Cabin-free articulated truck

Abstract

A cockpit-free articulated truck (100) comprising:-a first vehicle module (101) comprising a first frame and at least one first wheeled axle (21),-a second vehicle module (102) comprising a second frame (3) and at least one second wheeled axle (22), in which the first frame (3) and the second wheeled axle (22) are connected to each other, the first vehicle module (101) is connected to the second vehicle module (102) in an articulated manner about a vertical pin and / or a vertical axis V. Each of the first vehicle module (101) and the second vehicle module (102) is provided with a load bearing arrangement (7, 8).

Description

Technical Field

[0001] The invention relates to the field of articulated vehicles without a cabin. The invention relates to the field of autonomous articulated trucks. The invention relates to the field of mining machines. Background Art

[0002] Mining machines for removing excavated rock material include loading and conveying equipment. It is previously known to provide an articulated truck, such as a dump truck, having a front vehicle module pivotably connected about a vertical pin to a rear vehicle module, which typically includes a load-bearing arrangement, such as a box, a tipping bucket, a load-bearing silo, or the like.

[0003] This articulated lorry arrangement allows such lorries to have a smaller turning radius on a vehicle of the same length than those with steer axles. Such articulated lorries are therefore particularly useful in situations such as underground mines and are the preferred vehicle for hauling ore in underground mines where the tunnels may be very narrow.

[0004] A typical underground articulated truck has a front vehicle module housing including a cabin, an engine driving wheels in both the front module and a rear vehicle module including a load bearing arrangement. However, providing power to both the front vehicle module and the rear vehicle module with the load bearing arrangement requires a complex transmission system.

[0005] In mines and underground excavations, transport equipment is often required to have a high load-bearing capacity in order to be able to remove rock material as efficiently as possible. On the other hand, the transport equipment should be designed so that it can be easily moved and turned in relatively narrow and / or low-height underground mining tunnels.

[0006] A disadvantage of current prior art transport equipment solutions is that their load carrying capacity may be insufficient relative to the space required to navigate narrow and / or low-profile underground mining tunnels. Also, the turning angle of an articulated truck may be very limited. Summary of the invention

[0007] The present disclosure provides a cabin-less articulated truck.

[0008] According to a first aspect, the present invention provides a cabless articulated truck.

[0009] According to the present invention, the cabinless articulated truck comprises: - a first vehicle module comprising a first frame and at least one first wheeled axle, - a second vehicle module comprising a second frame and at least one second wheeled axle, wherein the first vehicle module is interconnected to a second vehicle module in an articulated manner about a vertical pin and / or a vertical axis, and Each of the first vehicle module and the second vehicle module is provided with a load carrying arrangement.

[0010] The technical effect is that, through the cabin-less design of the cabin-less articulated truck, each of the first vehicle module and the second vehicle module can be provided with a load-bearing device, wherein the load-bearing capacity of the cabin-less articulated truck is relatively high, because the cabin-less structure enables the remaining space of the cab to be used for the load. The articulation between the first vehicle module and the second vehicle module enables good steering and makes the vehicle agile. Furthermore, in one embodiment of the cabin-less articulated truck, only one wheel axle is included in each vehicle module, which saves space and maintains the simple structure of the cabin-less articulated truck. Another advantage may be that the design of the cabin-less articulated truck can be kept quite low. In one embodiment, it is possible to obtain an optimal weight distribution of the cabin-less articulated truck.

[0011] The articulated hauler without a cabin is characterized by what is stated in the independent claim.

[0012] Some other embodiments are characterized by features described in other claims. Embodiments of the invention are also disclosed in the description and drawings of this patent application. The inventive content of this patent application may also be defined in other ways than those defined in the appended claims. The inventive content may also be formed by several independent inventions, in particular if the invention is examined in terms of explicit or implicit sub-tasks or from the perspective of obtained benefits or groups of benefits. Some of the limitations contained in the appended claims may be unnecessary in view of separate inventive ideas. Features of different embodiments of the invention may be applied to other embodiments within the scope of the basic idea of ​​the invention.

