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

Abstract

The utility model discloses an extensible and modularized carrier vehicle framework for a self-driven modularized carrier vehicle. The extensible and modularized carrier 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 utility model belongs to self -driven modularization transport car technical field, especially related to a kind of expandable, modularization car frame configuration for self -driven modularization transport car. BACKGROUND

[0002] SPMT (self-driving modularization transport car) technology has high flexibility and bearing capacity, and is widely used in the transportation of overweight, oversized goods;Behind it involves a series of complex technologies such as electric drive, hydraulic system, precision steering, automation control.

[0003] With the continuous progress of technology, the application of SPMT will be more widely, although the existing SMPT transport car improves the transportation efficiency with automation technology, but in actual operation, the expansion and coordination between multiple modules are still a technical challenge. INVENTION CONTENTS

[0004] The utility model aims at providing a kind of expandable, modularization car frame configuration for self -driven modularization transport car, it carries out integrated design to car frame and docking mechanism, and sets up automatic driving docking device, can improve the compactness of car frame configuration, and improve splicing efficiency.

[0005] The technical scheme provided by the utility model is:

[0006] A kind of expandable, modularization car frame configuration for self -driven modularization transport car, comprising:

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

[0008] The module unit includes:

[0009] Base module, which is a cuboid structure with a square bottom surface;And

[0010] Four docking sub-modules are detachably connected one by one on the four sides of the base module;

[0011] Wherein, the docking sub-module includes a housing, a first docking device and a second docking device;

[0012] The housing is a cuboid structure;

[0013] The first docking device includes:

[0014] Lock head driving mechanism, fixedly arranged in the housing;

[0015] Lock head, connected with the power output end of the lock head driving mechanism, the lock head is arranged in the direction away from the base module;The lock head driving mechanism can drive the lock head to extend or retract into the housing;

[0016] The second docking device comprises:

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

[0018] Two bolt driving mechanisms are fixedly arranged in the shell and oppositely arranged on both sides of the docking carrier;

[0019] Two bolts are connected to the power output ends of the two bolt driving mechanisms one by one;

[0020] The bolt driving mechanisms can respectively drive the two bolts to enter or exit the groove from both sides of the docking carrier;

[0021] Among the two module units connected to each other, the first docking device and the second docking device of one module unit are matched with the second docking device and the first docking device of the other module unit, respectively, to realize docking.

[0022] Preferably, the docking sub-module has the same height as the base module, and the side surface of the docking sub-module closely fits the base module connected thereto.

[0023] Preferably, the base module is provided with a top-open slot near each side surface; one side of the docking sub-module is connected with a plug-in plate matched with the slot, and the plug-in plate is connected to the slot.

[0024] Preferably, the base module comprises:

[0025] The base shell is a cuboid structure with a square bottom surface;

[0026] The grid-shaped reinforcing plate is fixedly connected inside the base shell.

[0027] Preferably, the lock head driving mechanism comprises:

[0028] A first sleeve is fixedly arranged in the shell along the width direction of the docking sub-module;

[0029] A first driving motor is fixedly installed on the first sleeve;

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

[0031] A first nut is matched and connected to the first lead screw;

[0032] The lock head is fixedly connected to the first nut, and a guide mechanism is arranged in the first sleeve to limit the axial movement of the lock head along the first sleeve.

[0033] Preferably, the lock tongue driving mechanism comprises:

[0034] A second sleeve is fixedly arranged in the shell along the length direction of the docking sub-module;

[0035] A second driving motor is fixedly installed on the second sleeve;

[0036] A second screw rod is connected to the output shaft of the second driving motor and is arranged along the axial direction of the second sleeve;

[0037] A second nut is matchedly connected to the second screw rod;

[0038] The lock tongue is fixedly connected to the second nut, and a guide mechanism is arranged in the second sleeve to limit the axial movement of the lock tongue along the second sleeve.

