A rigid chain pusher mechanism driven by a joint module motor

Abstract

This utility model relates to the field of train automation equipment technology, and in particular to a rigid chain pusher mechanism driven by a joint module motor. It includes a base, a linear module, a box assembly, and a rigid chain drive module. The linear module is installed inside the base, and the box assembly is installed on the upper side of the base and connected to the linear module. Driven by the linear module, the box assembly reciprocates along the extension direction of the linear module. The rigid chain drive module is rotatably connected to the box assembly and is retracted and hidden within the cavity of the box assembly through a flipping action. This utility model achieves an integrated layout of all components, significantly saving installation space. It is particularly suitable for confined space scenarios such as tippers and the bottom of carriages, solving the installation and layout problems caused by the excessive size of traditional positive hook devices.

Description

Technical Field

[0001] This utility model relates to the field of train automation equipment technology, and in particular to a rigid chain pusher mechanism driven by a joint module motor. Background Technology

[0002] As a highly automated large-scale unloading equipment, the tippler system is widely used in large-scale modern enterprises such as thermal power plants, ports, metallurgy, and coal coking plants. It is mainly used to unload bulk materials such as coal and ore loaded in railway open wagons.

[0003] Car tipper systems typically include two types: unhooking and non-unhooking. The unhooking process requires equipment such as positioning vehicles and pushers to complete operations such as separating, pushing, and tipping over the car bodies for unloading. However, a prominent problem exists during operation: when the tipper tipps overturns, the coupler of the overturned car body will shift in the tipping direction due to its own gravity, making it impossible for the coupler of that car body to smoothly connect with the coupler of the pusher or other car bodies. Currently, the correct hook system that solves this problem mostly uses spring reset or hydraulically driven baffle to hold the coupler. However, due to the large weight of the coupler itself, during repeated tipping, the coupler will apply repeated loads to the spring or hydraulic mechanism, which can easily lead to plastic deformation of the spring and failure of the hydraulic mechanism. This can cause the coupler to shift under impact, affecting the correct positioning stability and making it difficult to maintain a stable correct positioning function for a long time, ultimately leading to the failure of the correct hook function.

[0004] In addition, since the materials transported in the carriages are mostly coal and ore, the working environment is prone to slag formation and is relatively harsh. Therefore, the hook device should ideally be hidden when not in use. However, the existing hook device is designed to be large in size to ensure structural stability, which makes the hiding operation very inconvenient. At present, a rigid chain pusher mechanism driven by a joint module motor is needed. Utility Model Content

[0005] To address the issues of poor stability, difficulty in long-term reliable operation, and inconvenience in concealment of tippler systems during operation, this utility model provides a rigid chain pusher mechanism driven by a joint module motor.

[0006] The present invention provides a rigid chain pusher mechanism driven by a joint module motor, which adopts the following technical solution:

[0007] A rigid chain pusher mechanism driven by a joint module motor includes:

[0008] Base, linear module, housing assembly, and rigid chain drive module;

[0009] The linear module is installed inside the base, and the box assembly is installed on the upper side of the base and connected to the linear module. The box assembly reciprocates along the extension direction of the linear module under the power drive of the linear module. The rigid chain drive module is rotatably connected to the box assembly. The rigid chain drive module is stored and hidden in the cavity of the box assembly by flipping action. When the rigid chain drive module is flipped to a state perpendicular to the base, the rigid chain drive module controls the push plate to perform extension and retraction action through the drive component.

[0010] Furthermore, the base includes a body, a baffle, a crossbeam, and a mounting plate. The body has an internal receiving space and a sliding groove on its side. The baffle is symmetrically fixed to both sides of the body. Multiple crossbeams are evenly spaced and fixed to the interior of the body. The mounting plate is divided into a left half mounting plate and a right half mounting plate, which are respectively fixed to the two ends of the crossbeams. The surface of the mounting plate has mounting holes.