[0013] In one embodiment of the cabless articulated truck, the first vehicle module and the second vehicle module may be interconnected to rotate relative to each other about the longitudinal axis L. In one embodiment, this lateral movement may be referred to as swinging. In one embodiment, the central oscillation may allow the first frame of the first vehicle module and the second frame of the second vehicle module of the cabless articulated truck structure to move laterally relative to each other by a specific amount. The advantage of the first vehicle module and the second vehicle module being interconnected to rotate relative to each other about the longitudinal axis L is that it can help ensure that all tires, such as four tires, remain in contact with the ground on uneven terrain. It can also enable a vehicle design in which a separate oscillation arrangement may not be required for the wheeled axle. This saves space and keeps the vehicle structure simple. In one embodiment, due to the central articulation and swing joint arrangement, a separate swing arrangement for the wheeled axle may not be required. Compared to the electric articulated truck of the prior art (which has a swinging wheeled axle and a cab for the operator), this can save space and, for example, a larger number of batteries can be arranged. In addition, due to the central articulation and swing joint, the structure of the first vehicle module and the second vehicle module can be kept simple and a complex structure can be avoided. Lack of complexity is also an advantage in vehicle manufacturing and assembly, as well as vehicle maintenance.

[0014] In one embodiment of the cabless articulated truck, the first wheel axle of the first vehicle module and / or the second wheel axle of the second vehicle module may comprise at least one wheel hub motor and means for transmitting torque from the wheel hub motor to at least one wheel. An advantage of using a wheel hub motor as a drive motor is that it enables a simple structure for transmitting torque to the wheels. No complex cardan shaft arrangement is required to transmit torque from the drive motor to the wheels.

[0015] In one embodiment of the cab-less articulated hauler, each of the first vehicle module and the second vehicle module may comprise an energy storage device, such as a battery, for the drive motor. This has the advantage that, due to the simple structure of the first vehicle module with a first frame and at least one wheeled axle and the second vehicle module with a second frame and at least one wheeled axle, each vehicle module has sufficient space for an energy storage device, such as a battery. In one embodiment, the cab-less articulated hauler may be an electric vehicle and space is required for the battery arrangement. One advantage is that the structure and design of the cab-less articulated hauler is able to provide space for placing batteries, for example distributed over the length and / or width of the first vehicle module and / or the second vehicle module.

[0016] In one embodiment of the cabless articulated hauler, the cabless articulated hauler may be an autonomous vehicle. This has the advantage that no space needs to be left in the vehicle for an operator. This allows all suitable space to be available for load carrying purposes. Another advantage may be that the autonomous cabless articulated hauler may be ideal for load carrying purposes in underground mines. The structure may be made low and narrow enough so that the vehicle can be moved in a mining tunnel without an operator. The cabless articulated hauler may be arranged to move in its two main directions: with the first vehicle module in front, or with the second vehicle module in front. Another advantage may be that there is no need to turn the vehicle around.

[0017] In one embodiment of the articulated truck without a cabin, the articulated truck without a cabin may be a remote controlled truck. The advantages may be substantially similar to the above embodiment, but another advantage may be that the remote control device enables the operator to control the vehicle, for example in the event of a fault.

[0018] In one embodiment of the cabless articulated hauler, the load carrying arrangement may be a dump box. An advantage of this is that the dump box is particularly suitable for mining solutions for hauling mining materials, such as rock material.

[0019] In one embodiment of the cabless articulated truck, the load carrying arrangement may be a box with an ejector type unloading device. An advantage of using an ejector type unloading device with the cabless articulated truck is that the box or the tipping bucket may be a fixed structure arranged on the frame. This may make the structure of the first vehicle module and the second vehicle module strong and durable. This also saves space. In one embodiment, the tipping bucket may be unloaded in a low height space, since unloading material from the box does not require the box to tip over.

[0020] In one embodiment of the cabless articulated truck, the first load carrying arrangement extends over the length and width of the first vehicle module and the second load carrying arrangement extends over the length and width of the second vehicle module. This has the advantage that the payload of this embodiment can be relatively high. In one embodiment, the design of the truck can be kept low and no operator's cab is required (cabless design or cab-less design).

[0021] In one embodiment of the cabless articulated hauler, an actuator is arranged for rotating the first vehicle module and / or the second vehicle module relative to the vertical pin and / or the vertical axis. An advantage is that the steering of the cabless articulated hauler can be kept simple and the vehicle is also agile when turning in confined spaces, such as a tunnel in a mine.

