pivotally connected to the vehicle plate (15) and opens and closes downwards, wherein the openable and closable flat plate (17) is locked to the vehicle plate (15) by a second locking mechanism, wherein the second locking mechanism comprises a locking slot arranged on the lower surface of the openable and closable flat plate (17) and a locking plug plate rotatably connected to the lower surface of the vehicle plate (15), wherein the locking slot is formed by a slot lower plate fixedly connected to the lower surface of the openable and closable flat plate (17) and the openable and closable flat plate (17), and wherein the locking plug plate is configured to be inserted into the locking slot.

7. The coverless detachable modular mining transport box according to claim 5, characterized in that: The bearing platform comprises a vehicle body component (12), the vehicle body component (12) comprises a vehicle body cross beam (22), the vehicle body cross beam (22) is fixedly connected to a connecting base (21), a buffer component (20) is provided in the connecting base (21), the buffer component (20) is fixedly connected to the connecting base (21) via a connecting pin (18), the connecting pin (18) penetrates from top to bottom into a pin anti-slip ring (19) fixedly arranged on the top of the connecting base (21), the connecting base (21) and the buffer component (20), and a horizontal pin is further provided in the connecting pin (18), and the horizontal pin passes through a horizontal insertion hole of the pin anti-slip ring (19).

8. The coverless detachable modular mining transport box according to claim 7, characterized in that: The load-bearing platform also includes a wheel assembly (14), the wheel assembly (14) includes a wheel pair (30) and an axle clamp (31), the wheel pair (30) includes a pair of wheels, the wheels are rotatably connected to the axle clamp (31) via a same wheel axle, and the axle clamp (31) is fixed to the vehicle body cross beam (22).

9. A method for using a coverless detachable modular mining transport box, characterized in that: The coverless detachable modular mining transport box applied to claim 3, wherein the use method includes a loading method and an unloading method; The loading method comprises: Controlling the box module to move toward the carrying platform, identifying and locating the center coordinates of the corner piece (4); if the box module is aligned with the carrying platform, controlling the box module to be lowered onto the carrying platform, the camera identifying and locating the first locking mechanism (13) on the carrying platform, and guiding the robot arm to lock the first locking mechanism (13); The unloading method comprises: After the carrying platform carries the box module to the unloading position, the center coordinates of the corner piece (4) are identified and located, and then the first locking mechanisms (13) corresponding to the corner pieces (4) are identified and located, and the robot arm is guided to unlock the first locking mechanisms (13), thereby controlling the box module to separate from the carrying platform.

10. The method for using the coverless detachable modular mining transport box according to claim 9, characterized in that: The identifying and locating the center coordinates of the corner piece (4) comprises: Four cameras are used to form two binocular stereo vision systems to collect images, and synchronous image collection is performed on the box module. After preprocessing the collected images, edge features and texture features are selected as feature vectors for recognition by the box module. The image edge is obtained by an edge detection algorithm, and then the image contour information is extracted using a contour extraction algorithm. The contour of the corner piece (4) is screened out according to the contour features, and the center coordinates of the corner piece (4) are obtained by calculating the center point of the circumscribed rectangle.

Images