Unmanned tractor

Abstract

The present disclosure relates to the field of transportation technology, and in particular to an unmanned tractor. The unmanned tractor is used to tow a trailer, and includes a tractor body and a traction device. The traction device includes a lifting mechanism and a traction mechanism arranged on the lifting mechanism. The traction mechanism includes a slider slidably connected to the lifting mechanism, an electromagnetic lock fixedly connected to the slider, a traction ring fixedly connected to the electromagnetic lock, and a traction buckle installed on the traction ring; the electromagnetic lock has a retractable lock tongue, which is used to limit the free end of the traction buckle when the lock tongue is extended to limit the downward rotation of the traction buckle; the traction ring has an inner area for the trailer ring to pass through, the trailer ring can push the traction buckle upward, and the free end of the traction buckle is sleeved on the traction buckle. The unmanned tractor disclosed in the present disclosure can realize the automatic traction function of the unmanned tractor on the trailer without modifying the existing trailer, and the unmanned tractor is suitable for docking with mops in different states.

Description

Technical Field

[0001] The present disclosure relates to the field of transportation technology, and in particular to an unmanned tractor. Background Art

[0002] With the rapid development of the economy, unmanned tractors have been widely used in the field of cargo transportation. The main function of an unmanned tractor is to automatically tow a trailer loaded with cargo and complete the automated transfer of cargo.

[0003] Existing trailers are usually provided with a mop for manual docking with a tractor, and a trailer ring is provided at the end of the mop. The trailer ring is hooked by a hook provided on the tractor, so that the tractor can tow the trailer. In order to reduce the space occupied by the mop, the mop on the trailer is mostly in an upright state before the trailer is towed or after being towed to a predetermined position.

[0004] In order to realize the automatic uncoupling function between the unmanned tractor and the existing trailer, it is usually necessary to make major changes to the mop on the existing trailer, which is costly; and not all mops on the existing trailer are in an upright state, and some mops on the trailer are in a horizontal state. The existing unmanned tractor cannot be used for docking with mops in different states. Summary of the invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides an unmanned tractor.

[0006] The present disclosure provides an unmanned tractor for towing a trailer, wherein the trailer is provided with a mop, and the end of the mop is provided with a trailer ring. The unmanned tractor comprises a tractor body and a traction device installed on the tractor body;

[0007] The traction device comprises a lifting mechanism and a traction mechanism arranged on the lifting mechanism, the lifting mechanism is used to drive the traction mechanism to move up and down, the traction mechanism comprises a slider slidably connected to the lifting mechanism, an electromagnetic lock fixedly connected to the slider, a traction ring fixedly connected to the electromagnetic lock, and a traction buckle installed on the traction ring;

[0008] The traction buckle has a first end and a second end that are arranged opposite to each other, the first end of the traction buckle is rotatably connected to a portion of the traction ring that is away from the electromagnetic lock and opposite to the electromagnetic lock, and the second end of the traction buckle is a free end;

[0009] The electromagnetic lock has a retractable lock tongue, which is used to limit the free end of the traction buckle when it is extended, so as to limit the downward rotation of the traction buckle;

[0010] The traction ring has an inner area for the bucket ring to pass through, and the bucket ring can push the traction buckle upwards, and the free end of the traction buckle is sleeved on the traction buckle;

[0011] When the locking tongue is retracted, the limiting effect of the locking tongue on the traction buckle is cancelled, and the traction buckle rotates downward to allow the bucket ring to escape from the free end of the traction ring.

[0012] Optionally, a reset mechanism is provided between the traction buckle and the traction ring, and the reset mechanism is used to drive the traction buckle to rotate and reset, so that the free end of the traction buckle is reset to a position limited by the lock tongue.

[0013] Optionally, a sleeve portion is provided at the first end of the traction buckle, and the sleeve portion is sleeved on the traction ring; the reset mechanism includes a reset torsion spring, one end of the reset torsion spring is against the outer surface of the traction buckle, and the other end of the reset torsion spring is against the outer surface of the traction ring.

[0014] Optionally, a support surface for abutting against the locking tongue is formed on the lower surface of the free end of the traction buckle, and the support surface supports on the locking tongue when the locking tongue is extended to limit the traction buckle from rotating downward.

