CN220466631U

CN220466631U - Material conveying device

Info

Publication number: CN220466631U
Application number: CN202322098876.1U
Authority: CN
Inventors: 严治; 梁冬; 江涛
Original assignee: Sichuan Laiboyi Automation Technology Co ltd
Current assignee: Sichuan Laiboyi Automation Technology Co ltd
Priority date: 2023-08-04
Filing date: 2023-08-04
Publication date: 2024-02-09
Anticipated expiration: 2033-08-04

Abstract

The utility model provides a material conveying device, which relates to the technical field of material conveying and mainly adopts the technical scheme that: a first infrared sensor is arranged at the discharge end of the shell, and the controller is electrically connected with the first infrared sensor and the driving device. After the sliding plate slides to the shell discharge end, whether a sample exists on the sliding plate is detected by utilizing the first infrared sensor, when no sample exists on the sliding plate is detected, the first infrared sensor transmits a first detection signal to the controller, and the controller generates a first control signal based on the first detection signal so as to control the driving device to drive the sliding plate to move towards the feed end. After the sample is taken out, the slide plate is moved to the feeding end in time, so that the sample transmission efficiency is improved, and the aim of influencing the next sample transmission due to the fact that the last sample is not taken out in time is fulfilled.

Description

Material conveying device

Technical Field

The utility model relates to the technical field of material conveying, in particular to a material conveying device.

Background

Material handling refers to the process used in the intelligent manufacturing industry to transport raw materials or raw material carriers.

The patent document of application number 202223191830.6 discloses a material conveying mechanism, in the actual use process, a sliding plate is positioned in the middle of a supporting seat, at the moment, a rack is not meshed with a first gear and a second gear, a first sealing door and a second sealing door are in a closed state, and when a sample is required to be conveyed to a discharging end through a feeding end, a worker controls a driving device to enable the sliding plate to reciprocate on the supporting seat; when the sliding plate moves towards the feeding end, a rack on the sliding plate contacts with a first gear, the first gear is meshed with the rack to enable the first gear to drive a first crank to rotate, a first roller at the end part of the first crank supports a first sealing door, a worker places a sample to be conveyed on the sliding plate, when the sliding plate moves towards the discharging end, the rack on the sliding plate contacts with a second gear, the second gear is meshed with the rack to enable the second gear to drive a second crank to rotate, a second roller at the end part of the second crank slides on a second sliding track to support a second sealing door, and the worker takes the sample to be conveyed out; the sliding plate is moved to the feeding end after being taken out to form circulation.

In the process of moving the slide plate to the feeding end, if the slide plate moves too early, the sample on the slide plate is not taken out, and the next sample transportation is affected. If the slide is moved too late, the transfer efficiency tends to be reduced when the sample on the slide has been removed too much. Therefore, how to ensure that the sample is taken out and to move the slide plate towards the feed end in time after the sample is taken out is a problem to be solved.

Disclosure of Invention

The utility model aims to provide a material conveying device, which detects whether a sample is taken out or not through a first infrared sensor, and after the sample is taken out, a slide plate is moved to a feeding end in time so as to achieve the purposes of improving the sample transmission efficiency and reducing the influence on the next sample transmission caused by the fact that the last sample is not taken out in time.

The utility model is realized by the following technical scheme:

the material conveying device comprises a shell, wherein a material conveying device is arranged in the shell, the material conveying device comprises a driving device and a supporting seat, a sliding plate is arranged on the supporting seat in a sliding manner, and the driving device is used for enabling the sliding plate to reciprocate on the supporting seat through a transmission mechanism; still rotate on the shell and be provided with first gear and second gear, still include: the device comprises a first infrared sensor and a controller, wherein the first infrared sensor is arranged on a discharge end of a shell, and the first infrared sensor is used for generating a first detection signal when no sample is detected on a sliding plate of the discharge end; the input end of the controller is electrically connected with the output end of the first infrared sensor, and the controller is used for generating a first control signal after acquiring a first detection signal; the input end of the driving device is electrically connected with the output end of the controller, and the driving device responds to the first control signal to enable the sliding plate to move towards the feeding end on the supporting seat through a transmission mechanism.

