CN214732082U

CN214732082U - Transport vehicle

Info

Publication number: CN214732082U
Application number: CN202120123302.3U
Authority: CN
Inventors: 黄天祥; 黄慧敏
Original assignee: YOULIHUA BUILDING MATERIALS (HUIZHOU) CO Ltd
Current assignee: YOULIHUA BUILDING MATERIALS (HUIZHOU) CO Ltd
Priority date: 2021-01-18
Filing date: 2021-01-18
Publication date: 2021-11-16
Anticipated expiration: 2031-01-18

Abstract

The utility model discloses a transport vehicle. The transport vehicle comprises a vehicle main body running on the track, and the vehicle main body is provided with an emergency stop device, a hopper fixing device, a camera device, a sensor device and a control electronic box; wherein, two motors are arranged on the opposite angles of the vehicle main body and respectively drive a group of wheels; the emergency stop device comprises an emergency stop sensor and an emergency stop push rod assembly; the hopper fixing device is used for fixing the hopper carried on the transport vehicle; the sensor device comprises an overhigh sensor assembly, a transport vehicle in-place sensor combination, a bucket in-place sensor, a curve sensor, a wheel wear sensor, an ultrasonic sensor and a coding sensor. The utility model has the advantages that the transport vehicle and the hopper are mutually independent; the structure is optimized, and the maintenance is easy; differential driving can be realized, and turning is convenient; the emergency stop device can protect the transport vehicle; the camera device can monitor in real time; multiple sensor makes transport vechicle safe and reliable, and the operating efficiency promotes.

Description

Transport vehicle

Technical Field

The utility model relates to a construction equipment technical field, concretely relates to transport vechicle.

Background

A transport vehicle is required for building construction to transport concrete to a desired location. But the conventional transport vehicle has the problems of unreasonable structure, inconvenient use and the like.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a structure optimizes more, uses more convenient transport vechicle.

The utility model provides a transport vehicle, which comprises a vehicle main body running on a track, wherein the vehicle main body is provided with an emergency stop device, a hopper fixing device, a camera device, a sensor device and a control electronic box; the vehicle body comprises a support, a group of wheels are arranged on two sides of the bottom of the support respectively, two motors are arranged on the support diagonally, and each motor drives a group of wheels through a gear box; the emergency stop device comprises two sets of emergency stop devices, opposite angles are arranged at the front end and the rear end of the vehicle main body, each set of emergency stop device comprises an emergency stop sensor and an emergency stop push rod assembly, and the emergency stop push rod assembly triggers the emergency stop sensor when being pushed; the hopper fixing device comprises a plurality of hopper push rod assemblies, the hopper push rod assemblies are used for fixing a hopper carried on a transport vehicle, and each hopper push rod assembly is provided with a push rod retraction in-place sensor and a push rod extension in-place sensor; the camera shooting devices comprise two sets which are respectively arranged at the front end and the rear end of the vehicle main body, and each set of camera shooting device comprises a camera and a camera moving push rod for pushing the camera to rotate so as to change the visual angle; the sensor device comprises part or all of the following sensors: the device comprises an over-height sensor assembly, a transport vehicle in-place sensor assembly, two bucket in-place sensors, a curve sensor, a wheel wear sensor, an ultrasonic sensor and a coding sensor, wherein the over-height sensor assembly is used for detecting whether the lifted height of a hopper exceeds the limit, the transport vehicle in-place sensor assembly is used for detecting whether a transport vehicle reaches a specified position, the two bucket in-place sensors are used for detecting whether the position of the transport vehicle is accurate before bucket taking, the curve sensor is used for detecting whether a track turns, the wheel wear sensor is used for monitoring whether the wheel wear exceeds a set value, the ultrasonic sensor is used for sensing whether an obstacle exists in front of a vehicle body, and the coding sensor is used for detecting a position signal of the transport vehicle in real time; the control electronic box is internally provided with a PLC, the emergency stop sensor, the push rod is retracted to the in-place sensor, the push rod extends out of the in-place sensor and the sensor device comprises a plurality of sensors which are respectively connected with the PLC through signals, and the motor, the hopper push rod assembly, the camera and the camera moving push rod are respectively controlled by the PLC.

