Material supply vehicle

Abstract

The invention discloses a material supply vehicle, and relates to the field of wharf equipment, the material supply vehicle comprises a vehicle body device, a supply device and a wave floating compensation mechanism, and the wave floating compensation mechanism comprises a discharge hopper, an elastic piece and a hinge pin; during operation, the discharge hopper is supported on a material receiving position, when a ship fluctuates due to surge and the like, the discharge hopper can rotate around the hinge pin, impact of surge on the arm support assembly is reduced, goods are prevented from deviating, meanwhile, the elastic piece guarantees that the second end of the discharge hopper is pressed on the material receiving position, and smooth transition of the goods is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of terminal equipment, and in particular to a material supply vehicle. Background Art

[0002] The existing material supply for ships docked is mainly achieved through hoisting. After the ship is moored at the shore, the materials on the shore are packaged and hoisted onto the ship through cranes and other hoisting equipment, and then disassembled and distributed.

[0003] Although there are some vehicles for transporting materials to ships in the prior art, these vehicles have the following problems: 1. The boom of the vehicle is affected by waves, and the stability of the cargo is poor; 2. The boom is not flexible enough and it is difficult to meet various operating conditions. Summary of the Invention

[0004] An embodiment of the present application provides a material supply vehicle that can reduce the impact of surge shocks and achieve stable cargo transportation.

[0005] This embodiment provides a material supply vehicle, including a vehicle body device, a supply device and a wave floating compensation mechanism, the supply device includes a boom assembly and a conveying mechanism; the boom assembly is arranged on the vehicle body device; the conveying mechanism is arranged on the boom assembly, and is used to convey materials along the length direction of the boom assembly to the wave floating compensation mechanism; the wave floating compensation mechanism includes a discharge hopper, an elastic member and a hinge pin; the first end of the discharge hopper is hinged to the boom assembly through a hinge pin, and the second end of the discharge hopper is used to overlap an external material receiving position; the two ends of the elastic member are respectively connected to the discharge hopper and the boom assembly.

[0006] Preferably, the vehicle body device includes a chassis and a leg mechanism; the leg mechanism includes a leg sub-frame, a telescopic sleeve, a leg cylinder and a leg; the leg sub-frame is connected to the chassis; a plurality of telescopic sleeves are respectively arranged on the leg sub-frame along the horizontal circumferential direction, one end of the telescopic sleeve is connected to the leg sub-frame, and the other end is connected to the leg cylinder, and the telescopic direction of the telescopic sleeve is configured to be a horizontal direction; the leg is connected to the leg cylinder.

[0007] Preferably, the boom assembly includes a turntable, a forearm, a rear arm, a forearm pitch cylinder and a rear arm pitch cylinder; the turntable is arranged on the support leg sub-frame; one end of the forearm is hinged to the turntable, and the other end is provided with a wave floating compensation mechanism; one end of the rear arm is hinged to the turntable, and the conveying mechanism is arranged on the forearm and the rear arm; the two ends of the forearm pitch cylinder are respectively hinged to the forearm and the turntable; the two ends of the rear arm pitch cylinder are respectively hinged to the rear arm and the turntable; the wave floating compensation mechanism is connected to the end of the forearm.

[0008] Preferably, the forearm includes a forearm 1, a forearm 2, and a forearm 3 which are sleeved in sequence; the rear arm includes a rear arm 1 and a rear arm 2 which are sleeved; the conveying mechanism includes a head reversing roller, a tail reversing roller, a driving roller, and a conveyor belt; the forearm 1, the forearm 2, the forearm 3, the rear arm 1, and the rear arm 2 are each provided with a head reversing roller and a tail reversing roller at both ends in the length direction; the driving roller is provided at the tail end of the forearm 1;

[0009] The conveyor belt is a closed belt. The closed path of the conveyor belt includes: the conveyor belt passes through the head reversing roller on the forearm three and enters the interior of the forearm three, then goes to the tail reversing roller of the forearm three and wraps around the lower gap between the forearm three and the forearm two, then goes to the head reversing roller on the forearm two and wraps around the lower gap between the forearm three and the forearm two again, then goes to the tail reversing roller on the forearm two and wraps around the lower gap between the forearm two and the forearm one, then goes to the head reversing roller on the forearm one and wraps around the lower gap between the forearm two and the forearm one again, then passes through the tail reversing roller on the forearm one to the drive roller at the tail end of the forearm one, and after being connected to the drive roller, continues to be connected to the tail reversing roller on the rear arm one, then goes to the head reversing roller on the rear arm one, wraps around to the tail reversing roller of the rear arm two, and then to the head reversing roller of the rear arm two, forming a closed conveyor belt.