[0011] Furthermore, the linear module includes a linear module body, an end motor, a movable slide plate, a speed control box, and a position encoder. The end motor is fixed to one end of the linear module body, the movable slide plate is sleeved on the guide rail surface of the linear module body, the speed control box has a variable gear meshing structure inside, the input end of the speed control box is connected to the output shaft of the end motor, the output end of the speed control box is connected to the transmission mechanism of the linear module body, and the position encoder is installed on the surface of the linear module body.

[0012] Furthermore, the linear module body is a long strip structure, and its interior is provided with a guide rail along the length direction for the sliding of the moving parts. The guide rail is fixedly connected to the linear module body and is used to provide guidance for the reciprocating movement of the moving parts.

[0013] Furthermore, the linear module body is entirely housed inside the base body, and the linear module body is fixedly connected to the inner wall of the body by bolts. The side of the movable slide away from the guide rail is fixedly connected to the bottom of the box assembly by snap-fit.

[0014] Furthermore, the housing assembly includes a first cavity, a notch, a perforated surface, and a second cavity. The first cavity is an integrally formed accommodating space on the upper side of the housing assembly, used to accommodate the main body of the rigid chain drive module when it is not in operation. The notch is a groove structure opened along the length direction on the lower side of the housing assembly. The perforated surface is a planar structure at the bottom of the housing assembly. The second cavity is a hollow structure inside the housing assembly that is independent of the first cavity, used to accommodate and protect the joint motor.

[0015] Furthermore, the box assembly is slidably connected to the body groove of the base through a notch, and the box assembly is fixedly connected to the moving slide plate of the linear module through a perforated surface.

[0016] Furthermore, the rigid chain drive module includes a protective housing, a push plate, a rigid chain mechanism, and a joint module motor. The protective housing is sleeved outside the push plate and the rigid chain mechanism. The surface of the protective housing has two through holes for the corresponding rigid chain mechanisms to extend out. The two rigid chain mechanisms are arranged side by side, and each rigid chain mechanism has a sprocket inside. The joint module motor is fixed inside the protective housing, and its output end is respectively connected to the sprockets in the two rigid chain mechanisms. The push plate is fixed at the end of the rigid chain mechanism and is fixedly connected to the end of the two rigid chain mechanisms.

[0017] Furthermore, the rigid chain drive module also includes a cover plate, a joint motor, a drive gear, a driven gear, and a dust cover. The cover plate is connected to the protective housing, and a rotating shaft is provided at the end of the cover plate. The joint motor is located inside the second cavity of the housing assembly. The output end of the joint motor is connected to the drive gear. The drive gear and the driven gear engage in rolling meshing. The driven gear is fixed on the rotating shaft at the end of the cover plate. The dust cover is sleeved on the rotating shaft where the driven gear is located to limit the flipping stroke of the cover plate.

[0018] Furthermore, the cover plate is connected to the box assembly via a pivot at its end, and the two ends of the pivot are respectively rotatably engaged with the corresponding sidewalls of the box assembly. The rigid chain mechanism is a rod-shaped structure formed by two chains arranged in parallel.

[0019] In summary, this utility model has the following beneficial technical effects:

[0020] 1. This utility model integrates the layout of each component by installing the linear module inside the base, mounting the box assembly on the upper side of the base, and storing the rigid chain drive module in the cavity of the box assembly by flipping it over. This greatly saves installation space and is especially suitable for limited space scenarios such as tippers and the bottom of carriages. It solves the installation and layout problems caused by the excessive size of traditional positive hook devices.

[0021] 2. This utility model adopts a rigid chain mechanism in conjunction with a drive motor to drive the push plate to extend and retract, replacing the traditional spring reset or hydraulic drive method. The rigid chain mechanism has the characteristics of high rigidity and impact resistance, and can withstand the impact of repeated loads on the coupler, avoiding problems such as spring plastic deformation and hydraulic mechanism failure, ensuring the long-term stability of the coupler's positioning function, and significantly improving the service life and working reliability of the mechanism.

