CN114604157A

CN114604157A - Material transportation equipment

Info

Publication number: CN114604157A
Application number: CN202011423916.XA
Authority: CN
Inventors: 袁亚辉; 张晓航
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2022-06-10

Abstract

The invention provides material transportation equipment. The material transportation equipment includes: a material box; the material box is arranged on the chassis in a turnover manner and comprises a hopper and a tail plate connected with the hopper, and the hopper is provided with an inner cavity and a feeding hole and a discharging hole which are communicated with the inner cavity; the tail plate is arranged corresponding to the discharge hole and can rotate relative to the hopper, and the tail plate is provided with an opening position for opening the discharge hole and a closing position for plugging the discharge hole; and the guide plate is arranged on the chassis or the hopper, the guide plate is positioned below the discharge port, and when the tail plate is positioned at the opening position, the tail plate and the guide plate form a guide space for guiding materials. The material transportation equipment provided by the technical scheme of the invention can realize accurate control of the material discharging direction and prevent the material from being scattered to the positions of wheels and the like.

Description

Material transportation equipment

Technical Field

The invention relates to the field of material transportation, in particular to material transportation equipment.

Background

With the rapid development of the building equipment industry, equipment specially used for transporting materials such as mortar, sand, stones, cement, ceramsite and the like commonly used in a building site gradually replaces manpower to transport materials, and the material transportation tends to be inevitable.

Among the material transportation equipment among the prior art, open with the discharge gate complex tailboard of hopper, just can incline and pour the material, owing to not set up guide structure, the material spills easily or spills to the wheel on.

Disclosure of Invention

The invention mainly aims to provide material transportation equipment which can realize accurate control of the material discharging direction and prevent materials from being scattered to wheels and other positions.

In order to achieve the above object, the present invention provides a material transporting apparatus comprising: a material box; the material box is arranged on the chassis in a turnover manner and comprises a hopper and a tail plate connected with the hopper, and the hopper is provided with an inner cavity and a feeding hole and a discharging hole which are communicated with the inner cavity; the tail plate is arranged corresponding to the discharge hole and can rotate relative to the hopper, and the tail plate is provided with an opening position for opening the discharge hole and a closing position for plugging the discharge hole; and the guide plate is arranged on the chassis or the hopper, the guide plate is positioned below the discharge port, and when the tail plate is positioned at the opening position, the tail plate and the guide plate form a guide space for guiding materials.

Further, the material transportation equipment still includes the first driving piece of being connected with the tailboard, and first driving piece is located the one side that deviates from the discharge gate of tailboard.

Further, the guide plate rotationally sets up for the chassis, and material transportation equipment still includes the second driving piece of being connected with the guide plate, and the second driving piece is located the one side that deviates from the discharge gate of guide plate.

Further, the hopper includes the hopper body, and the discharge gate is seted up in the side of hopper body and is located the lower extreme of hopper body, and the area of discharge gate is less than half of side area.

Further, the material transportation equipment still includes the sealing member that is located between tailboard and discharge gate.

Further, the material transporting equipment further comprises: the connecting rod mechanism comprises a first connecting rod and a second connecting rod hinged with the first connecting rod, the first connecting rod is connected with the tail plate, and the second connecting rod is hinged with the hopper; the telescopic end of the first driving piece is in pivot connection with the pivot shaft between the first connecting rod and the second connecting rod, and the fixed end of the first driving piece is hinged to the outer wall surface of the hopper.

Further, material transportation equipment still includes the support frame of being connected with the chassis, guide plate and support frame pivotal connection, and the flexible end of second driving piece is articulated with the one side of the orientation support frame of guide plate, and the stiff end of second driving piece is articulated with the support frame to convert the concertina movement of second driving piece into the rotary motion of guide plate for the support frame.

Further, material transportation equipment still includes the support frame of being connected with the chassis, and the guide plate is connected with the support frame, and the guide plate rotationally sets up for the support frame, and the workbin is located the top of support frame.

