Extensible and modularized carrier vehicle framework for self-driven modularized carrier vehicle

Abstract

The invention discloses an extensible and modularized vehicle framework for a self-driven modularized transport vehicle. The extensible and modularized vehicle framework comprises a plurality of module units which are detachably connected with one another; the module unit comprises a base module and four butt joint sub-modules. The docking sub-module comprises a shell, a first docking device and a second docking device; the first butt joint device for the shell comprises a lock head driving mechanism, a first butt joint mechanism and a second butt joint mechanism, the lock head is connected with the power output end of the lock head driving mechanism; the lock head driving mechanism can drive the lock head to extend out of or return to the shell; the second butt joint device comprises a butt joint bearing body which is fixedly arranged in the shell, and a groove is formed in the butt joint bearing body; the two spring bolt driving mechanisms are fixedly arranged in the shell and oppositely arranged on the two sides of the butt joint bearing body; the two spring bolts are connected to the power output ends of the two spring bolt driving mechanisms in a one-to-one correspondence manner; the spring bolt driving mechanism can drive the two spring bolts to enter or retreat from the grooves from the two sides of the butt-joint bearing body.

Description

Technical Field

[0001] The invention belongs to the technical field of self-driving modular transport vehicles, and in particular relates to an expandable and modular vehicle frame configuration for a self-driving modular transport vehicle. Background Art

[0002] SPMT (Self-Propelled Modular Transporter) technology has high flexibility and carrying capacity, and is widely used in the transportation of overweight and oversized goods. It involves a series of complex technologies such as electric drive, hydraulic system, precision steering, and automated control.

[0003] With the continuous advancement of technology, the application of SPMT will become more extensive. Although the automation technology of the existing SMPT transport vehicle has improved the transportation efficiency, in actual operation, the expansion and coordination between multiple modules is still a technical challenge. Summary of the invention

[0004] The object of the present invention is to provide an expandable and modular frame configuration for a self-driving modular transport vehicle, which integrates the frame and the docking mechanism into an integrated design and is provided with an automatically driven docking device, which can improve the compactness of the frame configuration and improve the splicing efficiency.

[0005] The technical solution provided by the present invention is:

[0006] A scalable, modular vehicle frame configuration for a self-driving modular transporter, comprising:

[0007] A plurality of module units detachably connected to each other;

[0008] The module unit comprises:

[0009] A base module, which is a rectangular parallelepiped structure with a square bottom surface; and

[0010] Four docking submodules, which are detachably connected to four sides of the base module in a one-to-one correspondence;

[0011] Wherein, the docking submodule comprises a housing, a first docking device and a second docking device;

[0012] The shell is a rectangular parallelepiped structure;

[0013] The first docking device comprises:

[0014] A lock drive mechanism, which is fixedly disposed in the housing;

[0015] A lock head connected to a power output end of the lock head driving mechanism, the lock head being arranged in a direction away from the base module; the lock head driving mechanism being capable of driving the lock head to extend out of or retract into the housing;

[0016] The second docking device comprises:

[0017] A docking carrier, which is fixedly disposed in the housing, the docking carrier is provided with a groove, and the opening direction of the groove is the same as the direction of the lock head;

[0018] Two bolt drive mechanisms are fixedly arranged in the housing and are arranged oppositely on two sides of the docking carrier;

[0019] Two locking tongues, which are connected to the power output ends of the two locking tongue driving mechanisms in a one-to-one correspondence;

[0020] The lock tongue driving mechanism can respectively drive the two lock tongues to enter or exit the groove from both sides of the docking carrier;

[0021] Among them, in two interconnected module units, the first docking device and the second docking device of one module unit cooperate with the second docking device and the first docking device of the other module unit respectively to achieve docking.

[0022] Preferably, the docking submodule is at the same height as the base module, and the docking submodule is tightly fitted to the side of the base module to which it is connected.

[0023] Preferably, the base module is provided with a slot with a top opening near each side surface; a plug board matching the slot is connected to one side of the docking submodule, and is connected to the slot via the plug board.