Optionally, the material conveying device further comprises a second infrared sensor, wherein the second infrared sensor is arranged on the feeding end of the shell, and the second infrared sensor is used for generating a second detection signal when detecting that a sample is placed on the sliding plate of the feeding end; the input end of the controller is electrically connected with the output end of the second infrared sensor, and the controller is used for generating a second control signal after acquiring a second detection signal.

Optionally, the first infrared sensor is located at a side far from the second gear; the second infrared sensor is located at a side away from the first gear.

Optionally, the sensing distance of the first infrared sensor is not smaller than the distance from the sample on the slide plate to the first infrared sensor; the sensing distance of the first infrared sensor is not greater than the distance from the second gear to the first infrared sensor.

Optionally, the sensing distance of the second infrared sensor is not smaller than the distance from the sample on the slide plate to the second infrared sensor; the sensing distance of the second infrared sensor is not greater than the distance from the first gear to the second infrared sensor.

Optionally, the first infrared sensor and the second infrared sensor are both positioned above the sliding plate; the distance from the first infrared sensor to the slide plate) and the distance from the second infrared sensor to the slide plate are not greater than the height of the sample.

Optionally, an objective table is arranged on the sliding plate; limiting plates are arranged around the table top of the objective table; a sample limiting area is formed between the objective table and each limiting plate; the sample limiting area is used for placing a sample.

Optionally, concave structures are arranged on two sides of the objective table; the indent structure is used for matching with the clamping part of the transfer manipulator.

Optionally, the first infrared sensor and the second infrared sensor are both arranged on the outer wall of the shell; the shell is provided with a first light hole corresponding to the first infrared sensor and a second light hole corresponding to the second infrared sensor.

Optionally, the first infrared sensor and the second infrared sensor are both provided with protection covers.

Compared with the prior art, the utility model has the following advantages and beneficial effects:

a first infrared sensor is arranged at the discharge end of the shell, and the controller is electrically connected with the first infrared sensor and the driving device. After the sliding plate slides to the shell discharge end, whether a sample exists on the sliding plate is detected by utilizing the first infrared sensor, when no sample exists on the sliding plate is detected, the first infrared sensor transmits a first detection signal to the controller, and the controller generates a first control signal based on the first detection signal so as to control the driving device to drive the sliding plate to move towards the feed end. After the sample is taken out, the slide plate is moved to the feeding end in time, so that the sample transmission efficiency is improved, and the aim of influencing the next sample transmission due to the fact that the last sample is not taken out in time is fulfilled.

Drawings

In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present utility model, the drawings that are needed in the examples will be briefly described below, it being understood that the following drawings only illustrate some examples of the present utility model and therefore should not be considered as limiting the scope, and that other related drawings may be obtained from these drawings without inventive effort for a person skilled in the art. In the drawings:

FIG. 1 is a schematic diagram showing a front view of a material conveying apparatus according to an embodiment;

FIG. 2 is a schematic top view of a material conveying apparatus according to an embodiment;

FIG. 3 is a schematic cross-sectional view of the structure at A-A in FIG. 2;

FIG. 4 is a schematic cross-sectional view of the structure at B-B in FIG. 2;

FIG. 5 is a schematic diagram showing a front view of a material conveying apparatus without a second sealing door;

FIG. 6 is a schematic diagram showing a front view of a sample placement on a slide for a material handling apparatus according to an embodiment;

FIG. 7 is a schematic diagram showing a front view of a slide plate for a material conveying apparatus according to an embodiment in which no sample is placed thereon;

fig. 8 is a schematic diagram showing connection of electrical components for a material conveying device according to an embodiment.

In the drawings, the reference numerals and corresponding part names:

1-a housing; 2-a skateboard; 3-a first gear; 4-a second gear; 5-a first infrared sensor; 6-a controller; 7-objective table; 8-limiting plates; 9-concave structure; 10-a first light hole; 11-a protective cover; 12-sample; 13-a drive device; 14-a second infrared sensor; 15-second light holes.

Detailed Description

For the purpose of making apparent the objects, technical solutions and advantages of the present utility model, the present utility model will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present utility model and the descriptions thereof are for illustrating the present utility model only and are not to be construed as limiting the present utility model.

Examples: a material conveying apparatus, as shown in fig. 1 to 8, a housing 1, a first infrared sensor 5, and a controller 6.