In one possible implementation manner, the vehicle main body is further provided with an anti-collision rubber column and a limiting wheel assembly; the anti-collision rubber columns are arranged at the front end and the rear end of the vehicle main body respectively; the limiting wheel assembly comprises a plurality of limiting wheels in contact connection with the rail and used for reducing the pressure of the wheels.

In one possible implementation, the PLC is configured to: when an emergency stop signal sent by the emergency stop sensor is received, controlling the two motors to stop running; when a turning signal sent by the curve sensor is received, controlling the two motors to run at different speeds; when an obstacle signal sent by the ultrasonic sensor is received, controlling the two motors to stop running; calculating the position of the transport vehicle in real time by receiving a detection signal sent by the coding sensor in real time; when an in-place signal sent by the transport vehicle in-place sensor combination is received, controlling the two motors to stop running; when the hopper is loaded on the transport vehicle, an instruction is sent to drive the hopper push rod assembly to fix the hopper.

In one possible implementation, the scram push rod assembly includes: the automobile emergency stop sensor comprises two copper sleeves fixed on an automobile body, a sliding shaft arranged in the two copper sleeves, and a spring sleeved on the sliding shaft and providing restoring force for the sliding shaft, wherein the tail end of the sliding shaft abuts against the emergency stop sensor.

In a possible implementation mode, the hopper push rod assembly comprises an electric push rod and a bearing shaft driven by the electric push rod, when the hopper is loaded on the transport vehicle, the electric push rod pushes the bearing shaft to pass through a suspension lug hole of the hopper under the instruction of the PLC, and the hopper is fixed on the transport vehicle.

In a possible implementation manner, the limiting wheel assembly specifically includes two pairs of limiting wheels, and each pair of limiting wheels includes a set of adjustable limiting wheels in contact connection with the inner rail and a set of fixed limiting wheels in contact connection with the outer rail. Furthermore, when the transport vehicle turns, the extension line of the central point connecting line of the adjustable limiting wheel and the fixed limiting wheel in each pair of limiting wheels is connected with the central point of the track curve.

According to the technical solution provided by the utility model, the embodiment of the utility model has the following advantage:

1. the transport vechicle is independent each other with the hopper, just loads the hopper to the transport vechicle when needing the delivery and fixes through hopper fixing device. If the hopper has a problem and cannot be used, the normal use of the transport vehicle is not influenced.

2. The transport vehicle has the advantages of optimized structure, easy maintenance and easy replacement of worn workpieces.

3. The transport vehicle can realize differential driving by driving two groups of wheels through two motors, thereby facilitating turning.

4. The transport vehicle is provided with an emergency stop device for protecting the transport vehicle.

5. The camera device is arranged on the transport vehicle, so that the front and rear environment images of the transport vehicle can be monitored in real time.

6. The transport vehicle is provided with various sensors, so that the running state of the transport vehicle can be provided in time, the transport vehicle is safe and reliable, and the running efficiency is improved.

Drawings

In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings used in the description of the embodiment and the prior art will be briefly described below.

Fig. 1 is a top view structural diagram of a transportation vehicle provided by an embodiment of the present invention;

fig. 2 is a bottom view structural diagram of the transportation vehicle provided by the embodiment of the present invention.

Detailed Description

In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

The following will explain details by way of specific examples.

Referring to fig. 1 and 2, an embodiment of the present invention provides a transportation vehicle. The transport vehicle comprises a vehicle main body running on a track, wherein an emergency stop device, a hopper fixing device, a camera device, a sensor device and a control electronic box are arranged on the vehicle main body.