[0024] Preferably, the base module comprises:

[0025] A base shell, which is a rectangular parallelepiped structure with a square bottom surface;

[0026] A grid-shaped reinforcement plate is fixedly connected inside the base shell.

[0027] Preferably, the lock drive mechanism comprises:

[0028] A first sleeve, which is fixedly disposed in the housing along the width direction of the docking submodule;

[0029] A first driving motor, which is fixedly mounted on the first sleeve;

[0030] A first lead screw connected to an output shaft of the driving motor, wherein the first lead screw is arranged along an axial direction of the first sleeve;

[0031] a first nut, which is matched and connected to the first lead screw;

[0032] The locking head is fixedly connected to the first nut, and a guide mechanism is provided in the first sleeve to limit the locking head to move axially along the first sleeve.

[0033] Preferably, the bolt driving mechanism comprises:

[0034] A second sleeve, which is fixedly disposed in the housing along the length direction of the docking submodule;

[0035] A second driving motor, which is fixedly mounted on the second sleeve;

[0036] A second lead screw connected to an output shaft of the second drive motor, the second lead screw being arranged along an axial direction of the second sleeve;

[0037] a second nut, which is matched and connected to the second lead screw;

[0038] The locking tongue is fixedly connected to the second nut, and a guide mechanism is provided in the second sleeve to limit the locking tongue to move axially along the second sleeve.

[0039] Preferably, the lock comprises:

[0040] The main body is a hollow cylinder; one end of the main body is coaxially connected to the first nut;

[0041] The locking part is cylindrical; one end of the locking part is coaxially fixedly connected to the other end of the main body;

[0042] A limiting portion, which is disc-shaped and coaxially fixedly connected to the other end of the locking portion;

[0043] Wherein, the outer diameter of the locking portion is smaller than the outer diameter of the main body portion and the outer diameter of the limiting portion.

[0044] Preferably, one end of the locking tongue is fixedly connected to the second nut, and the other end has an arc-shaped concave surface matching the shape of the locking portion.

[0045] Preferably, the opening end of the groove is a conical surface with a diameter gradually decreasing from the outside to the inside; a docking hole connected to the groove is provided on the shell, and the diameter of the docking hole is the same as the diameter of the large-diameter section of the conical surface.

[0046] Preferably, locking tongue openings communicating with the groove are symmetrically provided on both sides of the docking carrier, and the locking tongue enters the groove from the corresponding locking tongue openings.

[0047] The beneficial effects of the present invention are:

[0048] 1. The present invention integrates the frame and the docking mechanism into an integrated design, which effectively improves the compactness of the frame configuration.

[0049] 2. The vehicle frame structure designed by the present invention adopts a modular design, consisting of four identical docking sub-modules and a base module. The structure and connection and fixing method are simple, and the docking sub-modules are detachable and replaceable, which is convenient for installation and maintenance, reduces maintenance costs, and improves assembly efficiency.

[0050] 3. When the two traveling modules are expanded, the first docking device and the second docking device of the two traveling modules are combined with each other to form a rigid connection in a "gripping" manner, thereby achieving the purpose of expansion and being able to realize automatic driving of the docking device, thereby improving connection reliability and convenience.

[0051] 4. The vehicle frame configuration designed by the present invention can be expanded in four directions, and can realize disorderly splicing of various module units, thereby realizing module expansion splicing that adapts to various application requirements and configuration requirements.

[0052] 5. In the vehicle frame configuration designed by the present invention, each module unit can operate independently, so that the vehicle frame configuration has the ability to still operate normally even if one of the module units fails, and has strong reliability and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic diagram of an expandable, modular frame configuration for a self-driving modular transporter according to the present invention.

[0054] Figure 2 It is a structural schematic diagram of the module unit described in the present invention.

[0055] Figure 3 The figure is a schematic diagram of the external structure of the docking submodule described in the present invention.

[0056] Figure 4 The figure is a schematic diagram of the internal structure of the docking submodule described in the present invention.

[0057] Figure 5 It is a schematic diagram of the external structure of the second docking device (one end) described in the present invention.