[0010] Preferably, the conveying mechanism further includes a conveyor belt drive motor, which is connected to the drive roller and is used to drive the conveyor belt to move along the closed path.

[0011] Preferably, the arm assembly also includes a chain mechanism; chain mechanisms are provided between forearm 1 and forearm 2, between forearm 2 and forearm 3, and between rear arm 1 and rear arm 2; the chain mechanism includes a sprocket, a closed chain and a sprocket drive motor; the sprocket and the closed chain are meshed and connected, and the sprocket drive motor is connected to the sprocket to drive the sprocket to rotate, and drive the forearm 2 or forearm 3 or rear arm 2 to slide and retract through the closed chain.

[0012] Preferably, the wave floating compensation mechanism also includes a limit pin; a limit groove is provided at the end of the forearm, and the length direction of the limit groove is consistent with the circumferential direction of the hinge pin; one end of the limit pin is connected to the discharge hopper, and the other end is slidably set in the limit groove.

[0013] Preferably, the elastic member is configured as a tension spring; the two ends of the tension spring are respectively connected to the discharge hopper and the forearm, so as to enable the discharge hopper to rotate downward around the hinge pin.

[0014] Preferably, a first angle sensor is provided on the discharge hopper, and a second angle sensor is provided on the forearm.

[0015] Preferably, when the angle of the discharge hopper changes, the pitch angle of the forearm is adjusted according to formula 1), which is as follows:

[0016]

[0017] Among them, b1 represents the pitch angle of the forearm after adjustment; L represents the length of the discharge hopper; a represents the initial angle of the discharge hopper; a1 represents the angle after the discharge hopper changes; S1 represents the length of the forearm; b represents the initial pitch angle of the forearm.

[0018] The material supply vehicle of this application has at least the following beneficial effects:

[0019] The material supply vehicle of the present application is provided with a wave floating compensation mechanism at the front end of the boom assembly. During operation, the second end of the unloading hopper is supported on the material receiving position. When the ship fluctuates due to surges, the unloading hopper can rotate around the hinge pin to reduce the impact of the surge on the boom assembly and avoid cargo displacement. At the same time, the elastic part ensures that the second end of the unloading hopper is pressed tightly on the material receiving position to ensure that the cargo can be smoothly transferred. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0021] Figure 1 This is the operating status diagram of the material supply vehicle (showing the high-altitude operating status and low-altitude operating status);

[0022] Figure 2 This is a structural diagram of the material supply vehicle (the wave floating compensation mechanism is hidden);

[0023] Figure 3 yes Figure 2 Schematic diagram of the structure of the middle boom assembly and outrigger mechanism;

[0024] Figure 4 It is a partial structural diagram of the chain mechanism and forearm;

[0025] Figure 5 is a simplified schematic diagram of the conveying mechanism, front arm and rear arm;

[0026] Figure 6 yes Figure 5 The first partial schematic diagram of

[0027] Figure 7 yes Figure 5 The second partial schematic diagram of

[0028] Figure 8 It is a structural diagram of the boom assembly and the wave floating compensation mechanism;

[0029] Figure 9 yesFigure 8 Enlarged view of the middle Q;

[0030] Figure 10 This is a simplified schematic diagram of the forearm and wave floating compensation mechanism;

[0031] Figure 11 This is a schematic diagram of the position of the discharge hopper after it floats;

[0032] Figure 12 This is a schematic diagram of the position of the forearm after adjusting the pitch angle

[0033] Description of the reference numerals is as follows:

[0034] 10. Material supply vehicles;

[0035] 100, vehicle body; 110, chassis; 120, outrigger mechanism; 121, outrigger subframe; 122, telescopic sleeve; 123, outrigger cylinder; 124, outrigger;

[0036] 200, supply device; 210, boom assembly; 211, turntable; 212, forearm; 2121, forearm 1; 2122, forearm 2; 2123, forearm 3; 212a, limit slot; 213, rear arm; 2131, rear arm 1; 2132, rear arm 2; 214, forearm pitch cylinder; 215, rear arm pitch cylinder; 216, chain mechanism; 2161, sprocket; 2162, closing chain; 2163, sprocket drive motor; 220, conveying mechanism; 221, head reversing roller; 222, tail reversing roller; 223, drive roller; 224, conveyor belt;

[0037] 300, wave floating compensation mechanism; 310, discharge hopper; 320, elastic member; 330, hinge pin; 340, limit pin;

[0038] 20. Ships;

[0039] 30. Transport carriages;

