A coverless detachable modular mine transport box and a method of using the same

Abstract

The application provides a cover-free separable modular mine transport box and a use method of the cover-free separable modular mine transport box, and relates to the technical field of mine material transportation, to solve the problem of low transportation efficiency. The cover-free separable modular mine transport 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 part of the box module. The application can improve the transportation efficiency.

Description

Technical Field

[0001] This invention relates to the field of mine material transportation technology, and more specifically, to an open-top, detachable, modular mine transport container and a method for using the open-top, detachable, modular mine transport container. 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 processes, 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 regarding coal and mineral material transportation, traditional mine car transportation suffers from problems such as low standardization, low automation in loading, high labor costs, harsh working conditions for workers, and potential safety hazards. Therefore, a new type of coal and mineral material transportation system can be developed. Based on the existing 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 an open-top, separable, modular mining transport container to solve the technical problem of low transport efficiency in existing systems.

[0004] The first aspect of the present invention provides an open-top, separable, modular mining transport container, which includes a container module and a carrying platform. The carrying platform includes a first locking mechanism, which is detachably connected to the horizontal corner of the container module.

[0005] The beneficial effects of the open-top, detachable, modular mining transport container of this invention are:

[0006] By setting a first locking mechanism on the carrying platform to detachably connect with the corner of the container module, the container module and the carrying platform can be separated. Utilizing the separability of the two, modular design can be achieved and transportation efficiency can be improved.

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

[0008] The first locking mechanism includes a locking bracket, a locking pawl pivotally connected to the upper part of the locking bracket, the locking pawl having a locking protrusion that can be inserted into the first locking recess; the locking pawl is also pivotally connected to a locking link, the locking link being pivotally connected to a locking slider, and the locking slider being movably connected to the locking bracket in the vertical direction.

[0009] In an optional technical solution, the first locking mechanism further includes a lifting drive component, which is axially fixedly connected to the locking slider in a circumferential rotational manner. The lifting drive component is provided with a rotating latch. The locking bracket is provided with a fixing groove, and the locking slider has a transmission groove. The rotating latch 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 further includes a sliding lock head and a locking spring, the sliding lock head being 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 by the locking spring and cause the sliding lock head to extend upward out of the locking bracket to enter the second locking recess.

[0011] In an optional technical solution, the box module 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 both the first and second box side plates 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 and second box side plates are equal. The corner post assembly includes corner posts, and the side edges of both the first and second box side plates 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 both the first and second box beams 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 body and a support frame. The support frame is fixedly connected to the bottom surface of the vehicle body. A downwardly opening and closing plate is also pivotally connected to the vehicle body. 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.

[0013] 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.

[0014] In an optional technical solution, the load-bearing platform further includes a wheel assembly, which includes a wheelset and an axle clip. The wheelset includes a pair of wheels, which are rotatably connected to the axle clip via the same wheel axle. The axle clip is fixed to the vehicle body crossbeam.

[0015] The second objective of this invention is to provide a method for using an open-top, separable, modular mining transport container to solve the technical problem of low transport efficiency.

[0016] The second aspect of the present invention provides a method for using an open-top, separable, modular mining transport container, which is applied to the above-mentioned open-top, separable, modular mining transport container. The method of use includes a loading method and an unloading method.

[0017] The loading method includes:

[0018] The control box module moves towards the support platform, identifies and locates the center coordinates of the corner piece; if the box module is aligned with the support platform, the control box module is lowered onto the support platform, the camera identifies and locates the first locking mechanism on the support platform, and guides the robotic arm to lock the first locking mechanism.

[0019] The unloading method includes:

[0020] After the carrier platform carries the box module to the unloading position, the center coordinates of the corner piece are identified and located, and then the first locking mechanism corresponding to the corner piece is identified and located. The robotic arm is guided to unlock the first locking mechanism and control the separation of the box module from the carrier platform.

[0021] 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 box module is aligned with the support platform. Then, the robotic arm can be guided to lock the first locking mechanism, thereby improving the automation level of the operation process.

