A vehicle docking locking device

Abstract

The present application relates to the field of vehicle connecting device, more particularly to a kind of vehicle docking locking device.A kind of vehicle docking locking device, including taper mouth passive system and taper rod active system, respectively installed in the tail position of the inside of front vehicle body and the head position of the inside of rear vehicle body;Taper mouth passive system and taper rod active system two components are used in conjunction, according to the need control main body to extend and retract, realize articulated connection and rigid locking connection between vehicles;Make vehicle can realize quick docking in the presence of docking deviation, simultaneously stable connection, articulated connection and rigid connection between vehicles can be realized in two states in motion, so that vehicle has both obstacle and through performance.

Description

Technical Field

[0001] This invention relates to the field of vehicle connection devices, and more specifically to a vehicle docking and locking device. Background Technology

[0002] Vehicle docking technology plays a crucial role in modern transportation, logistics, and military fields. It is not only a key technology for achieving coordinated vehicle operation, improving transportation efficiency and system flexibility, but also a core means of ensuring the stability and safety of vehicle connections. For example, in logistics transportation, connecting multiple trucks into a "road train" can reduce the number of drivers, improve transportation efficiency, and lower logistics costs. In the military, docking individual vehicles into multi-vehicle or multi-axle vehicles can improve vehicle passability, enhance off-road capabilities, and increase vehicle power. Furthermore, docking mechanisms can improve vehicle operational capabilities in the event of vehicle failure through redundant drives, ensuring safe vehicle operation.

[0003] In existing research on vehicle docking mechanism design, articulated structures are commonly used. For example, in BRT buses, a large bearing is used in the middle, and hydraulic struts are used on both sides for connection. However, this device is generally installed at the factory and cannot achieve rapid connection during vehicle use. Furthermore, its pitch and torsional freedom is limited, making it unsuitable for rough road conditions. In articulated all-terrain vehicles, a hydraulic articulation device is used, but its numerous drive units and complex control also prevent rapid docking. In motorhomes, ball joints are used for vehicle connection. The relative pitch and torsional movements depend on the dimensional relationship between the ball joint and the pin, resulting in limited swing and the inability to achieve a rigid connection. This reduces the vehicle's passability in complex off-road conditions. Existing docking devices either cannot achieve rapid docking or have limited degrees of freedom after connection, failing to meet the driving needs of vehicles in complex road conditions. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a vehicle docking locking device, which has the advantages of enabling vehicles to dock quickly even with docking deviations, while maintaining a stable connection.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] A vehicle docking and locking device includes a cone-shaped passive system and a cone-shaped active system, which are respectively installed at the rear of the front vehicle and the head of the rear vehicle. The two components, the cone-shaped passive system and the cone-shaped active system, work together to control the main body to extend and retract as needed, so as to realize the articulated connection and rigid locking connection between the vehicles.

[0007] The passive cone system includes a base plate fixing device, a sliding pitch device, and an end cone locking device. The base plate fixing device fixes the entire passive cone system to the rear of the vehicle in front and also has the motion guidance and driving function of the sliding pitch device. The sliding pitch device can slide on the base plate fixing device and has pitch freedom. The end cone locking device is connected to the active cone system to realize vehicle docking.

[0008] The active cone rod system comprises a base plate fixing device and a sliding cone rod docking device. The base plate fixing device fixes the entire active cone rod system to the front of the rear vehicle. The base plate fixing device drives the sliding cone rod docking device to move back and forth and lock. The sliding cone rod docking device is connected to the base plate fixing device through a shaft pin, giving the sliding cone rod docking device a yaw degree of freedom, while also having axial rotation and pitch degrees of freedom.

[0009] The base plate fixing device on the conical passive system includes a mounting base plate, a sliding pitch device fixing block, fixing lugs, linear slide rails, sliders, fixing plate one, encoder, reducer, linkage locking device, locking drive motor, rack, rack drive motor, limit switch, and cable chain. Fixing lugs are fixed at all four corners of the mounting base plate. Mounting holes are provided at the bottom of the fixing lugs to connect and fix the base plate fixing device to the installation vehicle. Two linear slide rails are fixed on the mounting base plate. Two sliders are fixed to the lower side of fixing plate one, and the two sliders are slidably connected to the two linear slide rails respectively. A rack is fixed on the mounting base plate, and a rack drive motor is mounted on fixing plate one. The gear on the output shaft of the rack drive motor meshes with the rack, and the drive gear moves on the rack, causing fixing plate one to move along the linear slide rails.