[0022] In an embodiment of the cabless articulated hauler, the first vehicle module and / or the second vehicle module is provided with sensors for sensing the environment of the hauler. The structure of the cabless articulated hauler allows for a plurality of suitable locations for the sensors. An advantage is that the sensors may be arranged on one or both of the vehicle modules. An advantage may be that in an embodiment the vehicle may be arranged to move forwards and backwards, for example in a mine tunnel, and sensors may be required in both vehicle modules.

[0023] In one embodiment of the articulated truck without a cabin, the sensor is arranged to the first end of the articulated truck without a cabin, and / or to the second end of the articulated truck without a cabin. An advantage of this is that the vehicle can move in two directions (forward direction and / or reverse direction), and the sensor can be arranged on both ends of the vehicle for effectively sensing the environment of the vehicle.

[0024] In one embodiment of the cabless articulated truck, the sensor is arranged to the tailgate of the first load carrying arrangement and / or to the tailgate of the second load carrying arrangement. This has the advantage that the tailgate provides a good mounting point for the sensor to sense the vehicle environment.

[0025] In one embodiment of the cabless articulated truck, the sensor is at least one of: radar, lidar, camera, ultrasonic sensor, thermal imaging camera, sonar, GPS, inertial measurement unit, or any combination of two or more of these sensors. One advantage is that several types of sensors can be arranged on the cabless articulated truck according to the needs of different applications.

[0026] In one embodiment of the articulated truck without a cabin, the articulated truck without a cabin further comprises: - autonomous control means for autonomous control of the articulated hauler without a cabin and of its use, - a sensor for sensing the environment of the articulated truck without a cabin, - a control device for controlling the cabless articulated hauler and the use of the cabless articulated hauler based on the sensed environment, - a position determination device for continuously determining the position of the truck, - Control means for controlling the truck and the use of the truck based on the determined position.

[0027] In an embodiment of a non-cab articulated truck, any one of the above-described embodiments may be included alone or in combination with any other embodiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are included to provide a further understanding of the present invention and constitute a part of this specification, and illustrate embodiments of the present invention and together with the description help explain the principles of the present invention. In the drawings:

[0029] Figure 1 is a schematic side view of an embodiment of a cabinless articulated vehicle,

[0030] Figure 2 is a schematic top view of an embodiment of an articulated vehicle without a cabin,

[0031] Figure 3 is a schematic perspective view of an embodiment of an articulated vehicle without a cabin in a first position,

[0032] Figure 4 is a schematic perspective view of an embodiment of an articulated vehicle without a cabin in a second position,

[0033] Figure 5 is a schematic perspective view of an embodiment of an articulated vehicle without a cabin in a third position,

[0034] Figure 6 is a schematic perspective view of an embodiment of an articulated vehicle without a cabin in a fourth position,

[0035] Figure 7 is a schematic top view of an embodiment of a cabinless articulated vehicle in a pit,

[0036] Figure 8 is a schematic top view of an embodiment of a cab-less articulated vehicle in a pit.

[0037] In the drawings, some embodiments are shown in simplified form for clarity. Similar parts are marked with the same reference numerals in the drawings. DETAILED DESCRIPTION

[0038] Figure 1A cabless articulated hauler, such as a cabless articulated truck 100, is shown (side view). In one embodiment, the cabless articulated hauler may be a cabless articulated hauler in which the operator of the vehicle may not be on the cabless articulated hauler. In one embodiment, the cabless articulated hauler may be suitable for transporting rock material and is particularly intended for use in mines and excavations. In one embodiment, the cabless articulated truck 100 may be a remotely controlled cabless articulated truck. In one embodiment, the cabless articulated truck 100 may be an autonomously controlled cabless articulated truck. In one embodiment, the cabless articulated truck may be an underground mining truck. In one embodiment, the cabless articulated truck may be an underground mining vehicle. In one embodiment, the cabless articulated truck 100 may include a first vehicle module 101 and a second vehicle module 102. The first vehicle module 101 may be interconnected to the second vehicle module 102 in an articulated manner about a vertical pin and / or a vertical axis V. In an embodiment, the first vehicle module 101 and the second vehicle module 102 may be provided with a load bearing arrangement 7, 8. In an embodiment, the first vehicle module 101 may include a first chassis or frame 2. In an embodiment, the first vehicle module 101 may include at least one first wheeled axle 21. The first wheeled axle 21 may be provided with wheels 5. In an embodiment, the second vehicle module 102 may include a second chassis or frame 3. In an embodiment, the second vehicle module 102 may include at least one second wheeled axle 22. The second wheeled axle 22 may be provided with wheels 6.