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

[0023] Two binocular stereo vision systems are formed by four cameras to acquire images. The box module is synchronously acquired. After the acquired images are preprocessed, edge features and texture features are selected as feature vectors for the box module to be recognized. 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. 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 open-top, detachable, modular mining transport container provided in an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the structure of the open-top, detachable modular mining transport container provided in an embodiment of the present invention, showing the separation of the container module from the carrying platform.

[0027] Figure 3 This is a schematic diagram of the structure of the box module in the lidless detachable modular mining transport box provided in an embodiment of the present invention.

[0028] Figure 4 This is a schematic diagram of the corner post assembly in the open-top, detachable, modular mining transport container provided in an embodiment of the present invention.

[0029] Figure 5 This is a schematic diagram of the first locking mechanism in the lidless, detachable, modular mining transport container provided in an embodiment of the present invention.

[0030] Figure 6 This is a cross-sectional view of the first locking mechanism in a lidless, detachable, modular mining transport container provided in an embodiment of the present invention, in one direction.

[0031] Figure 7 This is a cross-sectional view of the first locking mechanism in the open-top, separable, modular mining transport container provided in an embodiment of the present invention, taken from another direction.

[0032] Figure 8 This is a cross-sectional view of the first locking mechanism in the open-top, separable, modular mining transport container provided in an embodiment of the present invention, in another direction.

[0033] Figure 9A simplified diagram of the first locking mechanism in the lidless, detachable, modular mining transport container provided in an embodiment of the present invention.

[0034] Figure 10 This is a schematic diagram of the structure of the box assembly in the lidless, detachable, modular mining transport box provided in an embodiment of the present invention.

[0035] Figure 11 This is a structural schematic diagram of the box beam assembly in the open-top, separable, modular mining transport box provided in an embodiment of the present invention.

[0036] Figure 12 This is a schematic diagram of the structure of the load-bearing platform in the open-top, detachable, modular mining transport container provided in an embodiment of the present invention.

[0037] Figure 13 This is a schematic diagram of the frame assembly in the open-top, detachable, modular mining transport container provided in an embodiment of the present invention.

[0038] Figure 14 This is a schematic diagram of the body assembly in the open-top, detachable, modular mining transport container provided in an embodiment of the present invention.

[0039] Figure 15 This is a schematic diagram of the wheel assembly in the open-top, detachable, modular mining transport container provided in an embodiment of the present invention.

[0040] Figure 16 The flowchart illustrates the loading and unloading process of the lidless, detachable, modular mining transport container provided in this embodiment of the invention.

[0041] Figure 17 Another operation flowchart for loading and unloading the container in the method of using the open-top detachable modular mining transport container provided in the embodiment of the present invention.

[0042] Figure 18 The flowchart illustrates the locking and unlocking operations in the method of using the lidless, detachable, modular mining transport container provided in this embodiment of the invention.

[0043] Explanation of reference numerals in the attached figures:

[0044] 1-Corner post assembly; 2-Box assembly; 3-Box crossbeam assembly; 4-Corner piece; 5-Corner post; 6-First box side panel; 7-Second box side panel; 8-Box bottom plate; 9-Second box crossbeam; 10-First box crossbeam; 11-Frame assembly; 12-Body assembly; 13-First locking mechanism; 14-Wheel assembly; 15-Vehicle body; 16-Support frame; 17-Openable / closable flat panel; 18-Connecting pin ; 19-Anti-disengagement pin; 20-Buffer component; 21-Connecting base; 22-Body crossbeam; 23-Sliding lock head; 24-Locking claw; 241-Locking protrusion; 25-Locking bracket; 251-Fixing groove; 26-Locking linkage; 27-Locking slider; 271-Transmission groove; 28-Locking drive component; 281-Rotating latch; 282-Locking handle; 29-Locking spring; 30-Wheelset; 31-Axle clip. Detailed Implementation

[0045] 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.