[0015] Optionally, the support surface is provided with limiting ribs for limiting the front end and left and right sides of the locking tongue.

[0016] Optionally, the lock tongue is a wedge-shaped lock tongue, and the lower surface of the lock tongue is a wedge-shaped surface; when the free end of the traction buckle is located below the lock tongue and rotates in a direction close to the lock tongue, the free end of the traction buckle contacts and cooperates with the wedge-shaped surface to drive the lock tongue to retract, so that the free end of the traction buckle rotates upward to above the lock tongue.

[0017] Optionally, a limiting groove for inserting the locking tongue is provided on the end surface of the free end of the traction buckle, and when the locking tongue is extended, the locking tongue is inserted into the limiting groove to limit the downward rotation of the traction buckle.

[0018] Optionally, the traction ring is arranged at an angle, and a portion of the traction ring connected to the traction buckle is higher than a portion of the traction ring connected to the electromagnetic lock, so that when the lock tongue is in a state of limiting the free end of the traction buckle, the first end of the traction buckle is higher than the second end of the traction buckle.

[0019] Optionally, the traction ring is in a runway shape, comprising two straight wall segments arranged in parallel and two arc-shaped wall segments connecting the two straight wall segments, the electromagnetic lock is fixedly connected to the middle part of one of the straight wall segments, and the traction buckle is rotatably connected to the middle part of the other straight wall segment.

[0020] Optionally, an open slot is provided in the middle portion of the two straight wall sections fixedly connected to the electromagnetic lock, and the traction ring is clamped on the two opposite outer surfaces of the electromagnetic lock through the open slot, and the lock tongue extends from the open slot to the inner area of ​​the traction ring, and the extension direction of the lock tongue is toward the first end of the traction buckle.

[0021] Optionally, the lifting mechanism includes a fixed bracket, and a guide rail and a driving assembly installed on the fixed bracket; the guide rail is vertically arranged, the slider of the traction mechanism is slidably connected to the guide rail, and the driving assembly is used to drive the traction mechanism to move up and down along the guide rail.

[0022] Optionally, the driving assembly includes a motor, a sprocket connected to the output shaft of the motor, and a chain mounted on the sprocket, the slider is fixed on the chain, and the motor drives the traction mechanism to move up and down along the guide rail through the sprocket and the chain.

[0023] Optionally, a sensing sensor and a controller are provided on the tractor body, the sensing sensor is used to sense the initial position state of the mop and send a sensing signal to the controller, and the controller is used to control the movement of the tractor body and the lifting and lowering of the lifting mechanism according to the received sensing signal; wherein the initial position state of the mop includes at least one of a vertical state, a horizontal state and an inclined state.

[0024] Optionally, the initial position state of the mop is a vertical state or an inclined state, and the controller controls the lifting mechanism to drive the traction mechanism to move downward, so that the bucket ring pushes the traction buckle upward during the downward movement of the traction mechanism, and the free end of the traction buckle is sleeved on the traction buckle; or

[0025] The initial position state of the mop is a horizontal state, and the controller controls the tractor body to move backward to drive the traction mechanism to move backward, so that the bucket ring pushes the traction buckle upward during the backward movement of the traction mechanism, and the free end of the traction buckle is sleeved on the traction buckle.