A material conveying device is arranged in the shell 1 and is used for conveying the sample 12; the material conveying device comprises a driving device 13 and a supporting seat, a sliding plate 2 is arranged on the supporting seat in a sliding manner, and a rack is arranged on the sliding plate 2; the driving device 13 is used for enabling the sliding plate 2 to reciprocate on the supporting seat through a transmission mechanism; the shell 1 is also rotatably provided with a first gear 3 and a second gear 4, and the first gear 3 and the second gear 4 are both used for being meshed with the racks; the first gear 3 is hinged with a first crank, the second gear 4 is hinged with a second crank, the end part of the first crank is rotatably provided with a first roller, and the end part of the second crank is rotatably provided with a second roller; the shell 1 is provided with a feeding end and a discharging end, the feeding end is hinged with a first sealing door, the discharging end is hinged with a second sealing door, the inner side of the first sealing door is provided with a first sliding rail, the inner side of the second sealing door is provided with a second sliding rail, the first roller is in sliding fit with the first sliding rail, and the second roller is in sliding fit with the second sliding rail.

The transmission mechanism at least comprises a ball screw and a screw nut, the ball screw is connected with the driving device 13, and the screw nut is in sliding fit with the ball screw; the supporting seat is provided with a through groove, the ball screw is in running fit with the supporting seat, and the screw nut penetrates through the through groove and then is connected with the sliding plate 2.

The driving device 13 is specifically a driving motor, and an output shaft of the driving motor is connected with a ball screw.

A first infrared sensor 5 is provided at the discharge end of the housing 1, and the first infrared sensor 5 may employ BJ100-DDT. In the specific implementation process, the discharge end of the shell 1 is of an inclined structure, and if the first infrared sensor 5 is arranged on the top wall of the discharge end of the shell 1, the condition that the detection range of the first infrared sensor 5 is insufficient and the detection result of the first infrared sensor 5 is affected may exist. If the first infrared sensor 5 is provided on the side wall of the housing 1 where the second gear 4 is located, the detection result of the first infrared sensor 5 may be affected during the rotation of the second crank on the second gear 4. Therefore, in order to improve accuracy of the detection result of the first infrared sensor 5 when the slide plate 2 moves to the discharge end of the housing 1, the first infrared sensor 5 is disposed on a side wall of the housing 1 away from the second gear 4, and the detection range of the first infrared sensor 5 corresponds to the position of the sample 12 on the slide plate 2 when the slide plate 2 stays at the discharge end of the housing 1. The first infrared sensor 5 on the shell 1 is used for detecting the state of the sample 12 on the slide plate 2 at the discharge end of the shell 1 in real time, and after the first infrared sensor 5 on the discharge end of the shell 1 detects that the sample 12 on the slide plate 2 is taken away, the first infrared sensor 5 on the discharge end of the shell 1 can generate a first detection signal.

The input end of the controller 6 is electrically connected with the output end of the first infrared sensor 5 on the discharge end of the shell 1, and the controller 6 can adopt a tandem plc intelligent controller AC700. The controller 6 generates a first control signal after acquiring the first detection signal.

The input end of the driving device 13 (specifically, a driving motor) is electrically connected with the output end of the controller 6, after the driving device 13 responds to the first control signal, the output shaft of the driving device 13 drives the ball screw of the transmission mechanism to rotate, and the lead screw nut penetrates through the through groove to be limited, so that the lead screw nut drives the sliding plate 2 to slide on the supporting seat towards the feeding end of the shell 1. Through this structure, when slide 2 transportation sample 12 to shell 1 discharge end, the first infrared sensor 5 on the shell 1 discharge end detects in real time whether sample 12 on the slide 2 is taken off to after sample 12 is taken off, in time feedback first detection signal gives controller 6, so that controller 6 control drive arrangement 13 in time removes slide 2 to shell 1 feed end. Further, the purpose of improving the transmission efficiency of the sample 12 and reducing the influence on the next transmission of the sample 12 due to the fact that the sample 12 is not taken out in time last time is achieved.