[0058] Figure 6 It is a schematic diagram of the external structure of the base module described in the present invention.

[0059] Figure 7 It is a schematic diagram of the internal structure of the base module described in the present invention.

[0060] Figure 8 It is a schematic diagram of the exploded state of the base module described in the present invention.

[0061] Fig. 9 It is a schematic diagram of the internal structure of the first docking device described in the present invention.

[0062] Fig.10 It is a schematic diagram of the internal structure of the second docking device (one end) described in the present invention. DETAILED DESCRIPTION

[0063] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0064] like Figure 1-10 As shown, the present invention provides an expandable, modular vehicle frame configuration for a self-driving modular transport vehicle, which is composed of one module unit 100 or a plurality of module units 100 that are detachably connected to each other.

[0065] The module unit 100 includes a base module 110 and four docking sub-modules 120 .

[0066] The base module 110 is a rectangular parallelepiped structure with a square bottom surface. The four docking sub-modules 120 are detachably connected to the four side surfaces of the base module 110 in a one-to-one correspondence.

[0067] The docking submodule 120 includes a housing 121, a first docking device 122 and a second docking device 123. The housing 121 is a rectangular parallelepiped structure, and the length direction of the housing 121 is arranged along the length direction of the bottom surface of the base module 110.

[0068] The first docking device 122 includes: a lock drive mechanism 1221 and a lock 1222. The lock drive mechanism 1221 is fixedly arranged in the housing 121. The lock 1222 is connected to the power output end of the lock drive mechanism 1221, and the lock 1222 is arranged in a direction away from the base module 110; the housing 121 is provided with a through hole at a position corresponding to the lock 1222, and the lock drive mechanism 1221 can drive the lock 1222 to extend from the through hole or retract into the housing 121 along the width direction of the housing 121.

[0069] The second docking device 123 includes: a docking carrier 1231 , two locking tongue driving mechanisms 1232 and two locking tongues 1233 .

[0070] The docking carrier 1231 is fixedly disposed in the housing 121 and is spaced apart from the lock head 1222 . The docking carrier 1231 is provided with a cylindrical groove 1231 a , and the opening direction of the groove 1231 a is the same as that of the lock head 1222 .

[0071] The two locking tongue driving mechanisms 1232 are fixedly arranged in the housing 121 and are arranged oppositely on both sides of the docking carrier 1231. The two locking tongues 1233 are connected to the power output ends of the two locking tongue driving mechanisms 1232 in a one-to-one correspondence; the locking tongue driving mechanisms 1232 can respectively drive the two locking tongues 1233 to enter or exit the groove 1231a from both sides of the docking carrier 1231.

[0072] In two interconnected module units 100 , the first docking device 122 and the second docking device 123 of one module unit cooperate with the second docking device 123 and the first docking device 122 of the other module unit respectively to achieve docking.

[0073] The docking submodule 120 has the same height as the base module 110, and the docking submodule 120 is closely fitted with the side of the base module 110 to which it is connected, so that the entire module unit 100 has a flat upper surface. In this embodiment, the length of the docking submodule 120 is greater than the bottom edge length of the base module 110; one end of the docking submodule 120 is flush with one side of the base module 110, and the other end extends out of the base module 110, while one end of the adjacent docking submodule 120 just rests on the side of the docking submodule 120 extending out of the base module 110; and in two adjacent docking submodules 120, the side of one docking submodule 120 and the end face of the other docking submodule 120 remain flush, so that the bottom face of the entire module unit 100 is still square.

[0074] As a preferred embodiment, a square bearing plate 111 is fixedly connected to the bottom of the base module 110 for supporting four docking submodules 120, and after the docking submodules 120 are connected, the edge of the bearing plate 111 is flush with the edge of the docking submodules 120. The bearing plate 111 not only supports the docking submodules 120, but also acts as a limiter to ensure that the upper surface of the docking submodules 120 after connection is flush with the base module 110. Wing plates 112 are also provided on opposite sides of the bearing plate 111 to facilitate the connection between the frame and the suspension.