Further, the guide plate comprises an arc-shaped plate section and two side plate sections connected with the arc-shaped plate section, and the two side plate sections and the arc-shaped plate section enclose a guide groove.

Further, the material transportation equipment still includes the baffle of setting on the chassis, and the baffle is located the one side that deviates from the discharge gate of guide plate.

By applying the technical scheme of the invention, after the tail plate is opened, the tail plate is positioned above the discharge hole, the guide plate is positioned below the discharge hole, and the tail plate and the guide plate form a guide space for guiding materials, so that the discharge direction of the materials can be more accurately controlled, and the materials are prevented from spilling or falling to other places such as wheels.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 shows a schematic structural view of a material transport apparatus of an embodiment of the present invention;

FIG. 2 shows a schematic structural view of a material transport apparatus of an embodiment of the present invention in a discharge state;

FIG. 3 illustrates a bottom view of the chassis assembly of the material transport apparatus of an embodiment of the present invention; and

fig. 4 shows an enlarged partial view of the material transport device of fig. 1.

Wherein the figures include the following reference numerals:

10. a material box; 11. a hopper; 111. an inner cavity; 112. a feed inlet; 113. a discharge port; 12. a tail plate; 13. a link mechanism; 131. a first link; 132. a second link; 14. a seal member; 15. a pivot member; 20. a chassis assembly; 21. a chassis; 23. a steering wheel structure; 231. a drive wheel; 232. a drive motor; 233. a steering motor; 24. a shock absorbing assembly; 25. a braking device; 31. a first driving member; 32. a second driving member; 33. a third driving member; 41. an electrical cabinet; 50. a support frame; 60. a baffle; 61. an arc-shaped plate section; 62. a side panel segment; 70. a baffle plate; 81. a navigation system; 82. obstacle avoidance radar; 83. a weighing sensor; 84. a power supply assembly.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It should be noted that the material transportation equipment of the embodiment of the invention can realize the transportation capacity of 350L and can enter narrow indoor elevators, rooms and hallways for operation.

It should be noted that the material transportation equipment in the embodiment of the present invention adopts a waterproof design, and the whole protection level of IP55 can be achieved, so that the material transportation equipment can operate under severe weather conditions.

It should be noted that in the embodiments of the present invention, the omni-directional movement means that the material transporting apparatus can move in all directions in the horizontal plane, that is, the material transporting apparatus can move laterally or turn to any direction.

It should be noted that in the embodiment of the present invention, the in-situ rotation means that the material transportation equipment can rotate around the center of its chassis by 360 °.

As shown in fig. 1 and 2, the present invention provides a material transporting apparatus. The material transport apparatus comprises a bin 10, a chassis assembly 20 and a baffle 60. The chassis assembly 20 comprises a chassis 21, and the bin 10 is arranged on the chassis 21 in a reversible manner, wherein the bin 10 comprises a hopper 11 and a tail plate 12 connected with the hopper, the hopper 11 is provided with an inner cavity 111, and a feeding hole 112 and a discharging hole 113 which are communicated with the inner cavity 111; the tail plate 12 is arranged corresponding to the discharge port 113, the tail plate 12 is rotatably arranged relative to the hopper 11, and the tail plate 12 has an opening position for opening the discharge port 113 and a closing position for closing the discharge port 113; the guide plate 60 is arranged on the chassis 21 or the hopper 11, the guide plate 60 is positioned below the discharge port 113, and when the tail plate 12 is in the open position, the tail plate 12 and the guide plate 60 form a guide space for guiding materials.

Through the above arrangement, after the tail plate 12 is opened, the tail plate 12 is located above the discharge port 113, the guide plate 60 is located below the discharge port 113, and the tail plate 12 and the guide plate 60 form a guide space for guiding materials, so that the discharging direction of the materials can be controlled more accurately, and the materials are prevented from spilling or falling to other places such as wheels.