The vehicle body comprises a support, a group of wheels are arranged on two sides of the bottom of the support respectively, two motors 2 are diagonally arranged on the support, and each motor 2 drives a group of wheels through a gear box 1;

the emergency stop device comprises two sets of emergency stop devices, opposite angles are arranged at the front end and the rear end of the vehicle main body, each set of emergency stop device comprises an emergency stop sensor 3 and an emergency stop push rod assembly 4, and the emergency stop push rod assembly 4 triggers the emergency stop sensor 3 when being pushed;

the hopper fixing device comprises a plurality of hopper push rod assemblies 6, the hopper push rod assemblies 6 are used for fixing a hopper carried on a transport vehicle, and each hopper push rod assembly 6 is provided with a push rod retraction in-place sensor 9 and a push rod extension in-place sensor 10;

the camera shooting devices comprise two sets which are respectively arranged at the front end and the rear end of the vehicle main body, and each set of camera shooting device comprises a camera 8 and a camera moving push rod 7 for pushing the camera 8 to rotate so as to change the visual angle;

the sensor device comprises part or all of the following sensors: the device comprises an over-height sensor assembly 5 for detecting whether the lifted height of a hopper exceeds the limit, a transport vehicle in-place sensor assembly 11 for detecting whether a transport vehicle reaches a specified position, two bucket in-place detecting sensors 12 for detecting whether the position of the transport vehicle is accurate before bucket taking, a curve sensor 15 for detecting whether a track turns, a wheel wear sensor 16 for monitoring whether the use wear of wheels exceeds a set value, an ultrasonic sensor 17 for sensing whether the front of a vehicle body is obstructed, and an encoding sensor 18 for detecting a position signal of the transport vehicle in real time;

the control electronic box is internally provided with a PLC, the emergency stop sensor 3, the push rod is retracted to the in-place sensor 9, the push rod extends to the in-place sensor 10 and various sensors included by the sensor device are respectively connected with signals of the PLC, and the motor 2, the hopper push rod assembly 6, the camera 8 and the camera moving push rod 7 are respectively controlled by the PLC.

Further, the vehicle main body is also provided with an anti-collision rubber column 13 and a limiting wheel assembly 14; the anti-collision rubber columns 13 comprise a plurality of rubber columns which are respectively arranged at the front end and the rear end of the vehicle main body; the spacing wheel assembly 14 includes a plurality of spacing wheels in contact with the track for reducing wheel pressure.

The respective components of the transport vehicle will be described in further detail below.

0. Control electronic box

A PLC (Programmable Logic Controller) is arranged in the control electric box and is used as a core control device of the transport vehicle; and a power supply device, a frequency converter, a wireless communication device and the like connected with the PLC can be further arranged. The power supply device is used for supplying power to the control electric box, the frequency converter is used for changing the running speed of the motor under the control of the PLC, and the wireless communication device is used for communicating with an external control center by the PLC.

The PLC is used for: when an emergency stop signal sent by the emergency stop sensor is received, controlling the two motors to stop running; when a turning signal sent by the curve sensor is received, controlling the two motors to run at different speeds; when an obstacle signal sent by the ultrasonic sensor is received, controlling the two motors to stop running; calculating the position of the transport vehicle in real time by receiving a detection signal sent by the coding sensor in real time; when an in-place signal sent by the transport vehicle in-place sensor combination is received, controlling the two motors to stop running; when the hopper is loaded on the transport vehicle, an instruction is sent to drive the hopper push rod assembly to fix the hopper.

1. A gear box:

the gear box is connected between the motor and the wheels, and the power of the motor is output to the wheels through the meshing and transmission action between the gears, so that the movement of the whole vehicle is realized.

2. A motor:

the motor is used for driving the whole transport vehicle to move. The motor is provided with two motors, is arranged on the bracket diagonally and is respectively used for driving two groups of wheels on the inner side and the outer side of the bracket. The purpose of the installation is to realize the differential driving in the curve and eliminate the dispersed stress to the track generated by the driving in the curve, thereby achieving the purpose of the stable operation of the whole vehicle in the curve.

3. An emergency stop sensor:

when the transport vehicle is in an emergency, if the emergency stop push rod assembly triggers the emergency stop sensor, the emergency stop sensor can transmit an emergency stop signal to the electric box PLC, and the PLC can send an instruction to stop the motor.

4. Scram push rod subassembly:

the assembly consists of a sliding shaft, a spring, two copper sleeves and the like. The two copper sleeves are fixed on the vehicle main body, the sliding shaft is arranged in the two copper sleeves, the spring sleeve is arranged on the sliding shaft and used for providing restoring force for the sliding shaft, and the tail end of the sliding shaft abuts against the emergency stop sensor.