[0039] The drive equipment of the cabless articulated truck may include one or more drive motors and one or more power transmission devices for transmitting drive power to one or more wheels 5, 6. The drive power transmission device may include a mechanical gear system and a mechanical power transmission member, or alternatively, the drive power transmission device may be hydraulic or electric. In one embodiment, the drive motor may be at least one hub motor 23. In one embodiment, the powertrain of the cabless articulated truck 100 may include a hub motor arrangement. In one embodiment, the hub motor arrangement may include a plurality of hub motors 23. In one embodiment, there may be a hub motor 23 for each of the wheels 5, 6 of the wheeled axle.

[0040] In an embodiment, the cabless articulated truck may include wheels 5, 6. In an embodiment, the wheels 5, 6 may be arranged to be supported on the frames 2, 3 of the first vehicle module 101 and the second vehicle module 102.

[0041] In one embodiment, at least one set of a first pair of wheels 5 can be arranged on the frame 2 of the first vehicle module 101, such that at least one wheel can be arranged on a first side of the frame, and at least one second wheel can be arranged on a second side of the frame, and the frame can be arranged between the first wheel and the second wheel.

[0042] In one embodiment, at least one set of second pairs of wheels 6 can be arranged on a second frame 3 of a second vehicle module 102, such that at least one wheel can be arranged on a first side of the frame and at least one second wheel can be arranged on a second side of the frame, and the second frame 3 can be arranged between the first wheel and the second wheel.

[0043] The first frame 2 of the first vehicle module 101 and the second frame 3 of the second vehicle module 102 can be arranged to deflect relative to each other around the rotation axis L. In one embodiment, the rotation axis L can be the longitudinal axis of the non-cabin articulated truck 100. In one embodiment, the rotation axis L can be the main movement axis of the non-cabin articulated truck 100. In one embodiment, the wheels in each pair of wheels can be arranged on different sides of the rotation axis L. In one embodiment, this deflection movement can be called swing. The center swing can allow the first frame 2 of the first vehicle module 101 of the non-cabin articulated truck structure and the second frame 3 of the second vehicle module 102 to move laterally relative to each other by a specific amount. In one embodiment, the center swing can allow the first frame 2 and the second frame 3 of the vehicle structure to move laterally relative to each other, for example, about + / -8 degrees. The relative movement may vary depending on the application. Typically, the relative movement between the first frame 2 of the first vehicle module 101 and the second frame 3 of the second vehicle module 102 can be about + / -5 to 15 degrees laterally. Figures 5 and 6 It is shown how the center swing may allow the first vehicle module 101 and the second vehicle module 102 to move relative to each other about the axis of rotation L.

[0044] The center swing may be crucial to improve the stability of the non-cab articulated vehicle. It helps to ensure that all tires of the wheels 5, 6, for example the tires of four wheels 5, 6, maintain contact with the ground on uneven terrain. In one embodiment, the wheels 5, 6 may also refer to a wheel arrangement with multiple wheels (e.g., dual wheels).

[0045] exist Figure 1 In an embodiment of the non-cab articulated truck 100, there may be four wheels 5, 6. The number of wheels may vary, and different types of movement mechanisms (e.g., track arrangements) may be used instead of wheels. In one embodiment, the first vehicle module 101 and / or the second vehicle module 102 may include several wheeled axles.

[0046] In one embodiment of the cabinless articulated truck, the truck may include a frame structure including a first frame 2 , a second frame 3 , and an articulated member 4 located between the first frame 2 and the second frame 3 .

[0047] In an embodiment, the first vehicle module 101 and the second vehicle module 102 may be arranged to rotate relative to each other and relative to a vertical axis V.

[0048] Figure 2 The fastening of a first vehicle module 101 and a second vehicle module 102 of an articulated transport device according to an embodiment by a hinge 4 is shown in a top view. The figure also shows an actuator 9, such as a hydraulic cylinder, by which the first vehicle module 101 and the second vehicle module 102 can be pivoted relative to each other.