[0010] The first fixed plate is equipped with a connecting rod locking device and a locking drive motor. The fixed lug is provided with a fixing hole. Under the action of the reducer, the locking drive motor drives the connecting rod locking device to lock and unlock with the fixing hole on the fixed lug. The coaxial encoder provides position information for the locking drive motor. The first fixed plate is equipped with a sliding pitch device fixing block, which is connected to the sliding pitch device.

[0011] A drag chain is installed on the mounting base plate to facilitate the movement of cables on the base plate fixing device. Limit switches at the front and rear of the mounting base plate provide positioning signals to the rack and pinion drive motor.

[0012] The sliding pitch device includes a main frame, a rotating connecting sleeve, a pitch centering rod, a hinge encoder, and a yaw connecting sleeve. Two rotating connecting sleeves are fixed on the main frame and are respectively connected to two sliding pitch device fixing blocks, providing pitch freedom for the sliding pitch device. The two ends of the pitch centering rod are respectively hinged to the fixing plate and the main frame. The pitch centering rod is telescopic and has an internal spring structure. The zero position can ensure the pitch centering of the main frame, so that the main frame can automatically center when it is drooping or rising. A yaw connecting sleeve is provided at the front of the main frame, providing a connection port with the end cone locking device. It also has a hinge encoder that can obtain the yaw hinge angle of the end cone locking device.

[0013] The end cone locking device includes a fixed plate, a horizontal swing centering tie rod, a connecting pin, a locking bracket drive motor, a locking bracket, a guide cone, a lower sliding plate, a lower sliding plate preset bracket moving slide, and a cone guide groove. The entire end cone locking device is connected to the horizontal swing connecting sleeve of the sliding pitch device through the connecting pin, and has a horizontal swing freedom. To ensure that the end cone locking device is horizontally centered when not in operation, horizontal swing centering tie rods are provided on the left and right sides of the end cone locking device. The horizontal swing centering tie rods are telescopic and have an internal spring structure. The two horizontal swing centering tie rods cause the end cone locking device to deflect. When moving towards one end, a centering force is provided to quickly center the end cone locking device; the second fixing plate and the connecting pin are an integral structure, and the second fixing plate is fixedly connected to the locking bracket drive motor. A lower slide plate is fixed on the second fixing plate, and a lower slide plate is provided with a preset lower slide bracket moving slide. The locking bracket drive motor can drive the locking bracket to move along the preset lower slide bracket moving slide. The locking bracket is locked and connected to the cone rod active system through opening and closing. The guide cone is cone-shaped, which can provide fault tolerance when the cone rod is inserted. The guide cone is designed with a cone guide groove inside, which can straighten the cone rod through the cone guide groove.

[0014] The base plate fixing device on the cone rod active system includes a mounting base plate, fixing lugs, linear slide rails, sliders, fixing plate one, encoder, reducer, connecting rod locking device, locking drive motor, rack, rack drive motor, limit switch, drag chain, and sliding device guide limit groove. The base plate fixing device on the cone rod active system is similar in general to the base plate fixing device on the cone mouth passive system. The main difference is that its front fixing lugs have two locking holes at the front and rear, as well as a sliding device guide limit groove. When the overall docking mechanism is completed, it has two yaw joints in terms of yaw freedom. By pulling back part of the sliding part of the cone rod active system and locking it, one yaw joint is restricted, making the vehicle easier to control during driving.

[0015] The sliding cone rod docking device includes a central mounting base, a pitch centering tie rod, a cone rod, a brass cone head, a locking spring, a hook lug seat, a hook lug seat guide rod, a docking buffer spring, a spring guide rod, a lateral centering tie rod, a pitch kingpin, a bearing, and a brass lubricating block. The central mounting base is hinged to a fixed plate 1 via a rear pin hole. Two lateral centering tie rods are hinged to the central mounting base, and the other ends of the two lateral centering tie rods are hinged to the fixed plate 1, giving the sliding cone rod docking device a lateral degree of freedom. At the same time, the two lateral centering tie rods maintain lateral centering when there is no force. The rear mechanism on the central mounting base is connected to the central mounting base via a pitch kingpin, giving the central mounting base a pitch degree of freedom. The pitch centering tie rod on the central mounting base enables the central mounting base to maintain the pitch centering of the mechanism when there is no force. The hook lug seat guide rod guides the hook lug seat.

[0016] The spring guide rod is connected to the central mounting base and its end cap via a bearing, providing rotational freedom for the hook lug. The docking buffer spring can slide on the spring guide rod, reducing the impact and providing cushioning during docking collisions.