In a specific implementation process, the material conveying device can be used in a full-automatic sample processing system, wherein the full-automatic sample processing system is developed for reagent sub-packaging, sample sub-cup processing and nucleic acid extraction, and comprises a reagent sub-packaging cavity, a sample sub-cup processing cavity and a nucleic acid extraction cavity, and the material conveying device is arranged between the reagent sub-packaging cavity and the sample sub-cup processing cavity and between the sample sub-cup processing cavity and the nucleic acid extraction cavity so as to transfer materials between the sample 12 cavities. In a fully automatic sample processing system, a manipulator is mostly used to place materials on a material conveying device, and the manipulator is electrically connected with a controller 6. In the process that the sliding plate 2 conveys materials to the discharging end of the shell 1, if the first infrared sensor 5 detects that the sample 12 on the sliding plate 2 is conveyed to the discharging end of the shell 1, the first infrared sensor 5 can generate a material taking signal, and after the controller 6 acquires the material taking signal, the manipulator is controlled to take the sample 12 on the sliding plate 2. The purposes of reducing the material pollution probability and improving the system automation in the material transmission process of the full-automatic sample processing system are achieved.

In this embodiment, as shown in fig. 1, 2, and 3 in combination with fig. 4, the feeding end of the housing 1 is provided with the second infrared sensor 14, and in a specific implementation process, the feeding end of the housing 1 is in an inclined structure, if the second infrared sensor 14 is disposed on the top wall of the feeding end of the housing 1, there may be a situation that the detection range of the second infrared sensor 14 is insufficient, and the detection result of the second infrared sensor 14 is affected. If the second infrared sensor 14 is provided on the side wall of the housing 1 where the first gear 3 is located, the detection result of the second infrared sensor 14 may be affected during the rotation of the first crank on the first gear 3. Therefore, in order to improve accuracy of the detection result of the second infrared sensor 14 when the slide plate 2 is moved to the feed end of the housing 1, the second infrared sensor 14 is disposed on a side wall of the housing 1 away from the first gear 3, and the detection range of the second infrared sensor 14 corresponds to the position of the sample 12 on the slide plate 2 when the slide plate 2 is stopped at the feed end of the housing 1. The second infrared sensor 14 on the feeding end of the housing 1 is used for detecting the state of the sample 12 on the slide plate 2 in real time, and after the second infrared sensor 14 on the feeding end of the housing 1 detects that the sample 12 is put on the slide plate 2, the second infrared sensor 14 on the feeding end of the housing 1 generates a second detection signal.

As shown in fig. 8, an input terminal of the controller 6 is electrically connected to an output terminal of the second infrared sensor 14 on the feed terminal of the housing 1. After acquiring the second detection signal, the controller 6 generates a second control signal.

After the driving device 13 responds to the second control signal, the output shaft of the driving device 13 drives the ball screw of the transmission mechanism to rotate, and the lead screw nut penetrates through the through groove to be limited, so that the lead screw nut drives the sliding plate 2 to slide towards the discharge end of the shell 1 on the supporting seat. Through this structure, when slide plate 2 moves to the feed end of shell 1, second infrared sensor 14 on the feed end of shell 1 detects in real time whether sample 12 has been placed on slide plate 2 to when sample 12 has been placed on slide plate 2, in time feedback second detected signal gives controller 6, so that controller 6 control drive arrangement 13 in time moves slide plate 2 to shell 1 discharge end. Further, the purpose of further improving the transmission efficiency of the sample 12 is achieved.

In order to reduce the risk that the first infrared sensor 5 or the second infrared sensor 14 cannot detect the sample 12 placed on the slide plate 2 due to insufficient sensing distance of the first infrared sensor 5 and the second infrared sensor 14, the accuracy of the detection result is lower. And the influence of the first crank on the accuracy of the detection result of the first infrared sensor 5 and the second crank on the second infrared sensor 14 due to the fact that the sensing distance of the first infrared sensor 5 and the second infrared sensor 14 is too far is reduced. In this embodiment, as shown in fig. 3, the sensing distance of the first infrared sensor 5 is not smaller than the distance from the sample 12 on the slide plate 2 to the first infrared sensor 5, and the sensing distance of the first infrared sensor 5 is not greater than the distance from the second gear 4 to the first infrared sensor 5. The sensing distance of the second infrared sensor 14 is not smaller than the distance from the sample 12 on the slide plate 2 to the second infrared sensor 14, and the sensing distance of the second infrared sensor 14 is not larger than the distance from the first gear 3 to the second infrared sensor 14. By the structure, the transverse sensing area of the first infrared sensor 5 is positioned between one side of the sample 12 far from the second gear 4 and the second gear 4, and the transverse sensing area of the second infrared sensor 14 is positioned between one side of the sample 12 far from the first gear 3 and the first gear 3, so that the purpose of improving the accuracy of whether the sample 12 is placed on the sliding plate 2 sensed by the first infrared sensor 5 and the second infrared sensor 14 is achieved.