[0039] Preferably, the lock head comprises:

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

[0041] A locking part is a cylinder; one end of the locking part is coaxially fixedly connected to the other end of the main body part;

[0042] A limiting part is a disc; the limiting part is coaxially fixedly connected to the other end of the locking part;

[0043] The outer diameter of the locking part is smaller than the outer diameters of the main body part and the limiting part.

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

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

[0046] Preferably, lock tongue openings are symmetrically formed in the two sides of the docking carrier and communicate with the groove; the lock tongue enters the groove from the corresponding lock tongue opening.

[0047] The utility model has the advantages of:

[0048] 1. The utility model discloses an integrated design of the frame and the docking mechanism, effectively improve the compactness of frame configuration.

[0049] 2. The utility model discloses a frame configuration adopts modular design, is constituted by four identical docking submodules and a base module, and the structure and connecting fixed mode are simple, and the docking submodule is detachable and replaceable, is convenient for installation and maintenance, reduces maintenance cost, promotes assembly efficiency.

[0050] 3. The utility model discloses a docking mechanism when two travel modules are expanded, and the first docking device and the second docking device of two travel modules are combined with each other to form a rigid connection in a "clasp hand" mode, achieve the purpose of expansion, and can realize the automatic driving of the docking device, improve the connection reliability and convenience.

[0051] 4. The utility model discloses a frame configuration four directions can be expanded, and can realize the disorderly splicing of each module unit, realize the module expansion splicing of adapting to various application demands and configuration demands.

[0052] 5. The utility model discloses a frame configuration every module unit can independently run, make the frame configuration have the ability that still can work normally when one module unit fails, have strong reliability and stability. DRAWINGS

[0053] Figure 1 It is the schematic diagram of the expandable and modular frame configuration for the self-driving modular transport vehicle.

[0054] Figure 2 It is the structural schematic diagram of the module unit.

[0055] Figure 3 It is the external structure schematic diagram of the docking submodule.

[0056] Figure 4 It is the internal structure schematic diagram of the docking submodule.

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

[0058] Figure 6 It is the external structure schematic diagram of the base module.

[0059] Figure 7 It is the internal structure schematic diagram of the base module.

[0060] Figure 8 It is the exploded view of the base module.

[0061] Figure 9 The internal structure schematic view of the first docking device.

[0062] Figure 10 The internal structure schematic view of the second docking device (one end). DETAILED DESCRIPTION

[0063] The utility model makes further detailed description in combination with the drawings, so that the person skilled in the art can implement according to the description text.

[0064] As Figures 1-10 The utility model provides a kind of expandable, modular frame configuration for self-driving modular transport vehicle, which is composed of one module unit 100 or multiple module units 100 connected with each other detachably.

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

[0066] The base module 110 is a cuboid structure with a square bottom surface, and the four docking sub-modules 120 are detachably connected to the four sides of the base module 110 one by one.

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

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

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

[0070] The docking carrier 1231 is fixedly arranged in the housing 121 and has a spacing with the lock head 1222. The docking carrier 1231 is provided with a cylindrical groove 1231a, and the opening of the groove 1231a is towards the same direction as the lock head 1222.

[0071] Two lock tongue driving mechanisms 1232 are fixedly arranged in the shell 121 and oppositely arranged at two sides of the docking carrier 1231. Two lock tongues 1233 are correspondingly connected to the power output ends of the two lock tongue driving mechanisms 1232; the lock tongue driving mechanisms 1232 can respectively drive the two lock tongues 1233 to enter or exit the recess 1231a from the two sides of the docking carrier 1231.

[0072] In the two module units 100 connected to each other, the first docking device 122 and the second docking device 123 of one module unit are matched with the second docking device 123 and the first docking device 122 of the other module unit respectively, so as to realize docking.