[0026] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0027] The unmanned tractor provided by the embodiment of the present disclosure is used to realize the traction function of the trailer by arranging a traction device on the tractor body of the unmanned tractor. Specifically, the traction device includes a lifting mechanism and a traction mechanism arranged on the lifting mechanism, the traction mechanism includes a slider, an electromagnetic lock, a traction ring and a traction buckle, the first end of the traction buckle is rotatably connected to the traction ring, and the second end of the traction buckle is a free end; when it is necessary to use the unmanned tractor to tow the trailer with the mop in a vertical state, the unmanned tractor is reversed toward the position of the trailer, so that the traction mechanism of the traction device is located above the mop of the trailer, and then the traction mechanism is driven downward by the lifting mechanism. During the downward movement of the traction mechanism, the trailer ring of the mop pushes the traction buckle upward (or, the trailer ring of the mop pushes the traction buckle to rotate the free end of the traction buckle upward), and the free end of the traction buckle is sleeved on the traction buckle to realize the sleeve connection between the mop ring and the traction buckle At the same time, the lock tongue extended by the electromagnetic lock is used to limit the downward rotation of the traction buckle, thereby preventing the mop ring from falling off the traction buckle, so as to achieve reliable docking between the unmanned tractor and the trailer. After the docking is completed, the unmanned tractor pulls forward, and the mop of the trailer is gradually pulled from a vertical state to a horizontal state. The traction mechanism moves downward to the lower position of the lifting mechanism, and the automatic traction function of the unmanned tractor to the trailer is realized through the cooperation of the traction device of the unmanned tractor and the mop of the trailer; when the unmanned tractor needs to be separated from the trailer, the lock tongue of the electromagnetic lock is retracted to release the limiting effect of the lock tongue on the traction buckle, so that the traction buckle rotates downward, and the trailer ring of the mop falls off from the free end of the traction buckle, that is, the unmanned tractor is disengaged from the trailer, thereby realizing the automatic unhooking function of the unmanned tractor and the trailer. In addition, in the case where the mop of the trailer is in an inclined state or in a horizontal state, the unmanned tractor provided by the embodiment of the present disclosure can also realize the traction function of the trailer. For example, for a mop in a horizontal state, the unmanned tractor can be used to reverse and approach the position of the trailer. During the reversing process of the unmanned tractor, the trailer ring of the mop pushes the traction buckle upward (that is, the trailer ring of the mop can push the traction buckle to make the free end of the traction buckle rotate upward), and the free end of the traction buckle is sleeved on the traction buckle to realize the sleeve connection between the mop ring and the traction buckle, thereby realizing the docking of the unmanned tractor and the trailer. The unmanned tractor of the embodiment of the present disclosure can realize the traction function of the unmanned tractor on the trailer without modifying the existing trailer, and the unmanned tractor is suitable for docking with mops in different states. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0030] Figure 1 This is a schematic diagram of the structure of the unmanned tractor according to an embodiment of the present disclosure;

[0031] Figure 2 It is a structural schematic diagram of the unmanned tractor and trailer according to an embodiment of the present disclosure;

[0032] Figure 3 It is a side view structural schematic diagram of the unmanned tractor and trailer according to the embodiment of the present disclosure;

[0033] Figure 4 It is a schematic diagram of the top view of the structure of the unmanned tractor and trailer according to the embodiment of the present disclosure;

[0034] Figure 5a to Figure 5e A structural schematic diagram of the process of docking and towing a trailer with a mop in a vertical state using the unmanned towing vehicle according to an embodiment of the present disclosure;

[0035] Figure 6 It is a structural schematic diagram of the traction buckle of the unmanned tractor according to the embodiment of the present disclosure being disengaged from the trailer ring of the trailer;

[0036] Figure 7 It is a structural schematic diagram before the unmanned tractor according to the embodiment of the present disclosure is used to dock with a trailer with a mop in a horizontal state;

[0037] Figures 8a to 8c A structural schematic diagram of the process of docking and towing a trailer with a mop in a horizontal state using the unmanned towing vehicle according to an embodiment of the present disclosure;

[0038] Fig. 9 The present invention is a schematic structural diagram of an unmanned tractor in a turning state when towing a trailer using the unmanned tractor according to an embodiment of the present invention.

[0039] Among them, 1-unmanned tractor; 11-tractor body; 12-traction device; 13-lifting mechanism; 131-fixed bracket; 132-guide rail; 133-motor; 134-chain; 14-traction mechanism; 141-slider; 142-electromagnetic lock; 1421-lock tongue; 143-traction ring; 144-traction buckle;

[0040] 2-trailer; 21-trailer body; 22-mop; 221-trailer ring. DETAILED DESCRIPTION

[0041] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0042] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0043] like Figures 1 to 4 As shown, the embodiment of the present disclosure provides an unmanned tractor 1 for towing a trailer 2. Specifically, the trailer 2 includes a trailer body 21 and a mop 22 arranged on the trailer body 21, and a trailer ring 221 is arranged at the end of the mop 22; the unmanned tractor 1 includes a tractor body 11 and a traction device 12 installed on the tractor body 11. In specific implementation, the traction device 12 can be installed at the rear of the tractor body 11, and the mop 22 can be arranged at the front end of the trailer body 21. The traction device 12 cooperates with the mop 22 to realize the automatic docking of the unmanned tractor 1 and the trailer 2, thereby realizing the automatic traction function of the unmanned tractor 1 to the trailer 2.