[0049] In one embodiment, the cabless articulated truck 100 may include: - a first vehicle module 101 comprising a first frame 2 and at least one first wheeled axle 21, A second vehicle module 102 comprising a second frame 3 and at least one second wheel axle 22 .

[0050] The first vehicle module 101 may be interconnected to the second vehicle module 102 in an articulated manner about a vertical pin and / or a vertical axis V.

[0051] In an embodiment, each of the first vehicle module 101 and the second vehicle module 102 may be provided with a load carrying arrangement 7, 8. In an embodiment, the first vehicle module 101 and the second vehicle module 102 may be interconnected to rotate about a longitudinal axis L and relative to each other.

[0052] In one embodiment, the first wheel axle 21 of the first vehicle module 101 and / or the second wheel axle 22 of the second vehicle module 102 may include at least one wheel hub motor 23 and a device for transmitting torque from the wheel hub motor 23 to at least one wheel 5, 6. In one embodiment, a wheel hub motor 23 may be arranged for each wheel. In one embodiment, the first wheel axle 21 and / or the second wheel axle 22 may include two wheel hub motors 23.

[0053] In one embodiment of a cabless articulated truck, each of the first vehicle module 101 and the second vehicle module 102 may include a power source for the at least one drive motor (such as a wheel hub motor). In one embodiment, the power source may be an energy storage device, such as a battery 13,14.

[0054] In one embodiment of a non-cab articulated truck 100, power may be provided by at least one heavy-duty, high-power battery pack, which may be comprised of a plurality of battery modules. Each module may be comprised of a plurality of cells. In one embodiment, the battery or battery pack may be removably attached to the vehicle 100. In one embodiment, the battery 13, 14, or a portion of the battery assembly may be fixedly attached to the vehicle. In one embodiment, the battery 13 may be attached to a support 26 connected to a first frame 2 of a first vehicle module 101. In one embodiment, the battery 14 may be attached to a support 27 connected to a second frame 3 of a second vehicle module 102. In one embodiment, the powertrain may include cabling from the energy storage to the electric hub motor and other equipment required in the electric powertrain.

[0055] In one embodiment, a cab-less articulated truck may be capable of connecting to a power line, for example for charging an energy storage device. In one embodiment, a cab-less articulated truck may be capable of connecting to a power line via a connector. In one embodiment, the connector may be arranged to a trolley collector arrangement arranged on the truck. The truck may be arranged to receive current from trolley wires that are arranged a set distance from each other and a certain distance from the truck. In one embodiment of the cab-less articulated truck, a range extender may be provided to charge an energy storage device (such as a battery). In one embodiment, the range extender may be a fuel-based auxiliary power unit that can extend the range of the electric vehicle by driving a generator that charges the vehicle batteries.

[0056] In one embodiment, the cabinless articulated truck 100 may be an autonomous vehicle. In one embodiment, the cabinless articulated truck may be a land vehicle that can sense its environment and move safely with little or no human input. In one embodiment, the cabinless articulated truck may be a self-driving vehicle that can combine various sensors 30 to sense its surroundings, such as thermal imaging cameras, radar, lidar, sonic navigation range finders, GPS, range finding, and inertial measurement units. A control system may be arranged to interpret the sensory information to identify appropriate navigation paths and obstacles and / or relevant landmarks.

[0057] In one embodiment, the cabless articulated truck 100 may be a remotely controlled truck. In one embodiment, the cabless articulated truck 100 may be an unmanned ground vehicle (UGV). An unmanned ground vehicle may operate in contact with the ground without the presence of an onboard human. In one embodiment, the cabless articulated truck 100 may have a set of sensors 30 to observe the environment and may make decisions about its behavior autonomously or pass information to a human operator at a different location who will control the vehicle via remote operation.

[0058] In one embodiment of a non-cab articulated truck, the load-bearing arrangement 7, 8 may be a dumping box. In one embodiment of a non-cab articulated truck, the load-bearing arrangement 7, 8 may be a box with an ejector-type unloading device. The ejector-type unloading device may include an ejector 10, which is movably arranged in the dumping bucket for unloading material from the dumping bucket. The ejector-type unloading device may also include a drive device for moving the ejector in the dumping bucket from a first position to a second position. In one embodiment, the ejector 10 of each dumping bucket 7, 8 may be arranged to move from a first position toward a second position, i.e. toward the end 15, 16 of the non-cab articulated truck, in which the ejector 10 is close to the central hinge 4 in the dumping bucket. The advantage of using an ejector-type unloading device with a non-cab articulated truck is that the box or dumping bucket can be a fixed structure arranged to the frame. This can make the structure of the first vehicle module and the second vehicle module strong and durable. This also saves space. In one embodiment, the tipping bucket can be unloaded in the bottom height space, because unloading material from the car body does not require the car body to tip over.