[0022] 3. The linear module of this utility model can drive the box assembly to move back and forth along its extension direction. Combined with the extension and retraction action of the push plate after the rigid chain drives the module to flip to the vertical state, it can achieve precise alignment and support of the push plate on the coupler, ensuring the smooth docking of the coupler after the rollover operation. At the same time, the position code setting can provide real-time feedback on the position of the moving slide plate, providing data support for precise control and improving the accuracy and flexibility of operation.

[0023] 4. When not in use, the rigid chain drive module of this utility model can be stored in the first cavity of the box assembly, which reduces the corrosion caused by the slag environment of coal, ore and other materials. The protective shell provides effective protection for the core components such as the rigid chain mechanism and drive motor, further enhancing the mechanism's adaptability to harsh environments. In addition, the components are connected by detachable methods such as bolts and snap-fits, which facilitates later maintenance and component replacement and reduces the cost of use.

[0024] 5. This utility model adjusts the moving speed of the linear module through a speed control box, and realizes the flipping of the rigid chain drive module by combining gear transmission. It has high transmission efficiency and low power loss. The drive motor drives the rigid chain mechanism to extend and retract, which is responsive and energy consumption is controllable. Overall, it improves the working efficiency of the mechanism and helps to reduce the overall energy consumption of the tipper system. Attached Figure Description

[0025] Figure 1 This is an overall structural diagram of a rigid chain pusher mechanism driven by a joint module motor according to an embodiment of this utility model.

[0026] Figure 2 This is an exploded view of a rigid chain pusher mechanism driven by a joint module motor according to an embodiment of this utility model.

[0027] Figure 3 This is an embodiment of the present utility model. Figure 2 A magnified view of the local structure.

[0028] Figure 4 This is a structural diagram of the base in a rigid chain pusher mechanism driven by a joint module motor according to an embodiment of this utility model.

[0029] Figure 5 This is a top view of the base in a rigid chain pusher mechanism driven by a joint module motor according to an embodiment of this utility model.

[0030] Figure 6 This is a structural diagram of the linear module in a rigid chain pusher mechanism driven by a joint module motor according to an embodiment of this utility model.

[0031] Figure 7 This is a structural diagram of the rigid chain drive module in a rigid chain pusher mechanism driven by a joint module motor according to an embodiment of this utility model.

[0032] Figure 8 This is a structural diagram of the internal structure of the dust cover in a rigid chain pusher mechanism driven by a joint module motor according to an embodiment of this utility model.

[0033] Figure 9 This is a structural diagram of the rigid chain drive module in a rigid chain pusher mechanism driven by a joint module motor according to an embodiment of this utility model.

[0034] The components include: 1. Base; 11. Body; 12. Baffle; 13. Crossbeam; 14. Mounting plate; 2. Linear module; 21. Linear module body; 22. End motor; 23. Moving slide plate; 24. Speed ​​control box; 25. Position code; 3. Box assembly; 31. First cavity; 32. Notch; 33. Perforated surface; 34. Second cavity; 4. Rigid chain drive module; 41. Push plate; 42. Rigid chain mechanism; 43. Cover plate; 441. Joint motor; 442. Drive gear; 443. Driven gear; 444. Dust cover. Detailed Implementation

[0035] The present invention will be further described in detail below with reference to the accompanying drawings.

[0036] Example 1

[0037] Reference Figure 1 This embodiment of a rigid chain pusher mechanism driven by a joint module motor includes:

[0038] like Figure 1 As shown, the components include base 1, linear module 2, box assembly 3, and rigid chain drive module 4.

[0039] The linear module 2 is installed inside the base 1, and the box assembly 3 is installed on the upper side of the base 1 and connected to the linear module 2. The box assembly 3 reciprocates along the extension direction of the linear module 2 under the power drive of the linear module 2. The rigid chain drive module 4 is rotatably connected to the box assembly 3. The rigid chain drive module 4 is stored and hidden in the cavity of the box assembly 3 by flipping action. When the rigid chain drive module 4 is flipped to a state perpendicular to the base 1, the rigid chain drive module 4 controls the push plate to perform extension and retraction action through the drive component.