[0017] The hook lug at the head of the sliding cone rod docking device is connected to the locking bracket of the cone passive system to form a four-bar linkage. In order to further utilize the dead point of the linkage and increase the reliability of locking, a locking margin spring is provided in the hook lug and its guide rod to provide a locking stroke margin, so that the locking bracket can pass through the dead point and increase the dead point utilization range.

[0018] The foremost part of the sliding cone rod docking device is a cone rod with a guide strip that engages with the cone opening guide groove. A brass cone head is also provided on the cone rod, which is used to insert into the guide cone opening to reduce collisions.

[0019] The beneficial effects of the vehicle docking locking device of the present invention are:

[0020] 1. Large Allowable Docking Deviation: Due to its design involving the docking of a conical opening and a conical rod, and the fact that both parts possess lateral and pitch freedom, a deviation between the conical rod and the conical opening is permissible during docking. The specific deviation is proportional to the size of the conical opening, thus eliminating the need for overly precise vehicle docking operations to complete the docking task. A buffer spring is incorporated during the docking process to provide collision cushioning. Furthermore, guide grooves and guide strips are designed for both the conical opening and the conical rod to ensure that the lug and locking bracket are on the same plane after the conical rod is inserted into the conical opening, facilitating hook locking.

[0021] 2. Available in two connection types: articulated and rigid. The articulated connection allows for greater vehicle flexibility, facilitating travel on rugged mountain roads and areas with many curves. The rigid connection links two vehicles into a single unit, creating a multi-axle vehicle, which is convenient for transporting large items and also improves the overall system's driving performance and obstacle-crossing ability.

[0022] 3. Strong locking capability after docking: The locking bracket device is designed to connect with the hook lug to form a four-bar linkage structure. The locking force is generated by utilizing the dead point of the mechanism, eliminating the need for a motor to constantly drive the tension. To achieve this, a locking allowance spring is also designed, ensuring that the linkage mechanism passes through the dead point after docking. This prevents the dead point from being reached during docking due to machining errors, assembly errors, or other reasons, thus fully utilizing the structural strength.

[0023] 4. Each rotational degree of freedom is equipped with a centering tie rod: so that it can remain centered when not in operation.

[0024] 5. Compact structure: The two parts can be installed at the rear and front of the vehicle, and can be stored inside the vehicle when not in use.

[0025] 6. Simple operation: All motion devices work with limit switches or encoders to achieve automated motion without manual operation.

[0026] 7. It can be modularly deployed in vehicles, easily enabling expansion to connect with other vehicles. Attached Figure Description

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0028] Figure 1 This is a schematic diagram of the cone-shaped passive system.

[0029] Figure 2 This is a schematic diagram of the base plate fixing device on the conical passive system.

[0030] Figure 3 This is a schematic diagram of the sliding pitch device;

[0031] Figure 4 This is a schematic diagram of the end cone locking device;

[0032] Figure 5 A schematic diagram of the pre-set support frame and sliding track for the skateboard;

[0033] Figure 6 This is a schematic diagram of the tapered guide groove.

[0034] Figure 7 This is a schematic diagram of the cone-bar active system;

[0035] Figure 8 This is a schematic diagram of the base plate fixing device on the cone rod active system.

[0036] Figure 9 Schematic diagram of the sliding cone rod docking device Figure 1 ;

[0037] Figure 10 Schematic diagram of the sliding cone rod docking device Figure 2 ;

[0038] Figure 11 Schematic diagram of the sliding cone rod docking device Figure 3 ;

[0039] Figure 12 This is a schematic diagram of the initial state of separation between the passive conical mouth system and the active conical rod system.

[0040] Figure 13 A schematic diagram of the docking process between the cone-shaped passive system and the cone-shaped active system. Figure 1 ;

[0041] Figure 14 A schematic diagram of the docking process between the cone-shaped passive system and the cone-shaped active system. Figure 2 ;

[0042] Figure 15 A schematic diagram of the docking process between the cone-shaped passive system and the cone-shaped active system. Figure 3 ;

[0043] Figure 16 This is a schematic diagram of the rigid connection process between the passive conical mouth system and the active conical rod system.