As shown in fig. 1 and 2, in the embodiment of the present invention, the material transportation apparatus further includes a first driving member 31 connected to the tail plate 12, and the first driving member 31 is located on a side of the tail plate 12 away from the discharge port 113.

Like this, to be used for driving tailboard 12 pivoted first driving piece 31 to set up in the one side that deviates from discharge gate 113, can be to the impact when anti discharge material for overall structure is more stable, can also avoid the material to pollute first driving piece 31, prolongs first driving piece 31's life.

In the embodiment of the present invention, as shown in fig. 1 and fig. 2, the baffle plate 60 is rotatably disposed, and the material transporting apparatus further includes a second driving member 32 connected to the baffle plate 60, wherein the second driving member 32 is located on a side of the baffle plate 60 away from the discharge port 113.

Thus, the impact on the deflector 60 when discharging the material can be reduced, so that the structure of the deflector 60 is more stable; moreover, the second driving member 32 is disposed on a side of the baffle plate 60 away from the discharge port 113, so that the second driving member 32 is prevented from being contaminated by the material.

As shown in fig. 1 and 2, in the embodiment of the present invention, the hopper 11 includes a hopper body, the discharge port 113 is provided at a side surface of the hopper body and is located at a lower end of the hopper body, and an area of the discharge port 113 is smaller than a half of an area of the side surface. Specifically, the size of the tail plate 12 substantially corresponds to the size of the discharge port 113, so that the tail plate 12 and the discharge port 113 can be connected in a sealing manner. When the capacity of hopper 11 is great, above-mentioned setting can ensure that the opening of discharge gate 113 can not too big to can improve the leakproofness between tailboard 12 and discharge gate 113, can also reserve great installation space simultaneously, first driving piece 31 of easy to assemble.

Preferably, as shown in fig. 1, in the embodiment of the present invention, a sealing member 14 is disposed between the tail plate 12 and the discharge port 113 of the hopper 11. The sealing element 14 is adhered to the tail plate 12 through waterproof glue, and when the tail plate 12 is in a closed position, the sealing element 14 is clamped between the hopper 11 and the tail plate 12, so that the tail plate 12 and the discharge hole 113 of the hopper 11 can be sealed, the material transportation equipment has waterproof performance, and fluid materials can be transported.

Preferably, in an embodiment of the present invention, the seal 14 is a rubber gasket. Of course, in the embodiment not shown in the drawings, the sealing member 14 may be a plastic member such as a urethane gasket.

As shown in fig. 1, in an embodiment of the invention, the material transport apparatus further comprises a linkage mechanism 13. The link mechanism 13 comprises a first link 131 and a second link 132 hinged with the first link 131, the first link 131 is connected with the tail plate 12, and the second link 132 is hinged with the hopper 11; wherein, the telescopic end of the first driving member 31 is pivotally connected to the pivot shaft between the first link 131 and the second link 132, and the fixed end of the first driving member 31 is hinged to the outer wall surface of the hopper 11.

In the above arrangement, when discharging is required, the telescopic end of the first driving member 31 may be controlled by a control system or the like to perform telescopic motion, so as to control the second connecting rod 132 of the connecting rod mechanism 13 to rotate around the pivot between the second connecting rod 132 and the hopper 11, and enable the first connecting rod 131 to drive the tail board 12 to rotate around the pivot between the first connecting rod 131 and the second connecting rod 132, so as to convert the telescopic motion of the telescopic end of the first driving member 31 into a rotational motion of the tail board 12 relative to the hopper 11, and further enable the tail board 12 to be in the open position or the closed position.

Further, in the embodiment of the present invention, when the tail plate 12 is in the closed position, the telescopic end of the first driving element 31 extends, and under the driving of the first driving element 31, the first connecting rod 131 moves toward the inner side of the hopper 11 around the pivot axis between the first connecting rod 131 and the second connecting rod 132, so as to abut against the outer side wall of the tail plate 12, and further lock the tail plate 12 at the discharge port 113 of the hopper 11, so that the tail plate 12 is tightly fitted with the discharge port 113 of the hopper 11, and the material is prevented from leaking from the discharge port 113.