[0040] Specifically, a rigid chain pusher mechanism driven by a joint module motor includes the following:

[0041] like Figure 2 As shown, this embodiment discloses a rigid chain pusher mechanism 100 driven by a joint module motor, mainly used in tipper systems to solve the problem of coupling difficulties caused by coupler misalignment during tipping. The mechanism consists of a base 1, a linear module 2, a box assembly 3, and a rigid chain drive module 4. The base 1 serves as the mounting foundation for the entire mechanism. Figure 4 As shown, it includes a body 11, baffles 12, crossbeams 13, and mounting plate 14. The body 11 is a hollow frame structure, forming a receiving space for accommodating the linear module 2, and its two side walls have grooves along their length. Two baffles 12 are symmetrically fixed at both ends of the body 11, serving to protect internal components and block debris. Multiple crossbeams 13 are evenly spaced and fixed inside the body 11 to enhance the overall rigidity of the base 1 and provide mounting support for the mounting plate 14. Figure 5 As shown, the mounting plate 14 is divided into two parts, left and right, which are fixed to the two ends of the crossbeam 13 respectively and protrude laterally relative to the body 11. The surface is provided with mounting holes. The entire mechanism is fixed to the bottom of the tipper or the carriage by welding, screwing or a combination of both. The linear module 2 is housed inside the body 11 and fixedly connected to the body 11. The box assembly 3 slides with the groove of the body 11 through the notch at the bottom, so as to move along the length direction of the base 1.

[0042] like Figure 6 As shown, the linear module 2 is used to drive the precise movement of the box assembly 3, and includes a linear module body 21, an end motor 22, a moving slide plate 23, a speed control box 24, and a position encoder 25. The linear module body 21 is a long strip structure with guide rails along its length inside to guide the movement of the moving slide plate 23; the end motor 22 is fixed to one end of the linear module body 21 and serves as a power source to output torque; the moving slide plate 23 is fitted onto the guide rails and can reciprocate along them; the speed control box 24 has a variable gear meshing structure inside, with its input end connected to the output shaft of the end motor 22 and its output end connected to the transmission mechanism of the linear module body 21, used to adjust the moving speed of the moving slide plate 23; the position encoder 25 is installed on the linear module body 21 for real-time recording. The position of the movable slide plate 23 is recorded and fed back to the PLC controller. The position code 25 adopts a conventional displacement measurement sensor. In this embodiment, a photoelectric displacement measurement sensor is used. The linear module body 21 is fixed inside the body 11 of the base 1. The movable slide plate 23 is fixedly connected to the bottom of the box assembly 3, which can drive the box assembly 3 to move synchronously. The power output by the end motor 22 is adjusted by the speed control box 24 and then drives the movable slide plate 23 to move along the guide rail through the transmission mechanism. The position code 25 provides real-time feedback of position information to ensure that the box assembly 3 accurately reaches the designated position.

[0043] The housing assembly 3 is used to support the rigid chain drive module 4 and enable its linkage with the linear module 2. It includes a first cavity 31, a notch 32, a perforated surface 33, and a second cavity 34. The first cavity 31 is an upward-opening accommodating space used to store the main body of the rigid chain drive module 4 when it is not in operation. The notch 32 is a downward-opening groove that matches the sliding groove of the body 11 of the base 1, allowing the housing assembly 3 to slide stably along the sliding groove. The perforated surface 33 is located at the bottom of the housing assembly 3 and is fixedly connected to the moving slide plate 23 of the linear module 2 via a connector. The second cavity 34 is a hollow internal structure used to accommodate the joint motor 441 of the rigid chain drive module 4. It is slidably connected to the sliding groove of the body 11 of the base 1 via the notch 32 and fixedly connected to the moving slide plate 23 via the perforated surface 33. Its function is to drive the rigid chain drive module 4 to move under the drive of the linear module 2, while providing storage space and a mounting base for the rigid chain drive module 4.