[0046] Example 1:

[0047] Figure 1 This is a structural schematic diagram of the open-top, detachable, modular mining transport container provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of the open-top, detachable modular mining transport container provided in an embodiment of the present invention, showing the separation of the container module from the carrying platform. Figure 3 This is a schematic diagram of the structure of the box module in the lidless detachable modular mining transport box provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the corner post assembly in the open-top, detachable, modular mining transport container provided in an embodiment of the present invention. Figures 1-3 As shown, the lidless, detachable, modular mining transport box provided in Embodiment 1 of the present invention includes a box module and a carrying platform. The carrying platform includes a first locking mechanism 13, which is detachably connected to the horizontal corner of the box module.

[0048] By setting a first locking mechanism 13 on the carrying platform to be detachably connected to the corner of the container module, the container module and the carrying platform can be separated. Utilizing the feature that the two can be separated, modular design can be realized and transportation efficiency can be improved.

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

[0050] Figure 5 This is a schematic diagram of the first locking mechanism in the lidless, detachable, modular mining transport container provided in an embodiment of the present invention. Figure 6 This is a cross-sectional view of the first locking mechanism in a lidless, detachable, modular mining transport container provided in an embodiment of the present invention, in one direction. Figure 7 This is a cross-sectional view of the first locking mechanism in the open-top, separable, modular mining transport container provided in an embodiment of the present invention, taken from another direction. Figure 8 This is a cross-sectional view of the first locking mechanism in the open-top, separable, modular mining transport container provided in an embodiment of the present invention, in another direction. Figure 9 A simplified diagram of the first locking mechanism in the lidless, detachable, modular mining transport container provided in an embodiment of the present invention. Figures 5-9 As shown, optionally, the box module includes a corner post assembly 1, the corner post assembly 1 includes corner pieces 4, the corner pieces 4 are located at the four bottom corners of the box module, and the side wall of the corner pieces 4 is provided with a first locking recess.

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

[0052] By providing a first locking recess on the side wall of the corner piece 4 and using the locking protrusion 241 of the locking claw 24 of the first locking mechanism 13 to engage with the first locking recess, the first locking recess and the corner piece 4 can be engaged. Not only does the engagement of the locking claw 24 with the side wall of the corner piece 4 restrict the horizontal movement of the corner piece 4 relative to the bearing platform, but the engagement of the locking protrusion 241 with the first locking recess also restricts the vertical movement of the corner piece 4.

[0053] Specifically, in this embodiment, the locking bracket 25 is roughly rectangular-cubic in shape, and locking claws 24 are provided on both top edges of the locking bracket 25. Correspondingly, the locking slider 27 is roughly L-shaped when viewed from above, and the free ends of both arms of the L-shape are 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 with four sidewalls forming a closed shape, and the first locking recess is provided on two adjacent sidewalls of the corner piece 4, more specifically, on the outer sidewall of the corner piece 4. For example, if the corner piece 4 is located at the southeast corner of the housing module, the first locking recess is provided on the south and east sidewalls of the corner piece 4.

[0055] In this embodiment, the first locking recess can be a through hole provided on the side wall of the corner piece 4 for the locking protrusion 241 to be inserted. In fact, in another implementation, the first locking recess 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, with the locking slider 27 as the driving component, which drives the locking link 26 and the locking claw 24 to move. When the locking slider 27 moves upward, the locking claw 24 simultaneously moves closer to 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 horizontal part of the L-shape of the locking claw 24 and the top surface of the locking bracket 25. The calculation method adopts the orthogonal projection method.

[0057] The displacement Δd1 of the bottom horizontal portion of the locking claw 24 in the vertical plane

[0058] Δd1=l1 sinθ (1)

[0059] The length change Δd2 of the bottom horizontal part 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 Δd3 of locking link 26 in the vertical plane

[0066] Δd3=d4-l2 cosα (5)

[0067] The displacement Δd of the locking slider 27 consists of the displacement of the connecting rod and the locking connecting rod 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 (36mm), l2 is the length of the locking connecting rod 26 (40mm), Δd is the displacement length of the locking slider 27 (range 0-42mm), θ is the opening and closing angle of the locking claw 24 (range 0-85°), and α is the angle between the locking connecting rod 26 and the vertical plane (34.5°) when locked.