[0044] In the figure: base plate fixing device 1; mounting base plate 101; sliding pitch device fixing block 102; fixing lug 103; linear slide rail 104; slider 105; fixing plate 106; encoder 107; reducer 108; connecting rod locking device 109; locking drive motor 110; rack 111; rack drive motor 112; limit switch 113; cable chain 114; sliding device guide limit groove 115;

[0045] Sliding pitch device 2; main frame 201; rotating connecting sleeve 202; pitch centering tie rod 203; hinge encoder 204; yaw connecting sleeve 205;

[0046] End cone locking device 3; Fixed plate 2 301; Horizontal swing centering tie rod 302; Connecting pin 303; Locking bracket drive motor 304; Locking bracket 305; Guide cone 306; Lower slide plate 307; Lower slide plate preset bracket moving slide 308; Cone guide groove 309;

[0047] Sliding cone rod docking device 4; central mounting base 401; pitch centering rod 402; cone rod 403; brass cone head 404; locking allowance spring 405; hook lug seat 406; hook lug seat guide rod 407; docking buffer spring 408; spring guide rod 409; lateral centering rod 410; pitch kingpin 411; bearing 412; brass lubricating block 413. Detailed Implementation

[0048] like Figure 1-11 A vehicle docking and locking device includes a cone-shaped passive system and a cone-shaped active system, which are respectively installed at the rear of the front vehicle body and the head of the rear vehicle body; the two components, the cone-shaped passive system and the cone-shaped active system, work together to control the main body to extend and retract as needed, so as to realize the articulated connection and rigid locking connection between vehicles.

[0049] The passive cone system includes a base plate fixing device 1, a sliding pitch device 2, and an end cone locking device 3. The base plate fixing device 1 fixes the entire passive cone system to the rear of the vehicle in front, and also has the motion guidance and driving functions of the sliding pitch device 2. The sliding pitch device 2 can slide on the base plate fixing device 1 and has pitch freedom. The end cone locking device 3 is connected to the active cone system to realize vehicle docking.

[0050] The active cone rod system comprises a base plate fixing device 1 and a sliding cone rod docking device 4. The base plate fixing device 1 fixes the entire active cone rod system to the front of the rear vehicle. The base plate fixing device 1 drives the sliding cone rod docking device 4 to move back and forth and lock. The sliding cone rod docking device 4 is connected to the base plate fixing device 1 through a shaft pin, so that the sliding cone rod docking device 4 has a yaw degree of freedom, and at the same time, it has axial rotation and pitch degrees of freedom.

[0051] The base plate fixing device 1 of the conical passive system includes a mounting base plate 101, a sliding pitch device fixing block 102, a fixing lug 103, a linear slide rail 104, a slider 105, a fixing plate 106, an encoder 107, a reducer 108, a connecting rod locking device 109, a locking drive motor 110, a rack 111, a rack drive motor 112, a limit switch 113, and a drag chain 114. Fixing lugs 103 are fixed at all four corners of the mounting base plate 101. The bottom of each fixing lug 103 has mounting holes for securing the base plate. The fixing device 1 is connected and fixed to the installation vehicle. Two linear slide rails 104 are fixed on the mounting base plate 101. Two sliders 105 are fixed on the lower side of the fixing plate 106. The two sliders 105 are slidably connected to the two linear slide rails 104 respectively. A rack 111 is fixed on the mounting base plate 101. A rack drive motor 112 is installed on the fixing plate 106. The gear on the output shaft of the rack drive motor 112 meshes with the rack 111. The drive gear moves on the rack 111, driving the fixing plate 106 to move along the linear slide rails 104.

[0052] The fixing plate 106 is equipped with a connecting rod locking device 109 and a locking drive motor 110. The fixing lug 103 is provided with a fixing hole. Under the action of the reducer 108, the locking drive motor 110 drives the connecting rod locking device 109 to lock and unlock with the fixing hole on the fixing lug 103. The coaxial encoder 107 provides position information for the locking drive motor 110. The fixing plate 106 is equipped with a sliding pitch device fixing block 102, which is connected to the sliding pitch device 2.

[0053] A drag chain 114 is installed on the mounting base plate 101 to facilitate the movement of the cables on the base plate fixing device 1. The limit switches 113 at the front and rear of the mounting base plate 101 provide positioning signals to the rack and pinion drive motor 112.

[0054] The sliding pitch device 2 includes a main frame 201, a rotating connecting sleeve 202, a pitch centering rod 203, a hinge encoder 204, and a yaw connecting sleeve 205. Two rotating connecting sleeves 202 are fixed on the main frame 201. The two rotating connecting sleeves 202 are respectively connected to two sliding pitch device fixing blocks 102, providing pitch freedom for the sliding pitch device 2. The two ends of the pitch centering rod are respectively hinged to the fixing plate 106 and the main frame 201. The pitch centering rod 203 can extend and retract. It has a spring structure inside. The zero position can ensure the pitch centering of the main frame 201, so that the main frame 201 can automatically center when it is drooping or rising. The front of the main frame 201 is provided with a yaw connecting sleeve 205, which provides a connection port with the end cone locking device 3. It also has a hinge encoder 204, which can obtain the yaw hinge angle of the end cone locking device 3.