[0073] The docking sub-module 120 has the same height as the base module 110, and the side surface of the docking sub-module 120 and the base module 110 connected thereto is tightly fitted, so that the entire module unit 100 is a structure with a flat upper surface. In the embodiment, the length of the docking sub-module 120 is greater than the bottom edge length of the base module 110; one end of the docking sub-module 120 is flush with one side of the base module 110, and the other end extends out of the base module 110, and the end of the adjacent docking sub-module 120 abuts against the side surface of the docking sub-module 120 extending out of the base module 110; and in the two adjacent docking sub-modules 120, the side surface of one docking sub-module 120 and the end surface of the other docking sub-module 120 are flush, so that the bottom surface of the entire module unit 100 is still a square.

[0074] As a preferred, the bottom of the base module 110 is fixedly connected with a square carrier plate 111 for supporting the four docking sub-modules 120, and the edge of the carrier plate 111 is flush with the edge of the docking sub-module 120 after the docking sub-module 120 is connected. The carrier plate 111 not only supports the docking sub-module 120, but also limits the position to ensure that the upper surface of the connected docking sub-module 120 is flush with the base module 110. The opposite two sides of the carrier plate 111 are further provided with wing plates 112 to facilitate the connection of the frame and the suspension.

[0075] In the embodiment, the base module 110 is provided with a top-opened slot 113 near each side surface; one side of the docking sub-module 120 is connected with a plug-in plate 124 matched with the slot 113, and is connected to the slot 113 through the plug-in plate 124. Through this connection mode, the tight fitting of the side surface of the docking sub-module 120 and the side surface of the base module 110 can be ensured.

[0076] As a preferred, the base module 110 comprises a base shell 1101 and a grid-shaped reinforcing plate 1102. The base shell 1101 is a hollow cuboid structure with a square bottom surface; the grid-shaped reinforcing plate 1102 is fixedly connected inside the base shell 1101. The grid-shaped reinforcing plate 1102 plays a reinforcing role on the structure of the base module 110, and can reduce the self-weight of the base module 110.

[0077] In order to ensure the connection strength of the plug-in plate 124 and the base module 110, the plug-in plate 124 can also be connected with the shell of the base module 110 through bolts.

[0078] The base module 110, the bearing plate 111 and the shell 121 of the docking sub-module are all made of high-strength alloy steel material, so as to ensure the strength of the frame structure.

[0079] In the embodiment, the lock head driving mechanism 1221 comprises a first sleeve 1221a, a first driving motor 1221b, a first lead screw 1221c and a first nut 1221d.

[0080] The first sleeve 1221a is fixedly arranged in the shell 121 along the width direction of the docking sub-module 120. The first driving motor 1221b is fixedly installed at one end of the sleeve 1221a, and the power of the first driving motor 1221b is output through an output shaft after being decelerated by a speed reducer. The output shaft of the first driving 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 driving motor 1221b and is arranged along the axial direction of the first sleeve 1221a. The first nut 1221d is matchedly connected to the first lead screw 1221c. The lock head 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 two sides of the lock head 1222 are provided with sliding grooves matched with the guide rails, so as to limit the movement of the lock head 1222 along the axial direction of the first sleeve 1221a.

[0081] The lock tongue driving mechanism 1232 comprises 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 shell 121 along the length direction of the docking sub-module 120. The second driving motor 1232b is fixedly installed at one end of the second sleeve 1232a. The power of the second driving motor 1232b is output through an output shaft after being decelerated by a speed reducer. The output shaft of the second driving 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 driving motor 1232b and is arranged along the axial direction of the second sleeve 1232a. The second nut 1232d is matchedly 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. Two slide grooves matched with the guide rails are formed on the two sides of the lock tongue 1233 to limit the movement of the lock tongue 1233 along the axial direction of the second sleeve 1232a.

[0083] As a preferred, the lock head 1222 comprises a main body part 1222a, a locking part 1222b and a limiting part 1222c. The main body part 1222a is a hollow cylindrical structure, and one end of the main body part 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 part 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. The outer diameter of the locking part 1222b is smaller than the outer diameters of the main body part 1222a and the limiting part 1222c.