[0040] 40. Goods. DETAILED DESCRIPTION

[0041] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0042] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0043] like Figure 1 As shown, this embodiment discloses a material supply vehicle, including a vehicle body device 100, a supply device 200, and a wave floating compensation mechanism 300, specifically as follows:

[0044] like Figure 2 As shown, the vehicle body device 100 includes a chassis 110 and an outrigger mechanism 120. The chassis 110 is configured as a wheeled chassis and can travel on the road; the outrigger mechanism 120 includes an outrigger subframe 121, a telescopic sleeve 122, an outrigger oil cylinder 123 and an outrigger 124. The outrigger subframe 121 is fixedly connected to the chassis 110 as a whole by a riding bolt or a thrust plate. There are multiple telescopic sleeves 122, and the multiple telescopic sleeves 122 are respectively arranged at the four corner positions of the outrigger subframe 121 along the horizontal circumferential direction. The telescopic sleeve 122 includes two sleeve single pieces arranged inside and outside, and one sleeve single piece is provided with Multiple locking holes are arranged at intervals along the length direction of the sliding sleeve single piece, and a locking pin is provided on the other sliding sleeve single piece. When the locking pin is inserted into the locking hole, the two sliding sleeve single pieces are locked and cannot move relative to each other; wherein, the telescopic direction of the sliding sleeve single piece is configured to be horizontal, one sliding sleeve single piece is fixedly connected to the support leg sub-frame 121, and the other sliding sleeve single piece is fixedly connected to the support leg cylinder 123, the support leg 124 is connected to the telescopic end of the support leg cylinder 123, and the telescopic direction of the support leg cylinder 123 is configured to be in the height direction. In this embodiment, the telescopic sliding sleeve 122, the support leg cylinder 123 and the support leg 124 are arranged in a one-to-one correspondence.

[0045] In this embodiment, the telescopic slide 122 of the outrigger mechanism 120 can be expanded horizontally to increase the span function, and the outrigger cylinder 123 and the outrigger 124 can be vertically lifted to perform a supporting function. When the operation is carried out, the outrigger 124 is unfolded and lifted to the chassis 110 off the ground, which can increase the stabilizing torque and improve the operation stability.

[0046] like Figure 2As shown, the supply device 200 includes a boom assembly 210 and a conveying mechanism 220. The boom assembly 210 can drive the wave floating compensation mechanism 300 to move. The cargo 40 is transported to the wave floating compensation mechanism 300 through the conveying mechanism 220 arranged on the boom assembly 210. The cargo 40 is transferred from the wave floating compensation mechanism 300 to the material receiving position, which is a certain position on the ship.

[0047] like Figure 3 As shown, the arm assembly 210 includes a turntable 211, a front arm 212, a rear arm 213, a front arm pitching cylinder 214 and a rear arm pitching cylinder 215; the turntable 211 is set on the support leg sub-frame 121, the turntable 211 can rotate around the height direction, one end of the front arm 212 is hinged to the turntable 211 and can pitch up and down, one end of the rear arm 213 is hinged to the turntable 211 and can pitch up and down, and the conveying mechanism 220 is set On the forearm 212 and the rear arm 213, the forearm 212 and the rear arm 213 are aligned and can form a bridge structure. The two ends of the forearm pitch cylinder 214 are respectively hinged to the forearm 212 and the turntable 211, and the two ends of the rear arm pitch cylinder 215 are respectively hinged to the rear arm 213 and the rear arm pitch cylinder 215, wherein the wave floating compensation mechanism 300 is arranged on the end of the forearm 212 away from the turntable 211.

[0048] In this embodiment, the front arm 212 and the rear arm 213 form a bridge structure, and the conveying mechanism 220 is arranged on the bridge structure. The conveying mechanism 220 transports the goods 40 from the conveying mechanism 220 on the rear arm 213 to the conveying mechanism 220 on the front arm 212, and finally transitions to the material receiving position through the wave floating compensation mechanism 300.