In case of extreme conditions such as loss of control or improper manual operation of the transport vehicle, the transport vehicle can advance according to the existing state and cannot stop; when the transport vehicle collides with a front obstacle or other transport vehicles, the anti-collision glue on the vehicle plays a role in buffering, and meanwhile, the sliding shaft also generates backward movement due to collision; when the sliding shaft triggers the emergency stop sensor, the sensor sends a signal to the PLC, and the PLC immediately sends an instruction to stop the motor of the transport vehicle so as to stop the whole vehicle, thereby playing a role in safety protection.

The emergency stop assemblies are arranged on the vehicle diagonally, so that the purpose of the emergency stop assemblies is that if an extreme situation occurs in a curve and the emergency stop assemblies collide with another transport vehicle in the curve, if the emergency stop assemblies are arranged diagonally and are only arranged oppositely, the contact area of the two sliding shafts is small, the two sliding shafts can not collide, and the emergency stop assemblies cannot play a role in protection. And the diagonal installation, the relative position of another trolley can be provided with objects such as baffles with larger cross section area, which not only can not affect other workpieces, but also can lead the shaft to collide the baffle in time, thereby playing a good protection role.

5. An over-height sensor assembly:

the over height sensor assembly may be comprised of two photosensors cooperating to define a transmitter and a receiver. The function of the combination is to prevent the hopper from being over-high when lifted; if the lifting mechanism enables the lifting height of the hopper to exceed the requirement when the hopper is taken, the hopper can block the combined signal, so that the PLC in the electronic box can stop the hopper from lifting again according to a set program, and further the protection effect is achieved.

6. Hopper push rod subassembly:

the hopper pusher bar assembly may comprise 4 sets, each set consisting of an electric pusher bar and a load bearing shaft. When the corresponding ear hole of the hopper reaches the position, the corresponding sensor (9, 10) can send a signal to a control electric box of the transport vehicle, a PLC in the control electric box can send a command to start an electric push rod, the electric push rod pushes out the bearing shaft to penetrate through the suspension ear hole of the hopper, the hopper is fixed on the transport vehicle, and then the hopper is taken to a designated position as required.

7. The camera moves the push rod:

the electric push rod is controlled to rotate forwards and backwards by a PLC in the electric box through a relay so as to achieve the purpose that the camera extends out of a horizontal visual angle or a vertical downward visual angle.

8. A camera:

the cameras are provided with two sets, namely a front set and a rear set. When the transport vehicle runs on the track, the PLC in the electronic box enables the electric push rod to push up the camera according to a set program, the camera can shoot actual scenes in front in the running process, an operator in the control center can observe the dynamic state in front of the transport vehicle on the main display screen, and judgment is made according to the actual scene conditions; when the transport vehicle reaches the designated position and stops, the electric push rod retracts and drives the camera to shoot downwards, at the moment, the worker can observe the actual condition of the hopper below the parked transport vehicle and the field condition in the shooting range on the main display screen of the control center, and the next operation is matched according to the real scene.

9. The push rod is retracted to the in-position sensor:

the push rod retraction position sensor is used in conjunction with the hopper push rod assembly 6 to check whether the power push rod has successfully retracted the load bearing shaft. When the electric push rod pulls back the bearing shaft to the disconnection signal of the sensor, the PLC in the electric box sends out an instruction according to the signal to stop the electric push rod and provide the signal for the operation of the lifting platform.

10. Push rod stretches out sensor in place:

when the electric push rod pushes the bearing shaft to extend out to sense the sensor, the sensor can transmit a signal to the PLC of the electric box, and the PLC can send a command to stop the electric push rod.

11. The combination of the in-place sensors of the transport vehicle:

the sensors are used cooperatively in a permutation and combination mode; install the tablet at the track assigned position, when the transport vechicle traveled the relevant position according to the instruction, the tablet can be sensed to the sensor that corresponds, can transmit the signal this moment to transport vechicle electronic box PLC, and PLC can send the instruction and make the transport vechicle accuracy stop at the destination.