[0044] like Figure 7 , Figure 9 As shown, the rigid chain drive module 4 is the core component for coupler support, including a protective housing, push plate 41, rigid chain mechanism 42, articulated module motor 40, cover plate 43, articulated motor 441, drive gear 442, driven gear 443, and dust cover 444. Figure 3 As shown, the protective shell is connected to the cover plate 43 and sleeved on the outside of the push plate 41 and the two rigid chain mechanisms 42. Two through holes are provided on the surface for the corresponding rigid chain mechanisms 42 to extend out. The two rigid chain mechanisms 42 are arranged side-by-side, and each rigid chain mechanism 42 has a sprocket inside. The joint module motor 40 is fixed inside the protective shell, and its output end is connected to the sprockets in the two rigid chain mechanisms 42 respectively. The motor drives the corresponding rigid chain mechanism 42 to extend and retract by rotating the sprockets. The push plate 41 is fixed to the ends of the two rigid chain mechanisms 42 and is tightly connected to the ends of the two rigid chain mechanisms 42 to achieve synchronous drive. The end of the cover plate 43 has a rotating shaft, which is rotatably connected to the box assembly 3. Figure 8As shown, the articulated motor 441 is mounted on the dust cover 444, and its output end is connected to the drive gear 442. The drive gear 442 meshes with the driven gear 443 (the size of the drive gear 442 is larger than that of the driven gear 443). The driven gear 443 is fixed on the rotating shaft of the cover plate 43. The dust cover 444 is sleeved on the rotating shaft to limit the flipping stroke of the cover plate 43. The cover plate 43 is rotatably connected to the box assembly 3 through the rotating shaft. The articulated motor 441 is fixed inside the second cavity 34. Its working principle is as follows: When it is needed to work, the joint motor 441 drives the active gear 442 to rotate, and through the meshing with the driven gear 443, it drives the cover plate 43 and the entire module to flip until it is perpendicular to the base 1; then the joint module motor drives the sprockets in the two rigid chain mechanisms 42 to rotate, the rigid chain mechanism 42 extends, and the push plate 41 abuts against the car hook; after the work is completed, the joint module motor 40 drives the sprockets in the two rigid chain mechanisms 42 to rotate in the opposite direction, and the joint motor 441 drives the module to flip in the opposite direction and be stored in the first cavity 31.

[0045] Example 2

[0046] The difference between this embodiment and embodiment 1 is that this embodiment provides a working principle of a rigid chain pusher mechanism driven by a joint module motor;

[0047] This embodiment provides a detailed description of the operation process of the rigid chain pusher mechanism driven by the joint module motor, which mainly includes four stages: the initial state and preparation stage, the flipping and alignment stage of the rigid chain drive module, the pusher holding and carriage flipping stage, and the reset and storage stage.

[0048] Initial State and Preparation Stage: In the initial state, the rigid chain drive module 4 is housed in the first cavity 31 of the box assembly 3 through a flipping action. At this time, the protective shell, push plate 41, and rigid chain mechanism 42 are all completely contained, preventing contact with debris such as slag and ore in the external environment. The box assembly 3 is located at the initial position of the base 1 (near the end motor 22) driven by the linear module 2. The moving slide plate 23 is at the end of the linear module body 21. The position code 25 records the initial coordinates at this time. When the tipper system issues a work command to limit the car coupler that is about to enter the tipper, the joint motor 441 is started first to provide power for the flipping of the rigid chain drive module 4.

[0049] The flipping and alignment stage of the rigid chain drive module: After the joint motor 441 is started, its output shaft drives the drive gear 442 to rotate. Since the drive gear 442 and the driven gear 443 mesh with each other (the transmission ratio is 2:1), the driven gear 443 rotates synchronously with the drive gear 442 and drives the rotating shaft at the end of the cover plate 43 to rotate, thereby causing the entire rigid chain drive module 4 to flip upward around the rotating shaft.

[0050] During the flipping process, the dust cover 444 rotates synchronously with the shaft. When the rigid chain drive module 4 flips to a state perpendicular to the base 1, the protruding part of the dust cover 444 contacts the inner wall of the box assembly 3, restricting the shaft from continuing to rotate. At this time, the rigid chain drive module 4 remains in a vertical state, and the push plate 41 faces the coupler direction.