[0075] In this embodiment, the base module 110 is provided with a slot 113 with a top opening near each side; a plug board 124 matching the slot 113 is connected to one side of the docking submodule 120, and the docking submodule 120 is connected to the slot 113 through the plug board 124. This connection method can ensure that the side of the docking submodule 120 and the side of the base module 110 are closely fitted.

[0076] As a preferred embodiment, the base module 110 includes: a base shell 1101 and a grid-shaped reinforcement plate 1102. The base shell 1101 is a hollow rectangular parallelepiped structure with a square bottom surface; the grid-shaped reinforcement plate 1102 is fixedly connected inside the base shell 1101. The grid-shaped reinforcement plate 1102 is provided to strengthen the structure of the base module 110 and can reduce the dead weight of the base module 110.

[0077] In order to ensure the connection strength between the plug board 124 and the base module 110 , the plug board 124 may also be connected to the housing of the base module 110 by bolts.

[0078] The base module 110 , the carrier plate 111 and the housing 121 of the docking submodule are all made of high-strength alloy steel to ensure the strength of the vehicle frame configuration.

[0079] In this embodiment, the lock drive mechanism 1221 includes: a first sleeve 1221a, a first drive motor 1221b, a first lead screw 1221c and a first nut 1221d.

[0080] The first sleeve 1221a is fixedly arranged in the housing 121 along the width direction of the docking submodule 120. The first drive motor 1221b is fixedly installed at one end of the sleeve 1221a. The power of the first drive motor 1221b is output through the output shaft after being reduced by the reducer. The output shaft of the first drive motor 1221b is located in the sleeve 1221a and is arranged along the axial direction of the first sleeve 1221a; the first lead screw 1221c is connected to the output shaft of the drive motor 1221b, and the first lead screw 1221c is arranged along the axial direction of the first sleeve 1221a. The first nut 1221d is matched and connected to the first lead screw 1221c. Among them, the lock is fixedly connected to the first nut 1221d. Two symmetrical guide rails are arranged on the inner wall of the first sleeve 1221a along the axial direction, and sliding grooves matching the guide rails are opened on both sides of the lock 1222 to limit the axial movement of the lock 1222 along the first sleeve 1221a.

[0081] The bolt driving mechanism 1232 includes: a second sleeve 1232a, a second driving motor 1232b, a second lead screw 1232c and a second nut 1232d.

[0082] The second sleeve 1232a is fixedly arranged in the housing 121 along the length direction of the docking submodule 120. The second drive motor 1232b is fixedly installed at one end of the second sleeve 1232a. The power of the second drive motor 1232b is output through the output shaft after being reduced by the reducer. The output shaft of the second drive motor 1232b is located in the second sleeve 1221a and is arranged along the axial direction of the second sleeve 1232a. The second lead screw 1232c is connected to the output shaft of the second drive motor 1232b, and the second lead screw 1232c is arranged along the axial direction of the second sleeve 1232a. The second nut 1232d is matched and connected to the second lead screw 1232c. The lock tongue 1233 is fixedly connected to the second nut 1232d. Two symmetrical guide rails are arranged on the inner wall of the second sleeve 1232a along the axial direction, and sliding grooves matching the guide rails are opened on both sides of the lock tongue 1233 to limit the axial movement of the lock tongue 1233 along the second sleeve 1232a.

[0083] As a preferred embodiment, the lock head 1222 includes: a main body 1222a, a locking part 1222b and a limiting part 1222c. The main body 1222a is a hollow cylindrical structure, and one end of the main body 1222a is coaxially fixedly connected to the first nut 1221d. The locking part 1222b is cylindrical, and one end of the locking part 1222b is coaxially fixedly connected to the other end of the main body 1222a. The limiting part 1222c is disc-shaped, and the limiting part 1222c is coaxially fixedly connected to the other end of the locking part 1222b. Among them, the outer diameter of the locking part 1222b is smaller than the outer diameter of the main body 1222a and the outer diameter of the limiting part 1222c.

[0084] One end of the locking tongue 1233 is a hollow cylinder 1233a, and is coaxially fixedly connected to the second nut 1221d, and the other end has an arc-shaped concave surface 1233b that matches the shape of the locking portion 1222b.