[0072] like Figures 5-8 As shown, optionally, the first locking mechanism 13 further includes a locking drive 28, which is axially fixed to the locking slider 27 in a circumferential rotation. The locking drive 28 is provided with a rotating latch 281. The locking bracket 25 is provided with a fixing groove 251, and the locking slider 27 has a transmission groove 271. The rotating latch 281 can switch between the fixing groove 251 and the transmission groove 271.

[0073] By providing a locking drive 28 that is axially fixed to the circumferential rotation of the locking slider 27, the locking slider 27 can be pushed from the outside using the locking drive 28, causing the locking slider 27 to rise and fall, thereby opening or retracting the locking claw 24. A fixing groove 251 is provided in the locking bracket 25 for the insertion of the rotating latch 281, which axially positions the locking drive 28 and restricts the position of the locking slider 27. A transmission groove 271 is provided in the locking slider 27 for the insertion of the rotating latch 281, which can drive the locking slider 27 to move together. Therefore, the movement of the locking slider 27 can be controlled simply by rotation.

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

[0075] When the latch 281 is rotated to... Figure 8When the slider is facing left, lower left, or downward, the latch 281 is positioned in the fixing groove 251, and the physical portion of the locking slider 27 is located below the root of the latch 281. Therefore, with the latch 281 in this position, the locking slider 27 can be vertically fixed 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 latch 281 is rotated to... Figure 8 When the center is facing right, to the upper right, or 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 rise and fall under the action of the locking drive 28 or under the action of the locking claw 24.

[0077] like Figures 5-7 As shown, optionally, the corner piece 4 has a second locking recess; the first locking mechanism 13 further includes a sliding lock head 23 and a locking spring 29, the sliding lock head 23 being 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 by the locking spring 29 and cause the sliding lock head 23 to extend upward out of the locking bracket 25 to enter the second locking recess.

[0078] By setting the locking spring 29 above the locking slider 27, the locking spring 29 can be used as a force transmission component when the locking slider 27 moves upward, which improves the ability of the sliding lock head 23 to resist the lateral movement of the box after it is inserted into the second locking recess.

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

[0080] Figure 10 This is a schematic diagram of the structure of the box assembly in the lidless, detachable, modular mining transport box provided in an embodiment of the present invention. Figure 11 This is a structural schematic diagram of the box beam assembly in the open-top, detachable, modular mining transport box provided in an embodiment of the present invention. Figure 1 , Figure 2 and Figure 10 , Figure 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 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 heights of the first box side plate 6 and the second box side plate 7 are equal. The corner post assembly 1 includes a corner post 5, and the side edges of the first box side plate 6 and the second box side plate 7 are both fixedly connected to the corner post 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 both fixedly connected to the opposite sides of each corner piece 4.

[0081] By setting up corner post 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, preventing damage when storing materials. Furthermore, setting the box crossbeam assembly 3 on the lower surface of the box bottom plate 8 can improve the strength of the box bottom plate 8.

[0082] In this embodiment, a notch is provided at the top of the first housing crossbeam 10 for the insertion of the forklift's forks. Furthermore, reinforcing ribs are provided on the outer sides of the first housing side plate 6 and the second housing side plate 7 to improve the rigidity of the two housing side plates.

[0083] Figure 12 This is a schematic diagram of the structure of the load-bearing platform in the open-top, detachable, modular mining transport container provided in an embodiment of the present invention. Figure 13 This is a schematic diagram of the frame assembly in the open-top, detachable, modular mining transport container provided in an embodiment of the present invention. Figure 12 and Figure 13 As shown, optionally, the support platform includes a frame assembly 11, which includes a vehicle body 15 and a support frame 16. The support frame 16 is fixedly connected to the bottom surface of the vehicle body 15. A downwardly opening and closing plate 17 is also pivotally connected to the vehicle body 15. The opening and closing plate 17 is locked to the vehicle body 15 by a second locking mechanism. The second locking mechanism includes a locking slot disposed on the lower surface of the opening and closing plate 17 and a locking insert rotatably connected to the lower surface of the vehicle body 15. The locking slot is formed by a slot lower plate fixedly connected to the lower surface of the opening and closing plate 17 and the opening and closing plate 17. The locking insert is configured to be inserted into the locking slot.