In order to reduce the influence of the slide plate 2 on the detection results of the first infrared sensor 5 and the second infrared sensor 14. In this embodiment, as shown in fig. 3 and fig. 4, the first infrared sensor 5 and the second infrared sensor 14 are both located above the slide plate 2, and the distance between the first infrared sensor 5 and the slide plate 2 and the distance between the second infrared sensor 14 and the slide plate 2 are not greater than the height of the sample 12. Through this structure for first infrared sensor 5 vertically induction zone, the vertically induction zone of second infrared sensor 14 all are located between slide 2 and the upper end of sample 12 on the slide 2, in order to reach the purpose that further improves whether first infrared sensor 5, second infrared sensor 14 are placed sample 12's accuracy on the response slide 2.

In this embodiment, as shown in fig. 6, the slide plate 2 is provided with a stage 7, limiting plates 8 are disposed around the surface of the stage 7, and a sample limiting region is formed between the stage 7 and each of the limiting plates 8, and is used for placing a sample 12. Through this structure, place sample 12 back in the spacing district of sample, each limiting plate 8 forms spacingly to the lateral wall of sample 12, reaches at slide 2 transportation sample 12 in-process, reduces sample 12 slip probability to improve sample 12 transportation stability's purpose.

In a specific implementation process, different samples 12 are placed in different well plates, wherein the well plates comprise a PCR plate, a magnetic bead solution deep well plate, an extraction reagent A deep well plate and an eluent deep well plate. In a full-automatic sample processing system, transfer of a PCR plate, a magnetic bead solution deep pore plate, an extraction reagent A deep pore plate and an eluent deep pore plate is realized by means of a manipulator, but the heights of the PCR plate, the magnetic bead solution deep pore plate and the extraction reagent A deep pore plate are not consistent, the heights of the extraction reagent A deep pore plate and the eluent deep pore plate are the same, the manipulator clamps side walls when clamping, and the manipulator clamps different height positions due to different pore plate heights. Therefore, in this embodiment, as shown in fig. 6 and 7, concave structures 9 are disposed on both sides of the stage 7, and the concave structures 9 are used to match the clamping portions of the transfer robot. The concave structures 9 arranged on the two sides of the objective table 7 are mutually corresponding to the clamping parts of the manipulator, so that when the clamping parts of the manipulator clamp the orifice plate on the objective table 7, the clamping parts of the manipulator can extend into the concave structures 9 to clamp the bottom of the orifice plate. The purpose of enabling the bottom surfaces of pore plates of different types to be in contact with the objective table 7 and clamping the bottom of the pore plate is achieved. Compared with the mode of side clamping, the clamping transfer of pore plates of different types can be realized without adjusting the clamping height.

In this embodiment, as shown in fig. 3 and fig. 4, the first infrared sensor 5 and the second infrared sensor 14 are both disposed on the outer wall of the housing 1, and the outer wall of the housing 1 is provided with a first light hole 10 corresponding to the first infrared sensor 5 and a second light hole 15 corresponding to the second infrared sensor 14. By this structure, the first infrared sensor 5 and the second infrared sensor 14 are arranged on the outer wall of the housing 1, so that the purpose of reducing the risk of the sample 12 colliding with the first infrared sensor 5 or the second infrared sensor 14 and causing damage to the first infrared sensor 5 or the second infrared sensor 14 in the process of transferring the sample 12 is achieved. Meanwhile, through the first light holes 10 and the second light holes 15 on the shell 1, the purpose of facilitating the first infrared sensor 5 to transmit and receive infrared rays from the first light holes 10 and the second infrared sensor 14 to transmit and receive infrared rays from the second light holes 15 is achieved. In this embodiment, as shown in fig. 3, the protective cover 11 is disposed on each of the first infrared sensor 5 and the second infrared sensor 14. Through the protective cover 11, the first infrared sensor 5 and the second infrared sensor 14 are protected, and the purpose of reducing the damage probability of the first infrared sensor 5 and the second infrared sensor 14 is achieved. Meanwhile, the aim of effectively guaranteeing isolation transmission tightness is achieved. In the specific implementation process, the protective cover 11 is also provided with a waterproof joint, so that the aim of further improving the isolation conveying tightness is fulfilled.