[0049] In this embodiment, the supply device 200 is mounted on the chassis 110, giving the material supply vehicle 10 a maneuverable transfer capability not available with conventional transport mechanisms. During transfer operations, maneuverability can be achieved without the need for other transportation vehicles. At the same time, the arm assembly 210 of the supply device 200 has functions such as rotation, front and rear amplitude adjustment, and telescopic extension. After supporting the shore, it can adjust various postures to meet the docking requirements of the ship 20, and has a wide range of operational capabilities. The arm is composed of a front arm 212 and a rear arm 213. During maneuverable transfer, the front arm 212 is placed forward and the rear arm 213 is placed rearward and downward, effectively reducing the overall length space and ensuring the transportation profile. During operation, the front arm 212 and rear arm 213 can independently adjust the amplitude and telescopic extension, realizing a variety of front and rear arm combination postures. The rear arm 213 can be extended into the transport compartment 30, and the amplitude adjustment angle and telescopic length can be adjusted according to the compartment height and the distance between the compartments, improving adaptability. The adjustable amplitude of the forearm 212 allows for adaptability to different locations, such as high and low ships, as well as to varying water levels in rivers and seawater at different times in the same location, and to the height differences of docks in different locations. Furthermore, the forearm 212 can be extended into the cargo hold to directly transport and unload materials. Compared to the conventional method of only lifting materials onto the deck of a ship 20, the boom assembly 210 of the material supply vehicle 10 can extend one end into the transport compartment 30 and the other end into the cargo hold, enabling streamlined operations for various types of materials, such as bulk and packaged materials, greatly improving operational efficiency and reducing the need for operators.

[0050] like Figure 3 As shown, in some preferred embodiments, the forearm 212 includes forearm one 2121, forearm two 2122 and forearm three 2123; the forearm one 2121 is sleeved on the outer periphery of the forearm two 2122, and the forearm two 2122 is sleeved on the outer periphery of the forearm one 2121, and the overall length of the forearm 2122 can be changed by sliding and extending the forearm two 2122 and the forearm three 2123; the rear arm 213 includes rear arm one 2131 and rear arm two 2132, the rear arm one 2131 is sleeved on the outer periphery of the rear arm two 2132, and the rear arm two 2132 can slide relative to the rear arm one 2131, thereby changing the overall length of the rear arm 213.

[0051] In this embodiment, one end of the front arm 2121 is hinged to the turntable 211, and the two ends of the front arm pitch cylinder 214 are respectively hinged to the middle portion of the front arm 2121 and the turntable 211. One end of the rear arm 2131 is hinged to the turntable 211, and one end of the rear arm pitch cylinder 215 is hinged to the middle portion of the rear arm 2131 and the turntable 211.

[0052] The arm assembly 210 also includes a chain mechanism 216 for driving the arm to extend and retract, wherein chain mechanisms 216 are provided between forearm 1 2121 and forearm 2 2122, between forearm 2 2122 and forearm 3 2123, and between rear arm 1 2131 and rear arm 2 2132. The chain mechanism 216 between forearm 1 2121 and forearm 2 2122 is used to drive forearm 2 2122 to slide in the length direction relative to forearm 1 2121, the chain mechanism 216 between forearm 2 2122 and forearm 3 2123 is used to drive forearm 3 2123 to slide in the length direction relative to forearm 2 2122, and the chain mechanism 216 between rear arm 1 2131 and rear arm 2 2132 is used to drive rear arm 2 2132 to slide in the length direction relative to rear arm 1 2131.

[0053] like Figure 4 As shown, this embodiment takes the chain mechanism 216 between the forearm 1 2121 and the forearm 2 2122 as an example, the chain mechanism 216 includes a sprocket 2161, a closed chain 2162 and a sprocket drive motor 2163; the forearm 1 2121 is rotatably provided with sprocket shafts at both ends in the length direction, and the two sprocket shafts are arranged at intervals; sprockets 2161 are provided on both sprocket shafts, and the closed chain 2162 is engaged with the sprocket 2161, and the closed chain 2162 drives the sprockets 2161 on the two sprocket shafts. 161 are connected together, the forearm 2122 is connected to the closed chain 2162; the sprocket drive motor 2163 is set on the forearm 1 2121, and the output end of the sprocket drive motor 2163 is connected to the sprocket shaft through a transmission belt. When the output end of the sprocket drive motor 2163 rotates, the sprocket shaft rotates, thereby driving the sprocket 2161 to rotate, and the sprocket 2161 drives the closed chain 2162 to move, so that the forearm 2122 slides and retracts relative to the forearm 1 2121 in its length direction. Similarly, if it is a chain mechanism 216 between forearm two 2122 and forearm three 2123, the two sprocket shafts are arranged at intervals on forearm two 2122, the sprocket drive motor 2163 is arranged on forearm two 2122, and forearm three 2123 is connected to the closed chain 2162. The sprocket drive motor 2163 drives the sprocket 2161 and the closed chain 2162 to move, thereby driving the forearm three 2123 to slide and retract relative to the forearm two 2122 in its length direction. Similarly, if it is a chain mechanism 216 between the rear arm 1 2131 and the rear arm 2 2132, the two sprocket shafts are arranged at intervals on the rear arm 1 2131, the sprocket drive motor 2163 is arranged on the rear arm 1 2131, and the rear arm 2 2132 is connected to the closed chain 2162. The sprocket drive motor 2163 drives the sprocket 2161 and the closed chain 2162 to move, thereby driving the rear arm 2 2132 to slide and retract relative to the rear arm 1 2131 in its length direction.