[0085] Among them, locking tongue openings 1231b communicating with the groove 1231a are symmetrically opened on both sides of the docking carrier 1231, and the locking tongue 1233 enters the groove 1231a from the corresponding locking tongue opening 1231b.

[0086] Preferably, the opening end of the groove 1231a is a conical surface with a diameter gradually decreasing from outside to inside; the housing 121 is provided with a docking hole 121a connected to the groove 1231a, and the diameter of the docking hole 121a is the same as the diameter of the large-diameter section of the conical surface. When two module units 100 are docked, the lock head 1222 of one module unit 100 is inserted into the groove 1231a through the docking hole 121a of the other module unit 100 in turn, and the lock tongue 1233 and the lock tongue opening 1231b enter the groove 1231a, and the arc-shaped concave surface 1233b of the lock tongue 1233 matches and snaps on the locking part 1222b of the lock head, and the two lock tongues 1233 are rigidly connected with the lock head 1222 in a "grip" manner. The opening end of the groove 1231a is a conical surface with a diameter gradually decreasing from outside to inside, which can guide the entry of the lock head 1222.

[0087] As a further preferred embodiment, the front end periphery of the limiting portion 1222c has a chamfer to prevent the lock head 1222 from colliding when entering the groove 1231a.

[0088] The working principle of the vehicle frame configuration is as follows: when one module unit is used as the vehicle frame, the lock 1222 is in a retracted state, and the limit portion 1222c of the lock 1222 is flush with the outer side surface of the docking submodule 120. When docking is required to expand to multiple module units, the two module units 100 are moved to appropriate positions so that the axes of the locks 1222 and the grooves 1231a of the two module units 100 are aligned, and the lock 1222 is extended under the drive of the lock drive mechanism 1221, and the conical surface at the front end of the groove 1231a guides the lock 1222 to move to the correct docking position. After the lock 1222 is extended until it contacts the inner bottom surface of the groove 1231a, the lock tongues 1233 on both sides of the groove 1231a enter the groove 1231a from the corresponding lock tongue openings 1231b under the drive of the lock tongue drive mechanism 1232 until they are engaged with the locking portion 1222b of the lock, thereby achieving the purpose of locking. When the lock heads 1222 of the two module units 100 are inserted into the grooves 1231a of each other and locked, the docking is completed. According to the above method, each module unit 100 can be connected to other module units 100 in four directions without distinction, and the vehicle frame structure composed of multiple module units 100 is expanded.

[0089] The present invention integrates the vehicle frame (base module 110) and the docking mechanism (docking submodule 120) to effectively improve the compactness of the vehicle frame configuration. The vehicle frame configuration designed by the present invention adopts a modular design, which is composed of four identical docking submodules and one base module. The structure and connection and fixing method are simple, and the docking submodule is detachable and replaceable, which is convenient for installation and maintenance, reduces maintenance costs, and improves assembly efficiency. When the two driving modules are expanded, the first docking device and the second docking device of the two driving modules are combined with each other to form a rigid connection in a "grip" manner to achieve the purpose of expansion, and can realize the automatic drive of the docking device, improve the connection reliability and convenience. The vehicle frame configuration designed by the present invention can be expanded in four directions, and can realize the disordered splicing of each module unit, and realize the module expansion splicing that adapts to various application requirements and configuration requirements. In the vehicle frame configuration designed by the present invention, each module unit can operate independently, so that the vehicle frame configuration has the ability to work normally even if one of the module units fails, and has strong reliability and stability.