When it is necessary to open the tailgate 12, the control system may control the telescopic end of the first driving element 31 to be in the retracted state, so that, under the driving of the first driving element 31, the first connecting rod 131 rotates upward (i.e. rotates toward the direction close to the first driving element 31) around the pivot point between the second connecting rod 132 and the first connecting rod 131, and the first connecting rod 131 carries the tailgate 12 upward, so as to enable the discharging opening 113 to be in the open state shown in fig. 2.

Specifically, in the embodiment of the present invention, as shown in fig. 1, a pivot 15 is further provided between the tailgate 12 and the outer wall surface of the hopper 11, the tailgate 12 is fixed to the outer wall surface of the hopper 11 by the pivot 15, and the tailgate 12 is rotatable about the axis of the pivot 15 so that the tailgate 12 is rotatable relative to the hopper 11.

Preferably, in the embodiment of the present invention, the first driving member 31 is an electric push rod, but of course, in the embodiment not shown in the drawings, the first driving member 31 may also be a linear electric cylinder or a hydraulic cylinder or an air cylinder, etc.

As shown in fig. 1, in the embodiment of the present invention, the material transportation apparatus further includes a support frame 50 connected to the chassis 21, the baffle 60 is pivotally connected to the support frame 50, the telescopic end of the second driving element 32 is hinged to a side of the baffle 60 facing the support frame 50, and the fixed end of the second driving element 32 is hinged to the support frame 50, so as to convert the telescopic motion of the second driving element 32 into the rotational motion of the baffle 60 relative to the support frame 50.

In the above arrangement, by controlling the extension or retraction of the telescopic end of the second driving element 32, the baffle 60 can be controlled to rotate around the pivot axis between the baffle 60 and the support frame 50, so that the telescopic movement of the telescopic end of the second driving element 32 is converted into the rotation movement of the baffle 60 relative to the support frame 50. Under the drive of second driving piece 32, when the material transportation equipment needs to unload, the flexible end of second driving piece 32 stretches out, like this, can open guide plate 60 in advance (guide plate 60 is in the position shown in fig. 2 promptly) to make the material can slide to appointed place through the guide space that guide plate 60 and tailboard 12 enclose from discharge gate 113, and then throw the material to the farther department apart from the material transportation equipment, avoid the material to pile up the removal that influences the chassis 21 of material transportation equipment.

Further, when the material transportation device needs to transport the material, the control system controls the retractable end of the second driving member 32 to retract relative to the fixed end, so as to drive the baffle 60 to retract, and at this time, the baffle 60 is in the retracted position (i.e. the position shown in fig. 1).

Preferably, in the embodiment of the present invention, the second driving member 32 is an electric push rod, but of course, in the embodiment not shown in the drawings, the first driving member 31 may also be a linear electric cylinder or a hydraulic cylinder or an air cylinder, etc.

In the embodiment of the present invention, as shown in fig. 1, the baffle 60 is connected to the supporting frame 50, and the baffle 60 is rotatably disposed relative to the supporting frame 50, and the bin 10 is located above the supporting frame 50.

Like this, can adjust the angle of guide plate 60 according to actual need to the direction in the guide space that control guide plate 60 and tailboard 12 formed, thereby the ejection of compact direction of control material more accurately avoids the material to spill other places such as wheel.

As shown in fig. 4, in the embodiment of the present invention, the baffle 60 includes an arc-shaped plate section 61 and two side plate sections 62 connected to the arc-shaped plate section 61, and the baffle groove is enclosed by the two side plate sections 62 and the arc-shaped plate section 61.

In the technical scheme, the arc-shaped plate section 61 can ensure smooth discharge of materials; in addition, in the discharging process, the material is guided by the guide grooves, the discharging direction can be controlled, and the material can be prevented from being sprayed to other places such as wheels.