[0051] Simultaneously, the end motor 22 of the linear module 2 starts, and the power is adjusted by the variable gear meshing structure in the speed control box 24 (the moving speed is set according to the coupler position information), driving the moving slide plate 23 to move along the guide rail of the linear module body 21 towards the coupler. The box assembly 3 moves synchronously with the moving slide plate 23. The position code 25 collects the position data of the moving slide plate 23 in real time and feeds it back to the PLC controller. When the push plate 41 is aligned with the lateral position of the coupler, the end motor 22 stops working, and the box assembly 3 stops precisely.

[0052] Push plate support and carriage tilting stage: After the push plate 41 is aligned, the joint module motor starts and drives the sprockets inside the two rigid chain mechanisms 42 to rotate synchronously. Under the transmission action of the sprockets, the two rigid chain mechanisms 42 extend outward along the through hole of the protective shell. The push plate 41 moves synchronously with the two rigid chain mechanisms 42 until the rubber pad of the push plate 41 is in close contact with the surface of the coupler and applies stable pressure. At this time, the joint module motor stops driving, and the two rigid chain mechanisms 42 remain in the extended state, forming an effective support for the coupler.

[0053] Subsequently, the tipper causes the car body to begin to tilt. Due to the supporting effect of the push plate 41, the coupler will not shift in the tilting direction due to its own weight. Throughout the entire tilting and unloading process, the rigid chain mechanism 42, with its high-rigidity support structure, continuously bears the reaction force of the coupler, preventing the push plate 41 from shifting and ensuring the stability of the coupler position.

[0054] Reset and storage stage: After the carriage is tilted and unloaded and reset, the joint module motor starts in reverse, driving the rigid chain mechanism 42 to retract. The push plate 41 retracts into the protective housing along with the rigid chain mechanism 42 until the push plate 41 is completely contained, and the drive motor stops working.

[0055] Next, the joint motor 441 rotates in the opposite direction, and through the meshing transmission of the drive gear 442 and the driven gear 443, it drives the cover plate 43 shaft to rotate in the opposite direction. The rigid chain drives the module 4 to flip downward and gradually store it in the first cavity 31 of the box assembly 3 until the protective shell is flush with the upper surface of the box assembly 3, and the joint motor 441 stops working.

[0056] Finally, the end motor 22 starts in reverse, driving the moving slide plate 23 to move the box assembly 3 back to the initial position along the guide rail. The position code 25 records the reset completion signal, and the entire mechanism returns to the initial state, waiting for the next operation command.

[0057] The above are all preferred embodiments of this utility model, and are not intended to limit the scope of protection of this utility model. Therefore, all equivalent changes made to the structure, shape and principle of this utility model should be covered within the scope of protection of this utility model.

Claims

1. A rigid chain pusher mechanism driven by a joint module motor, characterized in that, include: The base (1), linear module (2), box assembly (3), and rigid chain drive module (4); The linear module (2) is installed inside the base (1), and the box assembly (3) is installed on the upper side of the base (1) and connected to the linear module (2). The box assembly (3) moves back and forth along the extension direction of the linear module (2) under the power drive of the linear module (2). The rigid chain drive module (4) is rotatably connected to the box assembly (3). The rigid chain drive module (4) is stored and hidden in the cavity of the box assembly (3) by flipping action. When the rigid chain drive module (4) is flipped to a state perpendicular to the base (1), the rigid chain drive module (4) controls the push plate to perform extension and retraction action through the drive component.

2. The articulated modular motor-driven rigid chain pusher mechanism according to claim 1, characterized in that The base (1) includes a body (11), a baffle (12), a crossbeam (13), and a mounting plate (14). The body (11) has an internal receiving space and a sliding groove on its side. The baffle (12) is symmetrically fixed to both sides of the body (11). Multiple crossbeams (13) are evenly spaced and fixed to the inside of the body (11). The mounting plate (14) is divided into a left half mounting plate and a right half mounting plate. The left half mounting plate and the right half mounting plate are respectively fixed to the two ends of the crossbeam (13). The surface of the mounting plate (14) is provided with mounting holes.