[0059] In one embodiment, the first load bearing arrangement 7 may extend in the length direction and the width direction of the first vehicle module 101. Figure 1 to Figure 2 In an embodiment, the length L1 of the first load bearing arrangement 7 may extend substantially to the length of the first frame 2 of the first vehicle module 101. The width W1 of the first load bearing arrangement 7 may extend substantially to the width of the first vehicle module 101. In an embodiment, the second load bearing arrangement 8 may also extend in the length direction and the width direction of the second vehicle module 102. Figure 1 to Figure 2 In the embodiment of the present invention, the length L2 of the second load bearing arrangement 8 may extend substantially to the length of the second frame 3 of the second vehicle module 102. The width W2 of the second load bearing arrangement 8 may extend substantially to the width of the second vehicle module 102. Figure 2In the embodiment shown, the first load carrying arrangement 7 may have a "footprint", i.e., covering the area of ​​the first vehicle module 101 (width W1 x length L1), and the second load carrying arrangement 8 may have a "footprint", i.e., covering the area of ​​the second vehicle module 102 (width W2 x length L2). The payload of this embodiment is relatively high because the design of the truck can be kept low and no cab for the operator is required (cabless design or cabless design). Figure 1 1 shows the height H of an empty articulated truck 100 without a cabin. The height H can be measured vertically from the ground to the approximate highest point of the vehicle. In one embodiment, this allows space to be used for load-bearing arrangements as well as for payload. In one embodiment, the powertrain can be easily arranged to be supported to the frame 2 of the first vehicle module 101 and / or supported to the frame 3 of the second vehicle module 102. The batteries 13, 14 can be arranged to be distributed over the length and / or width of the first vehicle module 101 and / or the second vehicle module 102. This can enable the design of the articulated truck without a cabin to be quite low. In one embodiment, it is possible that the optimal weight distribution of the articulated truck without a cabin can be obtained. In one embodiment, due to the central articulation and swing joint arrangement, a separate swing arrangement for the wheeled axle is not required. Compared with the prior art articulated truck with a swinging wheeled axle and a cab for the operator, this can save space and can allow a greater number of batteries to be arranged. In addition, due to the central articulation and swing joint 4, the structure of the first vehicle module and the second vehicle module can be kept simple. An articulated truck without a cabin may have a higher towing capacity. In one embodiment, the articulated truck without a cabin 100 may have a towing capacity of about 50 to 75 tons. In one embodiment, the mass (or unladen weight) of the articulated truck without a cabin 100 may be about 50 tons. Prior art articulated trucks may have a maximum towing capacity of 50 tons, and the mass (or unladen weight) of prior art articulated trucks is 50 tons. In one embodiment, the towing capacity of the articulated truck without a cabin 100 may be substantially higher than that of prior art trucks. In one embodiment, the towing capacity may be about 50% higher than that of prior art articulated trucks.

[0060] In one embodiment, the actuator 9 may be arranged to rotate the first vehicle module 101 and / or the second vehicle module 102 relative to the vertical pin and / or the vertical axis V. In one embodiment, the first end of the actuator 9 may be arranged on the first vehicle module 101 and the second end of the actuator may be arranged on the second vehicle module 102. In one embodiment, the first vehicle module 101 may have a first connection point 11 for the first end of the actuator 9. In one embodiment, the second vehicle module 102 or the articulated and center swing joint 4 may have a second connection point 12 for the second end of the actuator 9. In one embodiment, the actuator 9 may be an electrically operated actuator or a hydraulically operated actuator or a pneumatically operated actuator. In one embodiment, the actuator may be a cylinder-piston combination. In one embodiment, the first end of the actuator may be one end of the cylinder and the second end of the actuator may be one end of the piston rod. In one embodiment, a plurality of actuators 9 may be arranged. In one embodiment, the actuators may be arranged in pairs, wherein the first actuator may be arranged on a first side of the longitudinal axis and the second actuator is arranged to the second side of the longitudinal axis. In an embodiment, the actuator 9 may be arranged in an inclined position relative to an axis parallel to the longitudinal axis of the vehicle.In an embodiment, the steering of the cabless articulated truck may be kept simple and the actuator may be designed and dimensioned according to the embodiment.