[0055] The end cone locking device includes a fixed plate 301, a horizontal swing centering pull rod 302, a connecting pin 303, a locking bracket drive motor 304, a locking bracket 305, a guide cone 306, a lower slide plate 307, a lower slide plate preset bracket moving slide rail 308, and a cone guide groove 309. The entire end cone locking device 3 is connected to the horizontal swing connecting sleeve 205 of the sliding pitch device 2 via the connecting pin 303, and has a horizontal swing freedom. To ensure that the end cone locking device 3 is horizontally centered in the non-working state, horizontal swing centering pull rods 302 are provided on the left and right sides of the end cone locking device 3. The horizontal swing centering pull rods 302 are telescopic and have an internal spring structure. When the two horizontal swing centering pull rods 302 cause the end cone locking device 3 to be biased to one end, The centering force is provided to quickly center the end cone locking device 3; the fixing plate 301 and the connecting pin 303 are an integral structure. The fixing plate 301 is fixedly connected to the locking bracket drive motor 304. The fixing plate 301 is fixed with the lower slide plate 307. The lower slide plate 307 is provided with the lower slide plate preset bracket moving slide 308. The locking bracket drive motor 304 can drive the locking bracket 305 to move along the lower slide plate preset bracket moving slide 308. The locking bracket 305 is locked to the cone rod active system through opening and closing. The guide cone 306 is cone-shaped and can provide fault tolerance when the cone rod 403 is inserted. The guide cone 306 is designed with a cone guide groove 309 inside, which can make the cone rod 403 straight.

[0056] The base plate fixing device 1 on the cone rod active system includes a mounting base plate 101, a fixing lug 103, a linear slide rail 104, a slider 105, a fixing plate 106, an encoder 107, a reducer 108, a connecting rod locking device 109, a locking drive motor 110, a rack 111, a rack drive motor 112, a limit switch 113, a drag chain 114, and a sliding device guide limit groove 115. The base plate fixing device 1 on the cone rod active system is similar in general to the base plate fixing device 1 on the cone mouth passive system. The main difference is that its front fixing lug 103 has two locking fixing holes at the front and rear, as well as a sliding device guide limit groove 115. When the overall docking mechanism is completed, it has two yaw joints in terms of yaw freedom. By pulling back part of the sliding part of the cone rod active system and locking it, one yaw joint is restricted, making the vehicle easier to control during driving.

[0057] The sliding cone rod docking device 4 includes a central mounting base 401, a pitch centering rod 402, a cone rod 403, a brass cone head 404, a locking spring 405, a hook lug 406, a hook lug guide rod 407, a docking buffer spring 408, a spring guide rod 409, a lateral centering rod 410, a pitch kingpin 411, a bearing 412, and a brass lubricating block 413. The central mounting base 401 is hinged to the fixed plate 106 through a rear pin hole. Two lateral centering rods 410 are hinged to the central mounting base 401. The other end is hinged to the fixed plate 106, giving the sliding cone rod docking device 4 a degree of freedom of lateral swing. At the same time, it is maintained in lateral swing centering by two lateral swing centering tie rods 410 when no force is applied. The rear mechanism on the middle mounting base 401 is connected to the middle mounting base 401 by the pitch master pin 411, giving the middle mounting base 401 a degree of pitch freedom. The middle mounting base 401 is provided with a pitch centering tie rod 402, which enables the middle mounting base 401 to maintain the pitch centering of the mechanism when no force is applied. The hook ear seat guide rod 407 guides the hook ear seat 406.

[0058] The spring guide rod 409 is connected to the middle mounting base 401 and its end cap through the bearing 412, providing rotational freedom for the hook lug 406. The docking buffer spring 408 can slide on the spring guide rod 409, reducing the impact and providing buffering during the docking collision of the vehicle.

[0059] The hook lug 406 at the head of the sliding cone rod docking device 4 is connected to the locking bracket 305 of the cone passive system to form a four-bar linkage. In order to further utilize the dead point of the linkage and increase the reliability of locking, a locking margin spring 405 is provided in the hook lug 406 and its guide rod to provide a locking stroke margin, so that the locking bracket 305 can pass through the dead point and increase the dead point utilization range.