As shown in fig. 2, in the embodiment of the present invention, the material transportation apparatus further includes a baffle 70 disposed on the chassis 21, and the baffle 70 is located on a side of the baffle 60 facing away from the discharge port 113. In this way, when the deflector 60 is retracted, material remaining on the deflector 60 is prevented from falling onto the chassis 21 of the material transport apparatus.

Specifically, the baffle 70 is disposed on a side of the baffle 60 facing the support frame 50. When the baffle 60 is in the retracted position, a gap is formed between the baffle 70 and the end surface of the baffle 60 far away from the discharge hole 113, that is, as shown in fig. 1, the baffle 70 is arranged to protrude from the baffle 60. In this way, material remaining in the deflector 60 can be better prevented from falling to the wheel positions of the chassis 21.

As shown in fig. 1 to 3, in the embodiment of the present invention, the chassis assembly 20 further includes at least two steering wheel structures 23 disposed on the chassis 21 and a support wheel with steering function disposed on the chassis 21, wherein the support wheel and the at least two steering wheel structures 23 form a triangular structure or a quadrilateral structure; each steering wheel structure 23 includes a driving wheel 231, a driving motor 232 connected with the driving wheel 231, and a steering motor 233 connected with the driving wheel 231; the control system is arranged on the chassis 21, and the steering motor 233 and the driving motor 232 are both connected with the control system.

In the above arrangement, when the material transportation device works in a narrow space, the control system controls the rotation angle and the rotation speed of the steering wheel structure 23 by controlling the rotation angles and the rotation speeds of the driving motor 232 and the steering motor 233, and the support wheel can rotate along with the rotation of the steering wheel structure 23, so that the steering wheel structure 23 and the support wheel-carried material transportation device can move in various directions or rotate in place, and thus, the material transportation device can work in a narrow space such as an indoor elevator or a corridor. Further, the support wheels with steering function and the steering wheel structure 23 form a triangular structure or a quadrangular structure to support the material transporting equipment, so that the material transporting equipment can stably walk on a working site.

Specifically, as shown in fig. 3, in the embodiment of the present invention, the axis of the driving motor 232 is arranged in a horizontal direction, and the axis of the driving motor 232 is parallel to or coincides with the axis of the driving wheel 231, so that the driving motor 232 can drive the driving wheel 231 to rotate around its own axis. The control system controls the movement speed of the driving wheel 231 by controlling the rotating speed of the driving motor 232, so as to control the transportation speed of the material transportation equipment; the axis of the steering motor 233 is arranged in a vertical direction, the steering motor 233 rotates the driving wheel 231 in a vertical direction, and the control system controls the rotation angle of the driving wheel 231 in the vertical direction by controlling the rotation angle of the steering motor 233, thereby controlling the traveling direction of the material transporting apparatus.

Preferably, in the embodiment of the present invention, both the driving motor 232 and the steering motor 233 may be provided as a stepping motor, a servo motor, or the like, so that the rotation angle and the moving speed of the driving wheel 231 can be accurately controlled.

Preferably, in an embodiment of the present invention, the chassis assembly 20 further includes a transmission member connected to the steering motor 233 and the driving wheel 231, and the transmission member may transmit a rotation torque of a motor shaft of the steering motor 233 to the driving wheel 231 so that the driving wheel 231 can rotate in a vertical direction.

Further, as shown in fig. 2, in the embodiment of the present invention, to flip the bin 10 relative to the chassis 21, the control system may control the bin 10 to flip relative to the chassis 21, so as to achieve the function of automatically dumping materials. Of course, in alternative embodiments not shown in the drawings, the magazine 10 can also be turned over relative to the chassis 21 by other external forces.

It should be noted that, in the embodiment of the present invention, the driving structure disposed on the supporting wheel may be a driving motor.