[0061] In one embodiment, the first vehicle module 101 and / or the second vehicle module 102 may be provided with a sensor 30 for sensing the environment of the truck. In one embodiment, the sensor 30 may be arranged to the first end 15 of the articulated truck 100 without a cabin and / or to the second end 16 of the articulated truck 100 without a cabin.

[0062] In one embodiment, the sensor 30 may be arranged to the tailgate 17 of the first load carrying arrangement 7 and / or to the tailgate 18 of the second load carrying arrangement 8. In one embodiment, the first tailgate may be arranged in a first end of the non-cab articulated hauler. In one embodiment, the second tailgate may be arranged in a second end of the non-cab articulated hauler.

[0063] In one embodiment, the sensor 30 is at least one of the following: radar, lidar, camera, ultrasonic sensor, thermal imaging camera, sonic navigation rangefinder, GPS, inertial measurement unit, or any combination of two or more of these sensors.

[0064] In one embodiment, the cabinless articulated truck 100 may further include: - autonomous control means for autonomous control of the articulated hauler without a cabin and of its use, - a sensor (30), the sensor (30) being used to sense the environment of the cabinless articulated truck (100); - a control device for controlling the cabless articulated hauler (100) and the use of the cabless articulated hauler (100) based on the sensed environment; - a position determination device for continuously determining the position of the truck; - Control means for controlling the truck and the use of the truck based on the determined position.

[0065] In one embodiment, the cabinless articulated truck may include: - A device for autonomous control of said articulated truck without a cabin and its use.

[0066] The non-cab articulated truck may include: - A steering structure for controlling the travel direction of the cabless articulated truck.

[0067] The non-cab articulated truck may include: - sensor means 30 for sensing the environment of the truck; and means for controlling said truck and its use based on said environment sensed.

[0068] The truck may include: - means for continuously determining the position of the truck; and - means for controlling said truck and its use based on said determined position.

[0069] The truck and its use may be controlled according to a sequence comprising loading using the load carrier arrangement, moving the loaded truck and unloading the load.

[0070] The truck may also include: - means for tipping over the load carrying arrangement in at least one lateral direction.

[0071] In one embodiment of the cabinless articulated truck, a truck application computer program may be provided, wherein the computer program may include program code stored on a computer-readable medium, the program code being used to cause an electronic controller or another computer connected to the electronic controller to perform the above steps to control the cabinless articulated truck.

[0072] As seen from above, Figures 7 and 8The space requirement of an articulated hauler 100 without a cab according to one embodiment of the invention is shown, which is equipped with a platform in a pit 24, located between the pit walls 25.

[0073] In one embodiment of the present invention, the cab-less articulated hauler 100 equipped with the first load carrying arrangement 7 and the second load carrying arrangement 8 does not require as much space when turning; in other words, it is able to turn in, for example, a smaller / narrower pit 24. The space requirement of a conventional transport device with a cab and with a corresponding payload may be significantly greater than the space requirement of an embodiment of a cab-less articulated hauler according to the present disclosure.

[0074] With an embodiment of the articulated hauler without a cabin, an excellent load carrying capacity is achieved with respect to the space required for turning in a mining tunnel. The articulated hauler without a cabin according to an embodiment moves flexibly in bends. The maneuverability and logistic manageability of the articulated hauler without a cabin are very good. In the articulated hauler without a cabin according to an embodiment, the load can be easily and evenly distributed between the axles. The articulated hauler without a cabin according to an embodiment also has very good stability.

[0075] It is obvious to a person skilled in the art that, as technology advances, the basic idea of ​​the invention can be implemented in various ways. Therefore, the invention and its embodiments are not limited to the examples described above, but they may vary within the scope of the claims.