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

[0085] The two sides of the docking carrier 1231 are symmetrically provided with lock tongue openings 1231b communicated with the grooves 1231a, and the lock tongue 1233 enters the groove 1231a from the corresponding lock tongue opening 1231b.

[0086] As a preferred, the opening end of the groove 1231a is a conical surface with a gradually reduced diameter from outside to inside; the shell 121 is provided with a butt joint hole 121a which communicates with the groove 1231a, and the diameter of the butt joint hole 121a is the same as that of the large-diameter section of the conical surface. When the two module units 100 are butted, the lock head 1222 of one module unit 100 is inserted into the groove 1231a of the other module unit 100 through the butt joint hole 121a of the other module unit 100 in sequence, the lock tongue 1233 enters the groove 1231a through the lock tongue opening 1231b, the arc-shaped concave surface 1233b of the lock tongue 1233 is matched and engaged 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 “clasp” manner. The opening end of the groove 1231a being a conical surface with a gradually reduced diameter from outside to inside can guide the entry of the lock head 1222.

[0087] As a further preferred, the front end of the limiting part 1222c is provided with a chamfer to avoid collision when the lock head 1222 enters the groove 1231a.

[0088] The working principle of the frame structure is as follows: when one module unit is used as a frame, the lock head 1222 is in a retracted state, and the limiting part 1222c of the lock head 1222 is flush with the outer side of the butt joint sub-module 120. When it is necessary to be butted and expanded into multiple module units, the two module units 100 are moved to appropriate positions so that the axes of the lock heads 1222 and the grooves 1231a of the two module units 100 are combined, the lock head 1222 is extended under the drive of the lock head driving mechanism 1221, the conical surface at the front end of the groove 1231a guides the lock head 1222 to move to the correct butt joint position, and after the lock head 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 driving mechanism 1232 until they are engaged on the locking part 1222b of the lock head, achieving the purpose of locking. When the lock heads 1222 of the two module units 100 are all extended into the grooves 1231a of the other module units 100 and the locking is completed, the butt joint is completed. According to the above-mentioned manner, the four directions of each module unit 100 can be connected with other module units 100 without difference, and the frame structure composed of multiple module units 100 is expanded.

[0089] The utility model discloses a frame (base module 110) and docking mechanism (docking submodule 120) carry out integrated design, effectively improved the compactness of frame configuration. The frame configuration designed by the utility model adopts modular design, is formed by four identical docking submodules and a base module, and the structure and connecting fixed mode are simple, and the docking submodule is detachable and replaceable, is convenient for installation and maintenance, reduces maintenance cost, promotes assembly efficiency. The docking mechanism designed by the utility model when two running modules are expanded, the first docking device and the second docking device of two running modules combine each other, form rigid connection in the way of " holding each other's hands " to reach the purpose of expansion, and can realize the automatic drive of docking device, improve the reliability and convenience of connection. The frame configuration designed by the utility model can be expanded in four directions, and can realize the disorderly splicing of each module unit, realize the module expansion splicing of adapting to various application demands and configuration demands. Every module unit in the frame configuration designed by the utility model can independently run, make the frame configuration have the ability of still normal work when one module unit fails, have strong reliability and stability.

[0090] Although the embodiments of the utility model have been disclosed as above, it is not limited to the application listed in the specification and the embodiments, it can be fully applied to various fields suitable for the utility model, and other modifications can be easily realized by the person skilled in the art, therefore the utility model is not limited to specific details and the drawings shown and described herein without departing from the general concept defined by the claims and equivalent scope.