[0054] In addition to the chain mechanism 216 described above, the sliding and telescopic movement between forearm 1 2121 and forearm 2 2122, between forearm 2 2122 and forearm 3 2123, and between rear arm 1 2131 and rear arm 2 2132 can also be in the form of a telescopic cylinder, that is, a telescopic cylinder is provided between forearm 1 2121 and forearm 2 2122, between forearm 2 2122 and forearm 3 2123, and between rear arm 1 2131 and rear arm 2 2132, and the telescopic cylinder is used to push the arm frame to slide and telescope.

[0055] In this embodiment, the front arm 212 and the rear arm 213 are both composed of a multi-stage arm set, and the arm telescopic movement is achieved through the chain mechanism 216, ensuring the small profile of the mobile transfer and the large difference requirements of the supply operation.

[0056] like Figures 5 to 7 As shown, the conveying mechanism 220 includes a head reversing roller 221, a tail reversing roller 222, a driving roller 223 and a conveyor belt 224; the front arm 1 2121, the front arm 2 2122, the front arm 3 2123, the rear arm 1 2131 and the rear arm 2 2132 are provided with a head reversing roller 221 and a tail reversing roller 222 at both ends in the length direction, that is, the front arm 1 2121 is provided with a head reversing roller 221 and a tail reversing roller 222 at both ends in the length direction, and the front arm 2 2122 is provided with a head reversing roller 221 and a tail reversing roller 222 at both ends in the length direction. The reversing roller 222 and the front arm three 2123 are respectively provided with a head reversing roller 221 and a tail reversing roller 222 at both ends in the length direction, the rear arm one 2131 are respectively provided with a head reversing roller 221 and a tail reversing roller 222 at both ends in the length direction, and the rear arm two 2132 are respectively provided with a head reversing roller 221 and a tail reversing roller 222 at both ends in the length direction; the driving roller 223 is provided at the tail end of the front arm one 2121, that is, at one end close to the turntable 211, and drives the conveyor belt 224 to move through the driving roller 223, thereby driving the goods 40 to move.

[0057] The conveyor belt 224 is a closed belt, and at least part of the conveyor belt 224 covers the upper side of the front arm 212 and the rear arm 213. The goods 40 are placed on the conveyor belt 224 on the upper side of the front arm 212 and the rear arm 213. The movement of the conveyor belt 224 drives the goods 40 to be transported along the length direction of the front arm 212 and the rear arm 213.

[0058] like Figure 5As shown, the closed path of the conveying belt 224 (i.e. the winding path of the conveying belt 224) comprises: the conveying belt 224 passes through the head reversing roller 221 on the forearm three 2123, enters the interior of the forearm three 2123 along the length direction of the forearm three 2123, then winds on the tail reversing roller 222 at the tail end of the forearm three 2123, then enters the lower gap between the forearm three 2123 and the forearm two 2122 along the length direction of the forearm three 2123, then passes through the head reversing roller 221 on the forearm two 2122, then winds again in the lower gap between the forearm three 2123 and the forearm two 2122 along the length direction of the forearm three 2123, then passes through the tail reversing roller 222 on the forearm two 2122 to wind in the lower gap between the forearm two 2122 and the forearm one 2121, then passes through the head reversing roller 221 on the forearm one 2121 to wind again in the lower gap between the forearm two 2122 and the forearm one 2121, then passes through the tail reversing roller 222 on the forearm one 2121 to the driving roller 223 at the tail end of the forearm one 2121, then continues to connect to the tail reversing roller 222 on the rear arm one 2131, then passes through the head reversing roller 221 on the rear arm one 2131, then winds along the length direction of the rear arm one 2131 to the tail reversing roller 222 of the rear arm two 2132, then winds to the head reversing roller 221 of the rear arm two 2132, and finally covers the upper side of the forearms 212 and the rear arms 213 to form a closed whole.

[0059] When the driving roller 223 rotates, the conveying belt 224 moves along its closed path, thereby realizing the function of conveying the goods 40. In some preferred embodiments, the conveying mechanism 220 further comprises a conveying belt driving motor (not shown), which is arranged outside the forearm one 2121, and the output end of the conveying belt driving motor is connected with the driving roller 223 to drive the driving roller 223 to rotate by the conveying belt driving motor.