[0090] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An expandable, modular frame configuration for a self-propelled modular transporter, characterized in that: include: Multiple modular units that are detachably connected to each other; The module unit comprises: A base module, which is a rectangular parallelepiped structure with a square bottom surface; and Four docking submodules, which are detachably connected to four sides of the base module in a one-to-one correspondence; Wherein, the docking submodule comprises a housing, a first docking device and a second docking device; The shell is a rectangular parallelepiped structure; The first docking device comprises: A lock drive mechanism, which is fixedly disposed in the housing; A lock head connected to a power output end of the lock head driving mechanism, the lock head being arranged in a direction away from the base module; the lock head driving mechanism being capable of driving the lock head to extend out of or retract into the housing; The second docking device comprises: A docking carrier, which is fixedly disposed in the housing, the docking carrier is provided with a groove, and the opening direction of the groove is the same as the direction of the lock head; Two bolt drive mechanisms are fixedly arranged in the housing and are arranged oppositely on two sides of the docking carrier; Two locking tongues, which are connected to the power output ends of the two locking tongue driving mechanisms in a one-to-one correspondence; The lock tongue driving mechanism can respectively drive the two lock tongues to enter or exit the groove from both sides of the docking carrier; Among them, in two interconnected module units, the first docking device and the second docking device of one module unit cooperate with the second docking device and the first docking device of the other module unit respectively to achieve docking.

2. The expandable, modular frame configuration for a self-propelled modular transporter according to claim 1, characterized in that: The docking submodule has the same height as the base module, and the docking submodule is tightly fitted to the side of the base module to which it is connected.

3. The expandable, modular frame configuration for a self-driving modular transporter according to claim 2, characterized in that: The base module is provided with a slot with a top opening near each side surface; one side of the docking submodule is connected with a plug-in board matching the slot and connected to the slot through the plug-in board.

4. The expandable, modular frame configuration for a self-propelled modular transporter according to claim 1, characterized in that: The base module comprises: A base shell, which is a rectangular parallelepiped structure with a square bottom surface; A grid-shaped reinforcement plate is fixedly connected inside the base shell.

5. The expandable, modular frame configuration for a self-driving modular transporter according to claim 3 or 4, characterized in that: The lock drive mechanism comprises: A first sleeve, which is fixedly disposed in the housing along the width direction of the docking submodule; A first driving motor, which is fixedly mounted on the first sleeve; A first lead screw connected to an output shaft of the driving motor, wherein the first lead screw is arranged along an axial direction of the first sleeve; a first nut, which is matched and connected to the first lead screw; The locking head is fixedly connected to the first nut, and a guide mechanism is provided in the first sleeve to limit the locking head to move axially along the first sleeve.

6. The expandable, modular frame configuration for a self-propelled modular transporter according to claim 5, characterized in that: The bolt driving mechanism comprises: A second sleeve, which is fixedly disposed in the housing along the length direction of the docking submodule; A second driving motor, which is fixedly mounted on the second sleeve; A second lead screw connected to an output shaft of the second drive motor, the second lead screw being arranged along an axial direction of the second sleeve; a second nut, which is matched and connected to the second lead screw; The locking tongue is fixedly connected to the second nut, and a guide mechanism is provided in the second sleeve to limit the locking tongue to move axially along the second sleeve.

7. The expandable, modular frame configuration for a self-propelled modular transporter according to claim 6, characterized in that: The lock comprises: The main body is a hollow cylinder; one end of the main body is coaxially connected to the first nut; The locking part is cylindrical; one end of the locking part is coaxially fixedly connected to the other end of the main body; A limiting portion, which is disc-shaped and coaxially fixedly connected to the other end of the locking portion; Wherein, the outer diameter of the locking portion is smaller than the outer diameter of the main body portion and the outer diameter of the limiting portion.

8. The expandable, modular frame configuration for a self-propelled modular transporter according to claim 7, characterized in that: One end of the locking tongue is fixedly connected to the second nut, and the other end has an arc-shaped concave surface matching the shape of the locking portion.

9. The expandable, modular frame configuration for a self-propelled modular transporter according to claim 8, characterized in that: The opening end of the groove is a conical surface with a diameter gradually decreasing from the outside to the inside; a docking hole connected to the groove is provided on the shell, and the diameter of the docking hole is the same as the diameter of the large-diameter section of the conical surface.

10. The expandable, modular frame configuration for a self-propelled modular transporter according to claim 9, characterized in that: Lock tongue openings communicating with the groove are symmetrically provided on both sides of the docking carrier, and the lock tongue enters the groove from the corresponding lock tongue openings.

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