[0084] The support frame 16 is a grid-shaped structure formed by crisscrossing support tubes. The vehicle body 15 is located above the grid-shaped structure. The locking plate can be a rectangular plate, with one end of the locking plate rotatably connected to the vehicle body 15. The rotation axis of the locking plate is a vertical axis. The lower locking plate is a bent plate, with part of it fitting snugly against the vehicle body 15 and part of it leaving a gap, which forms a locking slot. When the locking plate is inserted into the locking slot, the openable / closable plate 17 cannot be opened. If it is necessary to open the openable / closable plate 17, the locking plate can be rotated out of the area of ​​the openable / closable plate 17, and the openable / closable plate 17 opens downwards.

[0085] Figure 14 This is a structural schematic diagram of the body assembly in the open-top, detachable, modular mining transport container provided in an embodiment of the present invention. Figure 14 As shown, optionally, the carrying platform includes a body assembly 12, which includes a body crossbeam 22. The body crossbeam 22 is fixedly connected to a connecting base 21. A buffer 20 is provided in the connecting base 21. The buffer 20 is fixedly connected to the connecting base 21 by a connecting pin 18. The connecting pin 18 passes from top to bottom into the pin anti-disengagement ring 19 fixedly provided at the top of the connecting base 21, the connecting base 21, and the buffer 20. The connecting pin 18 is also provided with a horizontal pin, which passes through the horizontal insertion hole of the pin anti-disengagement ring 19.

[0086] The body assembly 12 includes two body beams 22, whose lengths are parallel and spaced apart, aligning with the length of the vehicle. The ends of the body beams 22 are riveted to connecting bases 21. Connecting bases 21 have anti-detachment pin rings 19 on their surface, with the axis of the anti-detachment pin rings 19 vertically aligned. The sidewalls of the anti-detachment pin rings 19 have horizontal insertion holes extending along the wall thickness direction. Connecting pins 18 are inserted vertically into the anti-detachment pin rings 19, and horizontal pins pass horizontally through the horizontal insertion holes and into the connecting pins 18. Because of the horizontal pins, and the fact that their vertical projection overlaps with the anti-detachment pin rings 19 when inserted into the connecting pins 18, the connecting pins 18 are prevented from being pulled out of the anti-detachment pin rings 19 when subjected to an upward force.

[0087] Figure 15 This is a schematic diagram of the wheel assembly in an open-top, detachable, modular mining transport container provided in an embodiment of the present invention. Figure 15 As shown, optionally, the load-bearing platform also includes a wheel assembly 14, which includes a wheelset 30 and an axle clip 31. The wheelset 30 includes a pair of wheels, which are rotatably connected to the axle clip 31 via the same wheel axle. The axle clip 31 is fixed to the vehicle body crossbeam 22.

[0088] In this embodiment, the wheel assembly 14 includes two pairs of wheelsets 30, which are arranged along the length of the vehicle. Specifically, the wheels can be rotated relative to the wheel axle, and the axle clips 31 are fixedly connected to the vehicle body crossbeam 22 by rivets.

[0089] Example 2:

[0090] Figure 16 The flowchart illustrates the loading and unloading process of the lidless, detachable, modular mining transport container provided in this embodiment of the invention. Figure 17 This is another operational flowchart illustrating the loading and unloading process of the lidless, detachable, modular mining transport container provided in an embodiment of the present invention. (See attached diagram.) Figure 16 and Figure 17 As shown, Embodiment 2 also provides a method for using the open-top detachable modular mining transport container, which is applied to the above-mentioned open-top detachable modular mining transport container. The method of use includes loading and unloading methods.

[0091] Loading methods include:

[0092] The control box module moves towards the support platform, identifies and locates the center coordinates of corner piece 4; if the box module is aligned with the support platform, the control box module is lowered onto the support platform, the camera identifies and locates the first locking mechanism 13 on the support platform, and guides the robotic arm to lock the first locking mechanism 13.

[0093] Unloading methods include:

[0094] After the carrier platform reaches the unloading position, the center coordinates of the corner piece 4 are identified and located. Then, the first locking mechanism 13 corresponding to the corner piece 4 is identified and located. The robotic arm is guided to unlock the first locking mechanism 13 and control the separation of the carrier platform from the carrier.