[0060] In this embodiment, through the winding mode of the conveying belt 224 described above, the conveying belt 224 can follow the stretching and contraction of the forearms 212 and the rear arms 213 and automatically stretch and contract without changing the length of the conveying belt 224, and the conveying operation can be performed after the spread arms are unfolded, thereby meeting the switching of various postures of the working state and the mobile state. Meanwhile, when the conveying operation is needed, the conveying belt driving motor drives the driving roller 223 to rotate forward or reversely, thereby driving the conveying belt 224 to move from the rear arms 213 to the forearms 212 or from the forearms 212 to the rear arms 213, and realizing the conveying and unloading of the goods.

[0061] In this embodiment, the conveying mechanism 220 adopts a special arrangement mode, and the conveying belt 224 is arranged by the head reversing roller 221 and the tail reversing roller 222 in each stage of the arms, thereby realizing that the conveying belt 224 can automatically stretch and contract following the stretching and contraction of the arms without changing the total length, and meeting the requirement of mobile scene folding.

[0062] As shown in Figure 8 and Figure 9 The wave floating compensation mechanism 300 includes a discharge hopper 310, an elastic member 320, and a hinge pin 330; the discharge hopper 310 is used for the transition of the goods 40 (also referred to as materials) from the conveyor belt 224 on the forearm three 2123 to the ship 20. One end of the discharge hopper 310 is hinged to the end of the forearm three 2123 away from the slewing ring 211, specifically, the one end of the discharge hopper 310 is hinged to the end of the forearm three 2123 through the hinge pin 330, which can realize the up-and-down swing of the discharge hopper 310 in the height direction, the two ends of the elastic member 320 are connected to the end of the forearm three 2123 and the discharge hopper 310 respectively, the elastic member 320 has a tendency to pull down the discharge hopper 310, so that the discharge hopper 310 has a tendency to rotate downward around the hinge pin 330. In some preferred embodiments, the elastic member 320 is configured as a tension spring, and the two ends of the tension spring are connected to the discharge hopper 310 and the forearm three 2123 respectively.

[0063] In this embodiment, when the ship fluctuates due to waves and the like, the discharge hopper 310 can elastically float, which can avoid the direct impact of the waves on the forearm 212 and ensure the stable conveying of the goods 40.

[0064] As shown in Figure 9 In some preferred embodiments, the wave floating compensation mechanism 300 further includes a limiting pin 340, the end of the forearm three 2123 is provided with a limiting slot 212a, one end of the limiting pin 340 is connected to the discharge hopper 310, the other end of the limiting pin 340 is inserted into the limiting slot 212a in the horizontal direction, and the limiting pin 340 can slide relative to the inner circumferential wall of the limiting slot 212a in the length direction of the limiting slot 212a; the length direction of the limiting slot 212a is arc-shaped, and the limiting slot 212a is an arc-shaped slot, wherein the length direction of the limiting slot 212a is consistent with the circumferential direction of the hinge pin 330, so that the discharge hopper 310 can rotate around the hinge pin 330 as the rotation point, and the cooperation of the limiting slot 212a and the limiting pin 340 can limit the maximum rotation angle of the discharge hopper 310.

[0065] During the unfolding operation, the end of the discharge hopper 310 away from the forearm three 2123 is supported on the material receiving position, when the ship fluctuates due to waves and the like, the external control system can automatically compensate and adapt to the wave motion, reduce the impact of the waves on the boom assembly 210, while ensuring the butt joint state of the discharge hopper 310 and the front end of the conveyor belt 224, meeting the requirements of the goods 40 receiving, and realizing stable and safe operation.

[0066] The first angle sensor (not shown) is arranged on the unloading hopper 310 and is used to measure the pitch angle of the unloading hopper 310 in the height direction. The second angle sensor (not shown) is arranged on the first forearm 2121, the second forearm 2122 or the third forearm 2123 and is used to measure the pitch angle of the forearm 212 in the height direction. The first angle sensor, the second angle sensor and the forearm pitch cylinder 214 are directly or indirectly connected to the external control system.

[0067] When the pitch angle of the unloading hopper 310 changes due to the influence of the wave surge during operation, the external control system adjusts the pitch angle of the forearm 212 according to formula 1) to achieve automatic compensation, adapt to the wave motion, reduce the impact of the wave on the forearm 212 and realize stable operation.