[0076] Reference numerals list

[0077] 100 Articulated lorries without a cab, i.e. articulated lorries without a cab

[0078] 101 First Vehicle Module

[0079] 102 Second vehicle module

[0080] 2 First Framework

[0081] 3 Second Framework

[0082] 4 center hinge and swing joint

[0083] 5 Wheels of the first vehicle module

[0084] 6 Wheels of the second vehicle module

[0085] 7 First load bearing arrangement

[0086] 8 Second load bearing arrangement

[0087] 9 Actuator

[0088] 10 Ejector

[0089] 11 Connection point of the first end of the actuator

[0090] 12 Connection point for the second end of the actuator

[0091] 13 Power source / battery

[0092] 14 Power source / battery

[0093] 15 The first end of the articulated truck without a cabin

[0094] 16 Second end of an articulated truck without a cabin

[0095] 17 Tailgate of the first load bearing arrangement

[0096] 18 Second load bearing arrangement tailgate

[0097] 21 First wheel axle

[0098] 22 Second wheel axle

[0099] 23 Wheel Hub Motor

[0100] 24 Tunnel

[0101] 25 Tunnel wall

[0102] 26 Support

[0103] 27 Support

[0104] 30 Sensors

[0105] H Height of the vehicle

[0106] L1 Length of the first load-bearing arrangement

[0107] W1 Width of the first load-bearing arrangement

[0108] L2 Length of the first load-bearing arrangement

[0109] W2 Width of the first load-bearing arrangement

[0110] L Longitudinal axis

[0111] V vertical axis

Claims

1. A cabinless articulated truck (100), comprising: - autonomous control means for autonomous control of the articulated hauler without a cabin and of its use, - a sensor (30) for sensing the environment of the cabinless articulated truck (100), - a control device for controlling the cabless articulated hauler (100) and the use of the cabless articulated hauler (100) based on the sensed environment, - a position determination device for continuously determining the position of the truck, - control means for controlling the truck and the use of the truck based on the determined position, - a first vehicle module (101), said first vehicle module (101) comprising a first frame (2) and at least one first wheeled axle (21), - a second vehicle module (102), said second vehicle module (102) comprising a second frame (3) and at least one second wheel axle (22), in - the first vehicle module (101) and the second vehicle module (102) are interconnected to rotate relative to each other about a longitudinal axis (L), - the first vehicle module (101) is interconnected to the second vehicle module (102) in an articulated manner about a vertical pin and / or a vertical axis V, - each of the first vehicle module (101) and the second vehicle module (102) is provided with a load carrying arrangement (7, 8), and - Each of the load-bearing arrangements (7, 8) is a tipping box with an ejector-type unloading device (10) or a tipping box extending over the length and width of the respective first vehicle module (101) or second vehicle module (102).

2. An articulated truck without a cabin according to claim 1, wherein the first wheel axle (21) of the first vehicle module (101) and / or the second wheel axle (22) of the second vehicle module (102) comprises at least one wheel hub motor (23) and means for transmitting torque from the wheel hub motor (23) to at least one wheel (5, 6).

3. An articulated truck without a cabin according to any one of claims 1 or 2, wherein each of the first vehicle module (101) and the second vehicle module (102) comprises an energy storage device for the drive motor, for example, the energy storage device is a battery (13, 14).

4. The articulated hauler without a cab according to any one of claims 1 to 3, wherein the articulated hauler without a cab is an autonomous vehicle.

5. The articulated hauler without a cab according to any one of claims 1 to 3, wherein the articulated hauler without a cab is a remote controlled truck.

6. An articulated truck without a cabin according to any one of claims 1 to 5, wherein an actuator (9) is arranged for rotating the first vehicle module (101) and / or the second vehicle module (102) relative to the vertical pin and / or the vertical axis (V).

7. The cabless articulated truck according to any one of claims 1 to 6, wherein the first vehicle module (101) and / or the second vehicle module (102) is provided with a sensor (30) for sensing the environment of the truck.

8. The articulated hauler without a cab according to any one of claims 1 to 7, wherein a sensor (30) is arranged to a first end (15) of the articulated hauler without a cab (100) and / or to a second end (16) of the articulated hauler without a cab.

9. An articulated hauler without a cab according to any one of claims 1 to 8, wherein the sensor (30) is arranged to a tailgate (17) of the first load-bearing arrangement (7) and / or to a tailgate (18) of the second load-bearing arrangement (8).

10. The cabless articulated truck according to any one of claims 1 to 9, wherein the sensor (30) is at least one of the following: a radar, a lidar, a camera, an ultrasonic sensor, or any combination of two or more of these sensors.

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