12. A bucket-in-place sensor:

before the transport vechicle arrives the preparation bucket in assigned position, need these two sensors to sense simultaneously just can rise the bucket. If only one is sensed, the transporter needs to be moved to a position where both sensors are sensed. Thereby ensure that the transport vechicle is accurate to be located the position of getting the hopper, improve the degree of accuracy that hopper and transport vechicle are connected.

13. The anti-collision rubber column:

the anti-collision rubber column is a column body made of rubber. In case of out-of-control transport vehicle, the anti-collision rubber column can bear impact and extrusion, can restore to the original shape quickly without damage after impact, and can protect the transport vehicle from damage after impact; when the collision happens, the emergency stop push rods of the two vehicles can be pushed backwards to sense the corresponding emergency stop sensors, the PLC in the electric box can receive signals and simultaneously send instructions to stop the corresponding frequency converters of the motors so as to stop the moving transport vehicle, and simultaneously send alarm signals to the control center.

14. The limiting wheel component:

the assembly consists of two groups of adjustable limiting wheels and two groups of fixed limiting wheels, wherein each group of adjustable limiting wheels and the corresponding fixed limiting wheels form a pair. The adjustable limiting wheel consists of a hydraulic cylinder, a supporting piece, a roller and the like; the fixed limiting wheel consists of a roller, a roller mounting rack and the like. The adjustable limiting wheel is arranged at the position contacting with the inner side track, and the fixed limiting wheel is arranged at the position contacting with the outer side track. The two pairs of limiting wheels are accurately calculated and installed, when the transport vehicle turns, the extension line of the central line connecting line of each group of adjustable limiting wheels and the central point of the corresponding fixed limiting wheel is connected with the central point of the track curve; the central point of the track curve refers to the circle center of the curve arc. The design can reduce the pressure of the wheels after the transport vehicle enters the track and ensure that the transport vehicle can slide into the curve smoothly.

15. A curve sensor:

the tablet is installed to the bend relevant position in the track outside, and this tablet can be sensed to the bend sensor when the transport vechicle is ready to advance to bend, can spread the signal this moment to control electronic box PLC, and PLC can send out the converter of instructing to the motor, realizes that two motor differentials advance to bend. The action of doing so is to make when advancing the bending alleviate the effort of spacing wheel pair track, make and advance the bending smooth and easy.

16. Wheel wear sensor:

the wheel wear sensor is mainly used for monitoring the service condition of the wheel, and when the wear exceeds a set value when the wheel is used, the relative standard position of the transport vehicle descends, so that the lifting position of the elevator and the lotus plate when the elevator and the lotus plate correspondingly take and place the hopper is higher than that of the transport vehicle, and the hopper cannot be accurately taken. When the wheel wear exceeds a set value (set position), the sensor can send a signal to play a role in alarming and remind of replacing the wheel.

17. An ultrasonic sensor:

the pulse wave is emitted by means of an ultrasonic sensor, which has set a certain sensing distance according to a safety calculation. In case of extreme conditions such as out-of-control and misoperation of the transport vehicle, the ultrasonic waves on the transport vehicle sense front obstacles such as objects or other transport vehicles, a signal is sent to the PLC, the PLC sends an instruction to stop the transport vehicle, the safety protection effect is achieved, and meanwhile an alarm signal is sent to the control center.

18. The coding sensor combination:

the combination consists of an upper sensor and a lower sensor. A circle of uniformly arranged induction plates are arranged on the inner side track, square through holes with the same size and unopened solid parts on the induction plates are formed, and the induction plates are arranged in a through hole-solid manner. The upper sensor and the lower sensor of the coding sensor can be used for sensing the on-off of the square through hole. When the transport vechicle went, PLC can count according to the break-make of coding sensor to judge the position that each transport vechicle was located, prevent to appear colliding between the vehicle, play the safety function.

The following describes the operation flow of the transportation vehicle operation method of the present invention:

and S1, when the production line needs concrete or an empty hopper needs to be taken away, the field staff can send a signal to the control center according to the requirement.