[0068] The compensation mechanism is as follows:

[0069] As shown in Figure 10 , Figure 10 is a simplified point position diagram of the forearm and the wave floating compensation mechanism, wherein C represents the contact point of the unloading hopper and the material receiving position; L represents the length of the unloading hopper; a represents the initial angle of the unloading hopper, that is, the initial included angle between the length direction of the unloading hopper and the perpendicular line of the forearm; A represents the axis of the hinge shaft; S1 represents the length of the forearm; B represents the hinge point of the first forearm and the rotary table; b represents the initial pitch angle of the forearm; and S represents the straight line length from the B point to the C point, that is, the rotating radius of the C point relative to the B point.

[0070] As shown in Figure 11 , when the ship fluctuates due to the wave surge, the C point moves up and down relative to the forearm, the contact point of the unloading hopper and the material receiving position changes from C point to C1 point, and the unloading hopper rotates relative to the forearm, that is, the initial angle a of the unloading hopper changes to angle a1.

[0071] Wherein the floating amount of the C point is h1, h1=π*2L*(a-a1), when the C point floats, the unloading hopper can rotate around the A point and will not transmit the wave impact to the forearm.

[0072] As shown in Figure 12 , when the external control system monitors that the angle of the unloading hopper changes from a to a1, it will automatically drive the forearm pitch cylinder according to formula 1) to adjust the pitch angle of the forearm from b to b1, thereby driving the A point to float to A1. Since the elastic member (tension spring) is arranged between the unloading hopper and the forearm, the unloading hopper will reset to the initial angle a under the action of the elastic member.

[0073] Wherein the acquisition process of b1 is as follows:

[0074] h1=π*2L*(a-a1) 1.1);

[0075] h1=π*2S*(b1-b) 1.2);

[0076] S*S=L*L+S1*S1-2*L*S1*cos(180-a) 1.3);

[0077] Substituting into the conversion equation 1), the equation 1) is as follows:

[0078]

[0079] Due to the influence of delays and fluctuations in the control system and hydraulic system, as well as errors in related structural parts and mechanisms, the changes in the amplitude angle b1 and the angle a1 are not synchronized. However, when the unloading hopper rotates around point A, the limit pin on it can slide in the limit groove and will not transmit the impact to the forearm. Under the action of the elastic part (tension spring) and its own weight, point C continues to maintain contact with the material receiving position to ensure stable transfer of goods.

[0080] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A material supply vehicle, characterized in that: include: Vehicle body device (100); The supply device (200) comprises a boom assembly (210) and a conveying mechanism (220); the boom assembly (210) is arranged on the vehicle body device (100); the conveying mechanism (220) is arranged on the boom assembly (210) and is used to convey materials along the length direction of the boom assembly (210) to the wave floating compensation mechanism (300); The wave floating compensation mechanism (300) comprises a discharge hopper (310), an elastic member (320), and a hinge pin (330); a first end of the discharge hopper (310) is hinged to the boom assembly (210) via the hinge pin (330), and a second end of the discharge hopper (310) is used to overlap an external material receiving position; The two ends of the elastic member (320) are respectively connected to the discharge hopper (310) and the arm assembly (210).

2. The material supply vehicle according to claim 1, characterized in that: The vehicle body device (100) comprises a chassis (110) and a leg mechanism (120); the leg mechanism (120) comprises a leg subframe (121), a telescopic sliding sleeve (122), a leg oil cylinder (123) and a leg (124); the leg subframe (121) is connected to the chassis (110); a plurality of telescopic sliding sleeves (122) are respectively arranged on the leg subframe (121) along a horizontal circumferential direction; one end of the telescopic sliding sleeve (122) is connected to the leg subframe (121), and the other end is connected to the leg oil cylinder (123); the telescopic direction of the telescopic sliding sleeve (122) is configured to be a horizontal direction; and the leg (124) is connected to the leg oil cylinder (123).

3. The material supply vehicle according to claim 2, characterized in that: The arm assembly (210) includes a rotary table (211), a front arm (212), a rear arm (213), a front arm pitching oil cylinder (214) and a rear arm pitching oil cylinder (215); The turntable (211) is arranged on the outrigger sub-frame (121); one end of the front arm (212) is hinged to the turntable (211), and the other end is provided with the wave floating compensation mechanism (300); one end of the rear arm (213) is hinged to the turntable (211), and the conveying mechanism (220) is arranged on the front arm (212) and the rear arm (213); the two ends of the front arm pitching oil cylinder (214) are respectively hinged to the front arm (212) and the turntable (211); the two ends of the rear arm pitching oil cylinder (215) are respectively hinged to the rear arm (213) and the turntable (211); and the wave floating compensation mechanism (300) is connected to the end of the front arm (212).