The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the utility model, and is not meant to limit the scope of the utility model, but to limit the utility model to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the utility model are intended to be included within the scope of the utility model.

Claims

1. The material conveying device comprises a shell (1), wherein a material conveying device is arranged in the shell (1), the material conveying device comprises a driving device (13) and a supporting seat, a sliding plate (2) is arranged on the supporting seat in a sliding manner, and the driving device (13) is used for enabling the sliding plate (2) to reciprocate on the supporting seat through a transmission mechanism; the shell (1) is further rotatably provided with a first gear (3) and a second gear (4), and is characterized by further comprising:

the first infrared sensor (5) is arranged on the discharge end of the shell (1), and the first infrared sensor (5) is used for generating a first detection signal when no sample (12) is detected on the sliding plate (2) at the discharge end;

the controller (6), the input end of the controller (6) is electrically connected with the output end of the first infrared sensor (5), and the controller (6) is used for generating a first control signal after acquiring a first detection signal;

the input end of the driving device (13) is electrically connected with the output end of the controller (6), and the driving device (13) responds to the first control signal to enable the sliding plate (2) to move to the feeding end on the supporting seat through a transmission mechanism.

2. A material conveying apparatus according to claim 1, wherein:

the device further comprises a second infrared sensor (14), wherein the second infrared sensor (14) is arranged on the feeding end of the shell (1), and the second infrared sensor (14) is used for generating a second detection signal when a sample (12) is placed on the sliding plate (2) of the feeding end;

the input end of the controller (6) is electrically connected with the output end of the second infrared sensor (14), and the controller (6) is used for generating a second control signal after acquiring a second detection signal;

the driving device (13) responds to the second control signal to enable the sliding plate (2) to move towards the discharging end on the supporting seat through a transmission mechanism.

3. A material conveying apparatus according to claim 2, wherein:

the first infrared sensor (5) is positioned at one side far away from the second gear (4);

the second infrared sensor (14) is located at a side away from the first gear (3).

4. A material conveying apparatus according to claim 3, wherein:

the sensing distance of the first infrared sensor (5) is not smaller than the distance from the sample (12) on the sliding plate (2) to the first infrared sensor (5);

the sensing distance of the first infrared sensor (5) is not greater than the distance from the second gear (4) to the first infrared sensor (5).

5. A material handling apparatus as set forth in claim 4, wherein:

the sensing distance of the second infrared sensor (14) is not smaller than the distance from the sample (12) on the slide plate (2) to the second infrared sensor (14);

the sensing distance of the second infrared sensor (14) is not greater than the distance from the first gear (3) to the second infrared sensor (14).

6. A material conveying apparatus according to claim 2, wherein:

the first infrared sensor (5) and the second infrared sensor (14) are both positioned above the sliding plate (2);

the distance from the first infrared sensor (5) to the sliding plate (2) and the distance from the second infrared sensor (14) to the sliding plate (2) are not larger than the height of the sample (12).

7. A material conveying apparatus according to claim 2, wherein:

an objective table (7) is arranged on the sliding plate (2);

limiting plates (8) are arranged around the table top of the objective table (7);

a sample limiting area is formed between the objective table (7) and each limiting plate (8);

the sample (12) limiting area is used for placing the sample (12).

8. A material handling apparatus as set forth in claim 7, wherein:

concave structures (9) are arranged on two sides of the objective table (7);

the concave structure (9) is used for being matched with the clamping part of the transferring manipulator.

9. A material handling apparatus as set forth in claim 8, wherein:

the first infrared sensor (5) and the second infrared sensor (14) are arranged on the outer wall of the shell (1);

a first light transmission hole (10) corresponding to the first infrared sensor (5) and a second light transmission hole (15) corresponding to the second infrared sensor (14) are formed in the shell (1).

10. A material handling apparatus as set forth in claim 9, wherein:

the first infrared sensor (5) and the second infrared sensor (14) are respectively provided with a protective cover (11).