In the embodiment of the invention shown in fig. 3, the chassis assembly 20 comprises three steering wheel structures 23 and one support wheel, on which the driving structure is arranged, and the three steering wheel structures 23 and the one support wheel are arranged at four corner positions of the chassis 21.

In the above arrangement the support wheels can be provided with a steering function by providing a steering motor 233 and the support wheels are provided with a drive structure, so that the combination of support wheels, drive structure and steering motor 233 also forms a structure similar to the steering wheel structure 23. Namely, the chassis 21 is provided with four steering wheel structures 23, so that the material transportation equipment is four-wheel drive equipment; and the four steering wheel structures 23 are distributed on the chassis 21 in a quadrilateral structure to drive the material transportation equipment to move in an omnidirectional manner or rotate in situ, so that the material transportation equipment is suitable for narrow operation sites.

Of course, in an alternative embodiment not shown in the drawings, the four steering wheel structures 23 may also be arranged on the chassis 21 in a cross-shape according to actual needs.

In addition, in an alternative embodiment not shown in the drawings, the chassis assembly 20 may also comprise two steering wheel arrangements 23 and two support wheels with steering function. Wherein, the supporting wheel that has the function of turning to can be the universal wheel, also can be for being provided with the supporting wheel that turns to motor 233, two steering wheel structures 23 are diagonal angle arrangement on chassis 21, two supporting wheels also are diagonal angle arrangement on chassis 21, so that two steering wheel structures 23 and two supporting wheels form quadrilateral structure, thereby support the material transportation better, and two steering wheel structures 23 can omnidirectional movement, thereby drive the operation of material transportation equipment in narrow and small work place, so that the material transportation equipment has good adaptability to the work place.

As shown in fig. 3, in the embodiment of the present invention, the steering wheel structure 23 further includes a shock absorbing assembly 24, and each driving wheel 231 is connected to the chassis 21 through the shock absorbing assembly 24, so that the steering wheel has an independent shock absorbing function, and can realize a 10 ° grade climbing and a 30mm grade climbing, and thus, the material transporting device has certain grade climbing and climbing performance, so that the material transporting device can adapt to a severe road condition (i.e., a rugged road surface).

Preferably, in the embodiment of the present invention, the shock absorbing assembly may be two independently suspended damping springs.

As shown in fig. 3, in the embodiment of the present invention, the steering wheel structure 23 further includes a brake device 25 provided at one side of the driving wheel 231. The braking device 25 and the driving motor 232 are respectively located at two sides of the driving wheel 231, and the control system controls the movement of the steering wheel structure 23 by controlling the on-off of the braking device 25, so that the material transportation equipment is in a braking state or a moving state.

Preferably, in an embodiment of the present invention, the braking device may be a band-type brake.

Specifically, as shown in fig. 1, in the embodiment of the present invention, the material transportation equipment further includes an electrical cabinet 41, the control system is located in the electrical cabinet 41, and the support frame 50 is disposed on the periphery of the electrical cabinet to support the electrical cabinet 41.

As shown in fig. 1, in an embodiment of the present invention, the material transport apparatus further comprises a load cell 83 disposed between the support frame 50 and the chassis 21.

In the above arrangement, the weighing sensor 83 converts the positive pressure (mainly gravity of the material) borne by the weighing sensor into an analog signal by using the piezoelectric effect, and feeds the analog signal back to the control system, so that the weight of the material in the hopper 11 is monitored in real time in the whole process of material receiving, transporting and discharging of the material transporting equipment, and the material receiving and discharging amount of the material transporting equipment can be accurately controlled.

Preferably, in the embodiment of the present invention, the number of the load cells 83 is four, and the sum of the weights measured by the four load cells 83 is the total weight of all the components and the materials loaded on the supporting frame 50. Of course, in alternative embodiments not shown in the drawings, the number of load cells 83 may be set to three or five, and so on.