[0095] By identifying the center coordinates of the corner piece 4, the corner piece 4 is aligned 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 support platform. Then, the robotic arm can be guided to lock the first locking mechanism 13, thereby improving the automation level of the operation process.

[0096] Specifically, confirming whether the housing module is aligned with the support platform can be achieved by verifying whether the corner piece 4 is aligned with the first locking mechanism 13. More specifically, the Hough line detection technology can be used.

[0097] Figure 18 This is a flowchart illustrating the locking and unlocking operations in the method of using the open-top, detachable, modular mining transport container provided in an embodiment of the present invention. Figure 18 As shown, the specific process of guiding the robotic arm to lock the first locking mechanism 13 includes:

[0098] After the housing module contacts the support platform, the first locking mechanism 13 is identified, and the robotic arm is driven to approach the locking handle 282 of the locking drive member 28. The robotic arm pushes the locking drive member 28 vertically upward, so that the locking slider 27 contacts the top of the locking bracket 25. Thus, 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 robotic arm drives the locking drive member 28 to rotate 90°, so that the rotating latch 281 engages 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 robotic arm rotates the locking drive 28 in the opposite direction, causing the rotating latch 281 to leave the fixed groove 251 and return to the transmission groove 271 of the locking slider 27. The robotic arm pulls the locking drive 28 vertically downward to lower the locking slider 27. When the locking slider 27 is pulled to the bottom, the sliding lock head 23 and the locking claw 24 separate from the corner piece 4, allowing the housing module to float relative to the supporting module.

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

[0101] Two binocular stereo vision systems are formed by four cameras to acquire images. The box module is synchronously acquired. After the acquired images are preprocessed, edge features and texture features are selected as feature vectors for the box module recognition. The image edges are obtained by edge detection algorithm, and the image contour information is extracted by contour extraction algorithm. The contour of corner piece 4 is selected according to the contour features. The center coordinates of corner piece 4 are obtained by calculating the center point of the circumscribed rectangle.

[0102] With this configuration, when corner piece 4 moves into the camera's field of view, its center coordinates can be obtained visually without contact measurement. Furthermore, corner piece 4 doesn't need to move to the precise position on the first attempt; it can be visually identified over a large area. After identification, corner piece 4 is precisely aligned with the first locking mechanism 13, thus reducing the accuracy requirements for the initial movement of the housing module.

[0103] The edge detection algorithm can be the Canny edge detection algorithm, and the center left of corner piece 4 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.

[0104] 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.

[0105] 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.

[0106] In the above embodiments, descriptions of directions such as "up" and "down" are based on the accompanying drawings.

[0107] 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.

[0108] 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 capless detachable modular mine haulage box, characterized in that, The box module and the bearing platform, the bearing platform comprises a first locking mechanism (13), and the first locking mechanism (13) is detachably connected with the horizontal corner of the box module; The box module comprises a corner column assembly (1), the corner column assembly (1) comprises a corner piece (4), the corner piece (4) is located at the bottom four corners of the box module, and the side wall of the corner piece (4) is provided with a first locking recess; The first locking mechanism (13) comprises a locking bracket (25), the upper portion of the locking bracket (25) is pivotally connected with a locking claw (24), the locking claw (24) is provided with a locking protrusion (241), the locking protrusion (241) can be embedded in the first locking recess, the locking claw (24) is further pivotally connected with a locking connecting rod (26), the locking connecting rod (26) is pivotally connected with a locking slider (27), and the locking slider (27) is movably connected with the locking bracket (25) in the vertical direction; The first locking mechanism (13) further comprises a lifting driving piece, the lifting driving piece is fixedly connected with the locking slider (27) in the circumferential rotation shaft direction, the lifting driving piece is provided with a rotating clamping tongue (281), the locking bracket (25) is provided with a fixing groove (251), the locking slider (27) is provided with a transmission groove (271), and the rotating clamping tongue (281) can be switched between the fixing groove (251) and the transmission groove (271).