[0060] The foremost part of the sliding cone rod docking device 4 is a cone rod 403, on which a guide strip is provided. The guide strip cooperates with the cone guide groove 309. A brass cone head 404 is provided on the cone rod 403. The brass cone head 404 is used to insert into the guide cone opening 306 to reduce collision.

[0061] Work process:

[0062] The following describes the working process of the device of the present invention in detail under different operating conditions of the docking device. Ignoring the structure of the vehicle itself, it is assumed that the passive cone system and the active cone system are installed at the rear of the lead vehicle and the front of the rear vehicle, respectively.

[0063] Separate the initial state, such as Figure 12 As shown: The passive cone system and the active cone system each retract into the vehicle interior.

[0064] The docking process, such as Figure 13 As shown:

[0065] 1. In both systems, the rack and pinion drive motor 112 drives the gear to rotate, enabling its upper device to extend forward along the linear slide rail 104. When it reaches the designed front end position, the front limit switch 113 is triggered, and the rack and pinion drive motor 112 stops moving. The locking drive motor 110 rotates, causing the connecting rod locking device 109 to extend and insert into the locking hole on the fixed lug 103. The encoder 107 provides the extension distance information. When the device extends to the designated length, it stops moving, which is considered as locking the sliding device. The locking bracket 305 of the cone-mouth passive system opens under the action of the locking bracket drive motor 304. At this time, under the action of each centering tie rod, each device can ensure that the cone rod 403 and the guide cone 306 are horizontally centered.

[0066] 2. For example Figure 14 As shown, with the leading vehicle stationary and the following vehicles moving forward to dock, this can be combined with autonomous driving, allowing the cone rod 403 to insert into the guide cone opening 306. Due to the design of the cone rod 403, guide cone opening 306, and yaw, pitch, and axial rotation degrees of freedom, the cone rod 403 can be inserted into the guide cone opening 306 even with docking deviations. During vehicle docking, the docking buffer spring 408 provides cushioning to prevent hard-impact collisions. Simultaneously, the guide strip of the cone rod 403 cooperates with the cone guide groove 309 of the guide cone opening 306 to ensure that the fixing lug 103 of the cone rod 403 and the locking bracket 305 are on the same plane, eliminating angular deviations. At this point, the locking bracket drive motor 304 drives the locking bracket 305 to move along the conical guide groove 309, causing it to hook onto the hook lug 406, forming a four-bar linkage. Simultaneously, the designed locking allowance spring 405 allows the hook to pass through the dead point of the linkage. If there is a separation force between the two vehicles, the four-bar linkage can resist the separation force without requiring motor drive. However, at this point, the system has two yaw joints, forming a double-hinged structure, which is difficult to control with vehicle motion.

[0067] 3. For example Figure 15As shown, to facilitate vehicle movement and control, one degree of yaw freedom needs to be eliminated, forming a single-hinged structure. At this time, the left-side cone passive system remains stationary, while the rear cone active system opens the linkage locking device 109. Simultaneously, the rear vehicle slowly moves forward, and the rack-and-pinion drive motor 112 pulls back the cone active system. It stops after the middle limit switch 113 is activated. At this point, the linkage locking device 109 is precisely within the second fixing hole of the front fixing lug 103. Movement stops, and the linkage locking device 109 inserts into the second fixing hole. Because the bottom has a sliding guide limit groove 116, the yaw joint of the cone active system is restricted, thus making the entire system a single-hinged structure. The two vehicles are now docked and can move as an articulated vehicle. This system offers flexible transportation and improves transportation efficiency.

[0068] Rigid connection process, such as Figure 16 As shown:

[0069] To improve the off-road capability and overall transport performance of vehicles carrying large items, it is sometimes necessary to rigidly connect the front and rear vehicles. The connecting rod locking device 109 of the cone-shaped passive system is opened, and the rack and pinion drive motor 112 drives the sliding system to retract along the linear slide rail until it reaches the innermost end. When the limit switch at the innermost end is triggered, the rack and pinion drive motor 112 stops moving. At this point, the connecting rod locking device 109 extends and inserts into the locking hole, securing the system. At this state, the two vehicles are in a close-fitting state. Relying on this close fit, yaw and pitch are eliminated, allowing the vehicles to move as a whole. Even if there is a malfunction in the rear vehicle or its drive system, the driving force of the remaining drive wheels can be adjusted to ensure stable and safe driving of the entire vehicle.