As shown in fig. 1, in the embodiment of the present invention, the material transportation apparatus further includes a navigation system 81 disposed on the support frame 50, the navigation system 81 is configured to scan the surrounding environment and obtain environment information, and the control system controls the movement of the driving wheel 231 according to the information fed back by the navigation system 81.

In the above arrangement, the navigation system 81 scans the surrounding environment according to the instruction of the control system, and feeds back the scanned signal to the control system, so as to create a navigation map, which can provide navigation for the walking of the material transportation equipment, so that the material transportation equipment can realize autonomous path planning, and the material can be transported without human.

Preferably, in the embodiment of the present invention, the navigation system 81 is located at the front of the material transporting apparatus, and the navigation system 81 is a laser radar. Of course, in alternative embodiments not shown in the drawings, the navigation system 81 may be a visual sensor or a laser sensor.

As shown in fig. 1 and fig. 3, in the embodiment of the present invention, the material transportation device further includes an obstacle avoidance radar 82, two opposite corners of the chassis 21 are respectively provided with the obstacle avoidance radar 82, the obstacle avoidance radar 82 is connected to the control system, and the control system controls the movement of the driving wheel 231 according to a signal transmitted by the obstacle avoidance radar 82.

In the above arrangement, the obstacle avoidance radar 82 scans and detects the surrounding environment for 360 degrees according to the instruction of the control system, and feeds back the scanned signal to the control system, so that the obstacles around the material transportation device can be sensed more accurately, and the control system controls the steering motor 233 and/or the driving motor 232 of the steering wheel structure 23, thereby controlling the action of the driving wheel 231, so that the material transportation device can avoid the obstacles in time during the walking process.

Preferably, in the embodiment of the present invention, the obstacle avoidance radar 82 is a laser radar.

In the embodiment of the present invention, as shown in fig. 2, the material transporting apparatus further includes a supporting frame 50 disposed on the chassis 21 and a third driving member 33 for driving the material box 10 to rotate, the material box 10 is pivotally connected to the supporting frame 50, the third driving member 33 has a telescopic end and a fixed end which are oppositely disposed, the telescopic end of the third driving member 33 is hinged to the material box 10, and the fixed end of the third driving member 33 is hinged to the chassis 21 to convert the telescopic motion of the third driving member 33 into the tilting motion of the material box 10.

In the above arrangement, when the material transportation apparatus needs to discharge, the control system controls the extending and retracting end of the third driving element 33 to extend relative to the fixed end, so as to control the material box 10 to rotate around the pivot axis between the material guiding box 10 and the supporting frame 50, and thus the extending and retracting end of the third driving element 33 is converted into the turning motion of the material box 10 relative to the supporting frame 50, so that the material box 10 can be turned over (i.e. the material box 10 is in the position shown in fig. 2), and thus the material can slide out from the material outlet 113. Further, when the material transporting apparatus needs to complete the discharging, the control system controls the retraction of the telescopic end of the third driving member 33 relative to the fixed end, so as to return the bin to the position at the time of transporting the material (i.e. the bin 10 is in the position shown in fig. 1). Like this, material transportation equipment need not artifical assistance and can realize automatic discharge.

Preferably, in the embodiment of the present invention, the second driving member 32 is an electric cylinder, but of course, in the embodiment not shown in the drawings, the first driving member 31 may also be an electric push rod or a hydraulic or pneumatic cylinder, etc.

Preferably, in the embodiment of the present invention, the electric cylinder is driven by a dc servo motor, so that the precise control of the turning angle and the turning speed of the bin 10 can be realized.

Preferably, as shown in fig. 2, in the embodiment of the present invention, the material transportation device further includes a power supply assembly 84 disposed on the chassis 21, and the power supply assembly 84 is connected to the steering motor 233 and the driving motor 232 so as to supply power to the steering wheel structure 23. In the embodiment of the present invention, the power supply module 84 is further connected to the first driving member 31, the second driving member 32, the third driving member 33 and the control system, so that the power supply module 84 can provide electric energy for the whole material transportation device, and the automatic feeding and discharging process can be realized without manual assistance.