Claims

1. An expandable, modular chassis configuration for a self-propelled modular transport vehicle, characterized by, The application relates to a modular unit for a modular building system. The modular unit comprises: a base module which is a cuboid structure with a square bottom surface; and four docking sub-modules which are detachably connected to the four sides of the base module one by one. The docking sub-module comprises a shell, a first docking device and a second docking device. The shell is a cuboid structure. The first docking device comprises: a lock head driving mechanism fixedly arranged in the shell; a lock head connected to the power output end of the lock head driving mechanism, the lock head being arranged towards the direction away from the base module; the lock head driving mechanism can drive the lock head to extend out of or retract into the shell. The second docking device comprises: a docking carrier fixedly arranged in the shell, the docking carrier being provided with a groove, the opening of the groove being arranged towards the same direction as the lock head; two lock tongue driving mechanisms fixedly arranged in the shell and oppositely arranged on the two sides of the docking carrier; two lock tongues connected to the power output ends of the two lock tongue driving mechanisms one by one. The lock tongue driving mechanisms can respectively drive the two lock tongues to enter or exit the groove from the two sides of the docking carrier. In the two modular units connected to each other, the first docking device and the second docking device of one modular unit are matched with the second docking device and the first docking device of the other modular unit respectively to realize docking. The docking sub-module has the same height as the base module, and the docking sub-module is tightly attached to the side of the base module connected thereto.

2. The scalable, modular truck chassis configuration for a self-driving modular transport truck of claim 1, wherein, The base module is provided with a slot with a top opening near each side; one side of the docking sub-module is connected with a plug-in plate matched with the slot, and the plug-in plate is connected to the slot.

3. The scalable, modular truck architecture for a self-driving modular transport truck of claim 2, wherein, The base module comprises:

4. The scalable, modular truck chassis configuration for a self-driving modular transport truck of claim 3, wherein, a base shell which is a cuboid structure with a square bottom surface; a grid-shaped reinforcing plate fixedly connected to the inside of the base shell. The lock head driving mechanism comprises:

5. The scalable, modular chassis configuration for a self-driving modular transport vehicle of claim 3 or 4, wherein, a first sleeve fixedly arranged in the shell along the width direction of the docking sub-module; a first driving motor fixedly mounted on the first sleeve; a first lead screw connected to the output shaft of the driving motor, the first lead screw being arranged along the axial direction of the first sleeve; a first nut matched and connected to the first lead screw; wherein the lock head is fixedly connected to the first nut, and a guide mechanism is arranged in the first sleeve to limit the axial movement of the lock head along the first sleeve. The lock tongue driving mechanism comprises:

6. The scalable, modular chassis configuration for a self-driving modular transport vehicle of claim 5, wherein, a second sleeve fixedly arranged in the shell along the length direction of the docking sub-module; a second driving motor fixedly mounted on the second sleeve; a second lead screw connected to the output shaft of the second driving motor, the second lead screw being arranged along the axial direction of the second sleeve; a second nut matched and connected to the second lead screw; wherein the lock tongue is fixedly connected to the second nut, and a guide mechanism is arranged in the second sleeve to limit the axial movement of the lock tongue along the second sleeve. The lock head comprises:

7. The scalable, modular chassis configuration for a self-driving modular transport vehicle of claim 6, wherein, ​ The main body part is a hollow cylinder; one end of the main body part 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 part; The limiting part is disc-shaped, and the limiting part is coaxially fixedly connected to the other end of the locking part; The outer diameter of the locking part is smaller than the outer diameter of the main body part and the outer diameter of the limiting part.

8. The scalable, modular chassis configuration for a self-driving modular transport vehicle of claim 7, wherein, One end of the lock tongue is fixedly connected to the second nut, and the other end has an arc-shaped concave surface matching the shape of the locking part.

9. The scalable, modular chassis configuration for a self-driving modular transport vehicle of claim 8, wherein, The opening end of the groove is a conical surface with a gradually reduced diameter from outside to inside; the shell is provided with a butt joint hole in communication with the groove, and the diameter of the butt joint hole is the same as the diameter of the large-diameter section of the conical surface.

10. The scalable, modular chassis configuration for a self-driving modular transport vehicle of claim 9, wherein, The two sides of the butt joint carrier are symmetrically provided with lock tongue openings in communication with the groove, and the lock tongue enters the groove from the corresponding lock tongue opening.

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