And S2, sending an instruction to the transport vehicle by the staff of the control center according to the signal source, and then driving the transport vehicle to the specified position according to the instruction of the control center. When the transport vehicle starts to move, two sets of cameras on the vehicle can be pushed up by corresponding electric push rods to start to collect and monitor real-time images of the front and the back of the transport vehicle, and a worker of a control center can monitor the actual transportation process of the transport vehicle on a display screen.

S3, after the vehicle is started, the vehicle will reach a higher running speed for a short time until it approaches or reaches the designated position.

S4, in the running process of the transport vehicle, the ultrasonic sensor can continuously send out pulse waves to judge whether obstacles such as obstacles or other transport vehicles exist in front, and meanwhile, the wheel wear sensor can continuously keep a standby state to detect whether the use wear of the wheels exceeds a set value or not so as to send out an alarm signal when the wear of the wheels exceeds a warning range; in addition, as long as the transport vehicle starts to run, the coding sensor combination can continuously work to count to judge the position of the transport vehicle. The position information can be sent to the control center at the same time, and the control center can adjust the distance between the transport vehicles to prevent collision accidents.

And S5, detecting whether the transport vehicle enters a curve or not through a curve sensor. When the transport vehicle enters a curve, the curve sensor senses a corresponding curve sensing plate to start working, at the moment, the sensor transmits a signal to a transport vehicle control electric box PLC, and the PLC sends instructions to the two frequency converters respectively to realize the differential operation of the two motors so as to smoothly enter the curve; on the same principle, when the transport vehicle bends, the sensor cannot sense a curve sensing plate and the signal is disconnected, and the transport vehicle electric box PLC can send out an instruction according to the program setting to convert the parameters of the two frequency converters into the same data so as to realize that the two motors run on a linear track at the same speed.

And S6, detecting whether the transport vehicle reaches the designated position through the transport vehicle in-place sensor combination. After the transportation vehicle travels to a designated position, the transportation vehicle becomes slow to be revised to an accurate parking position. Meanwhile, the bucket-in-place sensors sense corresponding positions of the buckets and transmit signals, if one of the buckets is not sensed, the transport vehicle automatically moves to find an accurate position until the two bucket-in-place sensors output signals and the transport vehicle in-place sensor combination also sends signals. At the moment, the transport vehicle is accurately stopped at the designated position.

And S7, after the transport vehicle stops at a position, the hopper is lifted by the lifting device until the four lugs with holes of the hopper are lifted into the mounting workpiece of the hopper push rod assembly. At this time, the corresponding sensor is sensed, and the lifting device is stopped.

S8, when the lifting device stops, the PLC in the electric box of the transport vehicle receives the signal and then sends an instruction to enable the electric push rod in the hopper push rod assembly to act to push the bearing shaft to penetrate through the lug hole of the hopper; when the bearing shaft extends to the push rod in-place sensor, a signal is sent to a PLC in the electric box of the transport vehicle, the bearing shaft is in place at the moment, and then the PLC sends an instruction to stop the electric push rod. When the push rod in-place sensors at the four positions all have signals to be output, the fact that the hopper is well fixed on the transport vehicle is indicated.

And S9, descending the equipment for lifting the hopper to a safe position and sending a signal, wherein the transport vehicle can carry the hopper to a required position such as a material distribution position according to the signal.

Above, the structure and the operation flow of the transportation vehicle of the present invention have been described in detail.

It can be seen from the above description that the transport vehicle of the present invention has the following main features:

1. the transport vehicle and the hopper exist independently, are separated, and are fixed through the hopper fixing device when the hopper is loaded on the transport vehicle in need of carrying. I.e. they do not affect each other except when needed. If the hopper has a problem and cannot be used, the normal use of the transport vehicle is not influenced.

4. Install scram device, crashproof gluey post on the transport vechicle and protect the transport vechicle.

7. The corresponding position of the transport vehicle is provided with a limiting wheel component, so that the curve entering is smoother.

8. If the transport vehicle has an integral fault, the entire transport vehicle can be integrally adjusted away only by detaching the vehicle slide conveying line and the slide conveying line support, so that the transport vehicle is convenient and quick and does not influence the operation of other transport vehicles.

9. The transport vehicle has stable running process, the running speed of the transport vehicle can reach an ideal state within a safe range, and the efficiency is very high.