Preferably, in the embodiment of the present invention, the control system is integrated with the power module 84, so that the limited space of the material transportation device can be fully utilized to reduce the volume of the material transportation device.

It should be noted that, in the embodiment of the present invention, the control system is a core component for controlling the movement of the material transportation apparatus, and performs data operation processing by receiving signals transmitted by the weighing sensor 83 or the navigation system 81 and the obstacle avoidance radar 82, so as to control the movement conditions of the first driving element 31, the second driving element 32, the third driving element 33, and the steering wheel structure 23.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: when the material transportation equipment works in a narrow space, the control system controls the rotation angle and the rotation speed of the driving motor and the steering motor so as to control the rotation angle and the moving speed of the steering wheel structure, and the supporting wheel can rotate along with the rotation of the steering wheel structure, so that the steering wheel structure and the supporting wheel can move or rotate in place with the animal material transportation equipment in all directions to adapt to a narrow working place. Furthermore, the control system can enable the bin to turn over relative to the chassis by controlling the third driving piece, so that automatic discharging is realized.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A material transport apparatus, comprising:

a material box;

the material box is arranged on the chassis in a turnover mode and comprises a hopper and a tail plate connected with the hopper, and the hopper is provided with an inner cavity and a feeding hole and a discharging hole which are communicated with the inner cavity; the tail plate is arranged corresponding to the discharge hole and can rotate relative to the hopper, and the tail plate is provided with an opening position for opening the discharge hole and a closing position for plugging the discharge hole; and

the guide plate is arranged on the chassis or the hopper, the guide plate is positioned below the discharge port, and when the tail plate is positioned at the opening position, the tail plate and the guide plate form a guide space for guiding materials.

2. The material transport apparatus of claim 1, further comprising a first drive member coupled to the tailgate, the first drive member located on a side of the tailgate facing away from the discharge hatch.

3. The material transport apparatus of claim 1, wherein the deflector is rotatably disposed relative to the chassis, the material transport apparatus further comprising a second drive coupled to the deflector, the second drive being located on a side of the deflector facing away from the discharge opening.

4. The material transporting apparatus as claimed in any one of claims 1 to 3, wherein the hopper includes a hopper body, the discharge port is opened at a side surface of the hopper body and is located at a lower end of the hopper body, and an area of the discharge port is smaller than half of an area of the side surface.

5. The material transport apparatus of claim 4, further comprising a seal between the tailgate and the spout.

6. The material transport apparatus of claim 2, further comprising:

the connecting rod mechanism comprises a first connecting rod and a second connecting rod hinged with the first connecting rod, the first connecting rod is connected with the tail plate, and the second connecting rod is hinged with the hopper;

the telescopic end of the first driving piece is pivotally connected with the pivot shaft between the first connecting rod and the second connecting rod, and the fixed end of the first driving piece is hinged with the outer wall surface of the hopper.

7. The material transportation device of claim 3, further comprising a support frame connected to the chassis, wherein the deflector is pivotally connected to the support frame, the telescopic end of the second driving member is hinged to a side of the deflector facing the support frame, and the fixed end of the second driving member is hinged to the support frame, so as to convert the telescopic motion of the second driving member into a rotational motion of the deflector relative to the support frame.

8. The material transport apparatus of any one of claims 1 to 3, further comprising a support frame connected to the chassis, the deflector being connected to the support frame and being rotatably disposed relative to the support frame, the bin being located above the support frame.

9. The material transport apparatus of any one of claims 1 to 3, wherein the deflector comprises a curved plate section and two side plate sections connected to the curved plate section, the two side plate sections and the curved plate section enclosing a deflector trough.

10. The material transport apparatus of any one of claims 1 to 3, further comprising a baffle disposed on the chassis, the baffle being located on a side of the deflector facing away from the discharge outlet.