3. The articulated modular motor-driven rigid chain pusher assembly of claim 1, wherein, The linear module (2) includes a linear module body (21), an end motor (22), a movable slide plate (23), a speed control box (24), and a position code (25). The end motor (22) is fixed to one end of the linear module body (21). The movable slide plate (23) is sleeved on the guide rail surface of the linear module body (21). The speed control box (24) has a variable gear meshing structure inside. The input end of the speed control box (24) is connected to the output shaft of the end motor (22). The output end of the speed control box (24) is connected to the transmission mechanism of the linear module body (21). The position code (25) is installed on the surface of the linear module body (21).

4. The articulated modular motor-driven rigid chain pusher assembly of claim 3, wherein, The linear module body (21) is a long strip structure, and a guide rail is provided inside along the length direction for the moving parts to slide. The guide rail is fixedly connected to the linear module body (21) to provide guidance for the reciprocating movement of the moving parts.

5. A rigid chain pusher mechanism driven by a joint module motor according to claim 4, characterized in that, The linear module body (21) is housed inside the body (11) of the base (1). The linear module body (21) is fixedly connected to the inner wall of the body (11) by bolts. The side of the movable slide plate (23) facing away from the guide rail is fixedly connected to the bottom of the box assembly (3) by snap-fit.

6. The articulated modular motor-driven rigid chain pusher assembly of claim 1, wherein, The box assembly (3) includes a first cavity (31), a notch (32), a perforated surface (33), and a second cavity (34). The first cavity (31) is an integrally formed accommodating space on the upper side of the box assembly (3), used to accommodate the main body of the rigid chain drive module (4) when it is not working. The notch (32) is a groove structure opened along the length direction on the lower side of the box assembly (3). The perforated surface (33) is a planar structure at the bottom of the box assembly (3). The second cavity (34) is a hollow structure inside the box assembly (3) that is independent of the first cavity (31).

7. A joint module motor driven rigid chain pusher plate mechanism according to claim 6, characterized in that, The box assembly (3) is slidably connected to the body (11) of the base (1) through a notch (32), and the box assembly (3) is fixedly connected to the sliding plate (23) of the linear module (2) through a perforated surface (33).

8. The articulated modular motor-driven rigid chain pusher assembly of claim 1, wherein, The rigid chain drive module includes a protective housing, a push plate (41), a rigid chain mechanism (42), and a joint module motor (40). The protective housing is sleeved on the outside of the push plate (41) and the rigid chain mechanism (42). The surface of the protective housing is provided with two through holes for the corresponding rigid chain mechanism (42) to extend out. The two rigid chain mechanisms (42) are arranged side by side, and each rigid chain mechanism has a sprocket inside. The joint module motor (40) is fixed inside the protective housing, and its output end is connected to the sprockets in the two rigid chain mechanisms (42) respectively. The push plate (41) is fixed at the end of the rigid chain mechanism (42).

9. A rigid chain pusher mechanism driven by a joint module motor according to claim 8, characterized in that, The rigid chain drive module (4) also includes a cover plate (43), a joint motor (441), a drive gear (442), a driven gear (443), and a dust cover (444). The cover plate (43) is connected to the protective housing. The end of the cover plate (43) is provided with a rotating shaft. The joint motor (441) is located inside the dust cover (444). The output end of the joint motor (441) is connected to the drive gear (442). The drive gear (442) and the driven gear (443) engage in rolling meshing. The driven gear (443) is fixed on the rotating shaft at the end of the cover plate (43). The dust cover (444) is sleeved on the rotating shaft where the driven gear (443) is located to limit the rotation stroke of the cover plate (43).

10. The articulated modular motor-driven rigid chain pusher assembly of claim 9, wherein, The cover plate (43) is connected to the box assembly (3) via a pivot at its end, and the two ends of the pivot are respectively rotatably engaged with the corresponding side walls of the box assembly (3).

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