The technical solution of the present invention has been described in detail through the specific embodiments. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

It should be understood that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; the technical solutions described in the above embodiments can be modified or part of the technical features can be equivalently replaced by those skilled in the art; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. A transport vehicle comprises a vehicle main body running on a track, and is characterized in that,

the vehicle main body is provided with an emergency stop device, a hopper fixing device, a camera device, a sensor device and a control electronic box;

the vehicle body comprises a support, a group of wheels are arranged on two sides of the bottom of the support respectively, two motors are arranged on the support diagonally, and each motor drives a group of wheels through a gear box;

the emergency stop device comprises two sets of emergency stop devices, opposite angles are arranged at the front end and the rear end of the vehicle main body, each set of emergency stop device comprises an emergency stop sensor and an emergency stop push rod assembly, and the emergency stop push rod assembly triggers the emergency stop sensor when being pushed;

the hopper fixing device comprises a plurality of hopper push rod assemblies, the hopper push rod assemblies are used for fixing a hopper carried on a transport vehicle, and each hopper push rod assembly is provided with a push rod retraction in-place sensor and a push rod extension in-place sensor;

the camera shooting devices comprise two sets which are respectively arranged at the front end and the rear end of the vehicle main body, and each set of camera shooting device comprises a camera and a camera moving push rod for pushing the camera to rotate so as to change the visual angle;

the sensor device comprises part or all of the following sensors: the device comprises an over-height sensor assembly, a transport vehicle in-place sensor assembly, two bucket in-place sensors, a curve sensor, a wheel wear sensor, an ultrasonic sensor and a coding sensor, wherein the over-height sensor assembly is used for detecting whether the lifted height of a hopper exceeds the limit, the transport vehicle in-place sensor assembly is used for detecting whether a transport vehicle reaches a specified position, the two bucket in-place sensors are used for detecting whether the position of the transport vehicle is accurate before bucket taking, the curve sensor is used for detecting whether a track turns, the wheel wear sensor is used for monitoring whether the wheel wear exceeds a set value, the ultrasonic sensor is used for sensing whether an obstacle exists in front of a vehicle body, and the coding sensor is used for detecting a position signal of the transport vehicle in real time;

the control electronic box is internally provided with a PLC, the emergency stop sensor, the push rod is retracted to the in-place sensor, the push rod extends out of the in-place sensor and the sensor device comprises a plurality of sensors which are respectively connected with the PLC through signals, and the motor, the hopper push rod assembly, the camera and the camera moving push rod are respectively controlled by the PLC.

2. The transportation vehicle of claim 1, wherein the vehicle body is further provided with an anti-collision rubber column and a limiting wheel assembly;

the anti-collision rubber columns are arranged at the front end and the rear end of the vehicle main body respectively;

the limiting wheel assembly comprises a plurality of limiting wheels in contact connection with the rail and used for reducing the pressure of the wheels.

3. Transport vehicle according to claim 1,

4. Transport vehicle according to claim 1,

the scram push rod assembly comprises: the emergency stop sensor comprises two copper sleeves fixed on a vehicle body, a sliding shaft arranged in the two copper sleeves, and a spring sleeved on the sliding shaft and providing restoring force for the sliding shaft, wherein the tail end of the sliding shaft abuts against the emergency stop sensor.

5. Transport vehicle according to claim 1,

hopper push rod subassembly includes electric putter and by the bearing axle that electric putter drove, when the hopper was loaded to the transport vechicle on, electric putter is in drive the bearing axle under PLC's the instruction and pass the ear hole that hangs of hopper, realize fixing the hopper on the transport vechicle.

6. Transport vehicle according to claim 2,

the limiting wheel assembly specifically comprises two pairs of limiting wheels, and each pair of limiting wheels comprises a group of adjustable limiting wheels in contact connection with the inner side track and a group of fixed limiting wheels in contact connection with the outer side track.

7. Transport vehicle according to claim 6,

when the transport vehicle turns, the extension line of the central point connecting line of the adjustable limiting wheel and the fixed limiting wheel in each pair of limiting wheels is connected with the central point of the track curve.