[0070] Disassembly process:

[0071] The disassembly process of the device of the present invention is the reverse process of the docking process.

Claims

1. A vehicle docking locking device, characterized in that: It includes a cone-shaped passive system and a cone-shaped active system, which are respectively installed at the rear of the front vehicle and the head of the rear vehicle. The two components, the cone-shaped passive system and the cone-shaped active system, work together to control the main body to extend and retract as needed, so as to achieve articulated connection and rigid locking connection between vehicles. The passive cone system includes a base plate fixing device (1), a sliding pitch device (2), and an end cone locking device (3); the base plate fixing device (1) fixes the entire passive cone system to the rear of the vehicle in front, and also has the motion guidance and driving functions of the sliding pitch device (2); the sliding pitch device (2) can slide on the base plate fixing device (1) and has pitch freedom; the end cone locking device (3) is connected to the active cone system to realize vehicle docking; The active cone rod system consists of a base plate fixing device (1) and a sliding cone rod docking device (4); the base plate fixing device (1) fixes the entire active cone rod system to the front of the rear vehicle, and the base plate fixing device (1) drives the sliding cone rod docking device (4) to move back and forth and lock; the sliding cone rod docking device (4) is connected to the base plate fixing device (1) through a shaft pin, so that the sliding cone rod docking device (4) has a yaw degree of freedom, and at the same time has an axial rotation and pitch degree of freedom; The sliding pitch device (2) includes a main frame (201), a rotating connecting sleeve (202), a pitch centering rod (203), a hinged encoder (204), and a yaw connecting sleeve (205). Two rotating connecting sleeves (202) are fixed on the main frame (201). The two rotating connecting sleeves (202) are respectively connected to two sliding pitch device fixing blocks (102) to provide pitch freedom for the sliding pitch device (2). The two ends of the pitch centering rod are respectively hinged to a fixing plate (102). On 106) and the main frame (201), the pitch centering tie rod (203) can extend and retract. The internal structure is a spring structure. The zero position can ensure the pitch centering of the main frame (201), so that the main frame (201) can automatically return to center when it is drooping or rising. The front of the main frame (201) is provided with a horizontal swing connecting sleeve (205) to provide a connection port with the end cone locking device (3). It also has a hinge encoder (204) to obtain the horizontal swing hinge angle of the end cone locking device (3).

2. The vehicle docking locking device according to claim 1, characterized in that: The base plate fixing device (1) on the conical passive system includes a mounting base plate (101), a sliding pitch device fixing block (102), a fixing lug (103), a linear slide rail (104), a slider (105), a fixing plate (106), an encoder (107), a reducer (108), a connecting rod locking device (109), a locking drive motor (110), a rack (111), a rack drive motor (112), a limit switch (113), and a drag chain (114). Fixing lugs (103) are fixed at all four corners of the mounting base plate (101). The bottom of each fixing lug (103) has mounting holes for mounting the base plate. The plate fixing device (1) is connected and fixed to the installation vehicle. Two linear slide rails (104) are fixed on the mounting base plate (101). Two sliders (105) are fixed on the lower side of the fixing plate (106). The two sliders (105) are slidably connected to the two linear slide rails (104) respectively. A rack (111) is fixed on the mounting base plate (101). A rack drive motor (112) is installed on the fixing plate (106). The gear on the output shaft of the rack drive motor (112) meshes with the rack (111). The drive gear moves on the rack (111) and drives the fixing plate (106) to move along the linear slide rails (104).

3. The vehicle docking locking device according to claim 2, characterized in that: The fixing plate (106) is equipped with a connecting rod locking device (109) and a locking drive motor (110). The fixing lug (103) is provided with a fixing hole. The locking drive motor (110) drives the connecting rod locking device (109) under the action of the reducer (108) to lock and unlock with the fixing hole on the fixing lug (103). The coaxial encoder (107) provides position information for the locking drive motor (110). The fixing plate (106) is equipped with a sliding pitch device fixing block (102), which is connected to the sliding pitch device (2).

4. A vehicle docking locking device according to claim 3, characterized in that: A drag chain (114) is installed on the mounting base plate (101) to facilitate the movement of the cable on the base plate fixing device (1). The limit switches (113) on the front and rear of the mounting base plate (101) provide the positioning signal to the rack drive motor (112).