2. The capless separable modular mine haul box of claim 1, wherein, The corner piece (4) is provided with a second locking recess, the first locking mechanism (13) further comprises a sliding lock head (23) and a locking spring (29), the sliding lock head (23) is slidably connected with the locking bracket (25) in the vertical direction, one end of the locking spring (29) is connected with the sliding lock head (23), the other end of the locking spring (29) is connected with the locking slider (27), and the locking slider (27) is configured to lift the sliding lock head (23) upward through the locking spring (29) and make the sliding lock head (23) protrude upward out of the locking bracket (25) to enter the second locking recess.

3. The capless separable modular mine haulage box of claim 1 or 2, wherein, The box module further comprises 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 bottom of the first box side plate (6) and the second box side plate (7) is fixedly connected with the box bottom plate (8), the length of the first box side plate (6) is greater than that of the second box side plate (7), and the height of the first box side plate (6) is equal to that of the second box side plate (7); the corner column assembly (1) comprises 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 with the corner column (5); the box beam assembly (3) comprises a first box beam (10) and a second box beam (9), the length of the first box beam (10) is greater than that of the second box beam (9), and the end portions of the first box beam (10) and the second box beam (9) are fixedly connected to the opposite sides of each corner piece (4).

4. The capless separable modular mine haul box of claim 1, wherein, The carrying platform comprises a vehicle frame assembly (11), the vehicle frame assembly (11) comprises a vehicle plate body (15) and a support frame (16) fixedly connected to the bottom surface of the vehicle plate body (15), and a downward opening and closing openable and closable flat plate (17) is pivotally connected to the vehicle plate body (15), the openable and closable flat plate (17) is locked on the vehicle plate body (15) through a second locking mechanism, 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 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 arranged to be inserted into the locking slot.

5. The capless separable modular mine haul box of claim 3, wherein, The carrying platform comprises a vehicle body assembly (12), the vehicle body assembly (12) comprises a vehicle body cross beam (22) fixedly connected to a connecting base (21), a buffer (20) is arranged in the connecting base (21), the buffer (20) is fixedly connected to the connecting base (21) through a connecting bolt (18), the connecting bolt (18) penetrates the plug anti-escape ring (19) fixedly arranged on the top of the connecting base (21), the connecting base (21) and the buffer (20) from top to bottom, and a horizontal bolt is further arranged in the connecting bolt (18), the horizontal bolt penetrates a horizontal bolt hole of the plug anti-escape ring (19).

6. The capless, separable, modular mining haulage box body of claim 5, wherein, The carrying platform further comprises a wheel assembly (14), the wheel assembly (14) comprises a wheel pair (30) and a shaft clamp (31), the wheel pair (30) comprises a pair of wheels, the wheels are rotatably connected to the shaft clamp (31) through the same wheel shaft, and the shaft clamp (31) is fixed to the vehicle body cross beam (22).

7. A method of using a capless, detachable, modular mine haul box, the method comprising: The application is applied to the cap-free separable modular mining transport box body of claim 1, and the use method comprises a loading method and an unloading method; The loading method comprises: The box body module is controlled to move to the carrying platform, the center coordinates of the corner piece (4) are recognized and positioned, if the box body module is aligned with the carrying platform, the box body module is controlled to be lowered onto the carrying platform, the first locking mechanism (13) on the carrying platform is recognized and positioned by the camera, and the mechanical arm is guided to lock the first locking mechanism (13). The unloading method comprises: After the carrying platform carries the box body module to reach an unloading position, the center coordinates of the corner piece (4) are recognized and positioned, then the first locking mechanism (13) corresponding to the corner piece (4) respectively is recognized and positioned, the mechanical arm is guided to unlock the first locking mechanism (13), and the box body module is controlled to be separated from the carrying platform.

8. The method of using a capless, separable, modular mining transport box of claim 7, wherein, The center coordinates of the corner piece (4) are recognized and positioned, which comprises: Two binocular stereo vision systems are formed by four cameras to collect images, and the box module is synchronously imaged, the collected images are preprocessed, edge features and texture features are selected as feature vectors for box module recognition, edge detection algorithm is used to obtain image edges, contour extraction algorithm is used to extract image contour information, and 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