4. The material supply vehicle according to claim 3, characterized in that: The forearm (212) includes a forearm 1 (2121), a forearm 2 (2122), and a forearm 3 (2123) which are sleeved in sequence; the rear arm (213) includes a rear arm 1 (2131) and a rear arm 2 (2132) which are sleeved in sequence; The conveying mechanism (220) comprises a head reversing roller (221), a tail reversing roller (222), a driving roller (223) and a conveyor belt (224); the head reversing roller (221) and the tail reversing roller (222) are provided at both ends of the forearm 1 (2121), the forearm 2 (2122), the forearm 3 (2123), the rear arm 1 (2131) and the rear arm 2 (2132) in the longitudinal direction; the driving roller (223) is provided at the tail end of the forearm 1 (2121); The conveyor belt (224) is a closed belt. The closed path of the conveyor belt (224) includes: the conveyor belt (224) passes through the head reversing roller (221) on the forearm three (2123) and enters the interior of the forearm three (2123), then goes to the tail reversing roller (222) of the forearm three (2123) and goes around to the lower gap between the forearm three (2123) and the forearm two (2122), then goes to the head reversing roller (221) on the forearm two (2122) and goes around to the lower gap between the forearm three (2123) and the forearm two (2122), then goes to the tail reversing roller (222) on the forearm two (2122) and goes around to the gap between the forearm two (2122) and the forearm one (2121). The conveyor belt (224) is provided with a conveyor belt (225) and a conveyor belt (226) which is connected to the conveyor belt (227) and the conveyor belt (228) of the rear arm 1 (2131). The conveyor belt (226) is provided with a conveyor belt (227) and a conveyor belt (228) which is provided with a conveyor belt (229) and a conveyor belt (221) which is provided with a conveyor belt (221) and a conveyor belt (222) which is provided with a conveyor belt (222) and a conveyor belt (221) which is provided with a conveyor belt (224) and a conveyor belt (224) which is provided with a conveyor belt (226) and a conveyor belt (221) which is provided with a conveyor belt (224) and a conveyor belt (224) which is provided with a conveyor belt (226) and a conveyor belt (221) which is provided with a conveyor belt (226) and a conveyor belt (221) which is provided with a conveyor belt (226) and a conveyor belt (221) which is provided with a conveyor belt (226) and a conveyor belt (221) which is provided with a conveyor belt (226) 5. The material supply vehicle according to claim 4, characterized in that: The conveying mechanism (220) further comprises a conveyor belt drive motor, which is connected to the drive roller (223) and is used to drive the conveyor belt (224) to move along a closed path.

6. The material supply vehicle according to claim 4, characterized in that: The arm assembly (210) further includes a chain mechanism (216); the chain mechanism (216) is provided between the forearm 1 (2121) and the forearm 2 (2122), between the forearm 2 (2122) and the forearm 3 (2123), and between the rear arm 1 (2131) and the rear arm 2 (2132); the chain mechanism (216) includes a sprocket (2161), a closed chain (2162), and a sprocket drive motor (2163); the sprocket (2161) and the closed chain (2162) are meshedly connected, and the sprocket drive motor (2163) is connected to the sprocket (2161) for driving the sprocket (2161) to rotate, and driving the forearm 2 (2122) or the forearm 3 (2123) or the rear arm 2 (2132) to slide and retract through the closed chain (2162).

7. The material supply vehicle according to any one of claims 3 to 6, characterized in that: The wave floating compensation mechanism (300) further includes a limit pin (340); a limit slot (212a) is provided at the end of the forearm (212), and the length direction of the limit slot (212a) is consistent with the circumferential direction of the hinge pin (330); one end of the limit pin (340) is connected to the discharge hopper (310), and the other end is slidably arranged in the limit slot (212a).

8. The material supply vehicle according to claim 7, characterized in that: The elastic member (320) is configured as a tension spring; the two ends of the tension spring are respectively connected to the discharge hopper (310) and the forearm (212), and are used to enable the discharge hopper (310) to rotate downward around the hinge pin (330).

9. The material supply vehicle according to claim 7, characterized in that: The discharge hopper (310) is provided with a first angle sensor, and the forearm (212) is provided with a second angle sensor.

10. The material supply vehicle according to claim 9, characterized in that: When the angle of the discharge hopper (310) changes, the pitch angle of the forearm (212) is adjusted according to formula 1), which is as follows: Among them, b1 represents the pitch angle of the forearm after adjustment; L represents the length of the discharge hopper; a represents the initial angle of the discharge hopper; a1 represents the angle after the discharge hopper changes; S1 represents the length of the forearm; b represents the initial pitch angle of the forearm.

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