5. A vehicle docking locking device according to claim 4, characterized in that: The end cone locking device includes a fixed plate (301), a horizontal centering tie rod (302), a connecting pin (303), a locking bracket drive motor (304), a locking bracket (305), a guide cone (306), a lower slide plate (307), a lower slide plate preset bracket moving slide rail (308), and a cone guide groove (309). The entire end cone locking device (3) is connected to the horizontal connecting sleeve (205) of the sliding pitch device (2) through the connecting pin (303), and has horizontal freedom. In order to ensure that the end cone locking device (3) is horizontally centered in the non-working state, horizontal centering tie rods (302) are provided on the left and right sides of the end cone locking device (3). The horizontal centering tie rods (302) can extend and retract, and the inside is a spring structure. When the two horizontal centering tie rods (302) cause the end cone locking device (3) to deviate to one end, The centering force is provided to quickly center the end cone locking device (3); the fixed plate two (301) and the connecting pin (303) are an integral structure. The fixed plate two (301) is fixedly connected to the locking bracket drive motor (304). The fixed plate two (301) is fixed with the lower slide plate (307). The lower slide plate (307) is provided with the lower slide plate preset bracket moving slide (308). The locking bracket drive motor (304) can drive the locking bracket (305) to move along the lower slide plate preset bracket moving slide (308). The locking bracket (305) is locked and connected to the cone rod active system through opening and closing. The guide cone (306) is cone-shaped and can provide fault tolerance when the cone rod (403) is inserted. The guide cone (306) is designed with a cone guide groove (309) inside, which can make the cone rod (403) straight through the cone guide groove (309).

6. A vehicle docking locking device according to claim 5, characterized in that: The base plate fixing device (1) on the active cone system includes a mounting base plate (101), a fixing lug (103), a linear slide rail (104), a slider (105), a fixing plate (106), an encoder (107), a reducer (108), a connecting rod locking device (109), a locking drive motor (110), a rack (111), a rack drive motor (112), a limit switch (113), a drag chain (114), and a sliding device guide limit groove (115). The base plate fixing device (1) on the active cone system is similar in general to the base plate fixing device (1) on the passive cone system. Its front fixing lug (103) has two locking fixing holes at the front and rear, as well as a sliding device guide limit groove (115). When the overall docking mechanism is docked, it has two lateral joints in the lateral degree of freedom. By pulling back part of the sliding part of the active cone system and locking it, one lateral joint is restricted, making it easier to control the vehicle during driving.

7. A vehicle docking locking device according to claim 6, characterized in that: The sliding cone rod docking device (4) includes a central mounting base (401), a pitch centering rod (402), a cone rod (403), a brass cone head (404), a locking spring (405), a hook lug seat (406), a hook lug seat guide rod (407), a docking buffer spring (408), a spring guide rod (409), a lateral centering rod (410), a pitch kingpin (411), a bearing (412), and a brass lubricating block (413). The central mounting base (401) is hinged to the fixed plate (106) through a rear pin hole. Two lateral centering rods (410) are hinged to the central mounting base (401). The other end of the tie rod (410) is hinged to the fixed plate (106), so that the sliding cone rod docking device (4) has a degree of freedom of lateral swing, and at the same time, it is maintained in lateral swing centering by two lateral swing centering tie rods (410) when no force is applied; the rear mechanism on the middle mounting base (401) is connected to the middle mounting base (401) by the pitch master pin (411), so that the middle mounting base (401) has a degree of pitch freedom; the middle mounting base (401) is provided with a pitch centering tie rod (402), which enables the middle mounting base (401) to maintain the pitch centering of the mechanism when no force is applied; the hook ear seat guide rod (407) guides the hook ear seat (406).

8. A vehicle docking locking device according to claim 7, characterized in that: The spring guide rod (409) is connected to the central mounting base (401) and its end cap via a bearing (412), providing rotational freedom for the hook lug (406). The docking buffer spring (408) can slide on the spring guide rod (409), reducing the impact and providing buffering during docking collisions.

9. A vehicle docking locking device according to claim 8, characterized in that: The hook lug (406) at the head of the sliding cone rod docking device (4) is connected to the locking bracket (305) of the cone passive system to form a four-bar linkage. In order to further utilize the dead point of the linkage and increase the reliability of locking, a locking margin spring (405) is provided in the hook lug (406) and its guide rod to provide a locking stroke margin, so that the locking bracket (305) can pass through the dead point and increase the dead point utilization range. The foremost part of the sliding cone rod docking device (4) is a cone rod (403), on which a guide bar is provided. The guide bar cooperates with the cone guide groove (309). A brass cone head (404) is provided on the cone rod (403). The brass cone head (404) is used to insert into the guide cone opening (306) to reduce collision.

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