[0044] Specifically, Figure 5a to Figure 5e As shown, the traction device 12 includes a lifting mechanism 13 and a traction mechanism 14 arranged on the lifting mechanism 13, the lifting mechanism 13 is used to drive the traction mechanism 14 to move up and down; the traction mechanism 14 includes a slider 141 slidably connected to the lifting mechanism 13, an electromagnetic lock 142 fixedly connected to the slider 141, a traction ring 143 fixedly connected to the electromagnetic lock 142, and a traction buckle 144 installed on the traction ring 143. The traction buckle 144 has a first end and a second end that are arranged opposite to each other. When implemented specifically, the traction buckle 144 can adopt a rod-shaped structure. The first end of the traction buckle 144 is rotatably connected to a portion of the traction ring 143 that is away from the electromagnetic lock 142 and opposite to the electromagnetic lock 142, and the second end of the traction buckle 144 is a free end; the electromagnetic lock 142 has a retractable lock tongue 1421, which is used to limit the free end of the traction buckle 144 when it is extended to limit the downward rotation of the traction buckle 144; the traction ring 143 has an inner area for the bucket ring 221 to pass through, and the bucket ring 221 can push the traction buckle 144 upward (or, the bucket ring 221 can push the traction buckle 144 to make the free end of the traction buckle 144 rotate upward), and the free end of the traction buckle 144 is sleeved on the traction buckle 144; Figure 6 As shown, when the locking tongue 1421 is retracted, the limiting effect of the locking tongue 1421 on the traction buckle 144 is cancelled, and the traction buckle 144 rotates downward to allow the bucket ring 221 to escape from the free end of the traction ring 143.

[0045] In a specific implementation, when the unmanned tractor 1 is needed to tow the trailer 2 with the mop in a vertical state (or in a vertical state), the unmanned tractor 1 is reversed toward the location of the trailer 2 so that the traction mechanism 14 of the traction device 12 is located above the mop 22 of the trailer 2 (such as Figure 5a As shown in FIG. 1 , the lifting mechanism 13 then drives the traction mechanism 14 to move downward. During the downward movement of the traction mechanism 14, the bucket ring 221 of the mop 22 pushes the traction buckle 144 upward (or, the bucket ring 221 of the mop 22 pushes the traction buckle 144, causing the free end of the traction buckle 144 to rotate upward, as shown in FIG. 1 ). Figure 5b and Figure 5c As shown), the free end of the traction buckle 144 is sleeved on the traction buckle 144 (as shown Figure 5d As shown), the mop 22 ring is connected with the traction buckle 144, and the lock tongue 1421 extended by the electromagnetic lock 142 is used to limit the traction buckle 144 from rotating downward, thereby preventing the mop 22 ring from coming off the traction buckle 144 (as shown in FIG. Figure 5e As shown), the unmanned tractor 1 and the trailer 2 are reliably docked. After the docking is completed, the unmanned tractor 1 is pulled forward, and the mop 22 of the trailer 2 is gradually pulled from a vertical state to a horizontal state, and the traction mechanism 14 moves downward to the lower position of the lifting mechanism 13 (as shown in FIG. Figure 5e As shown in the figure, the unmanned tractor 1 automatically tows the trailer 2 through the cooperation of the towing device 12 of the unmanned tractor 1 and the mop 22 of the trailer 2; when the unmanned tractor 1 needs to be separated from the trailer 2, the lock tongue 1421 of the electromagnetic lock 142 is retracted to release the limiting effect of the lock tongue 1421 on the towing buckle 144, so that the towing buckle 144 rotates downward, and the trailer ring 221 of the mop 22 is disengaged from the free end of the towing buckle 144 (as shown in the figure). Figure 6 As shown in the figure, the unmanned tractor 1 is disconnected from the trailer 2, thereby realizing the automatic uncoupling function of the unmanned tractor 1 and the trailer 2. The unmanned tractor of the disclosed embodiment can realize the automatic traction function of the unmanned tractor to the trailer without modifying the existing trailer, effectively reducing the modification cost.

[0046] In addition, when the mop of the trailer is in an inclined state or in a horizontal state, the unmanned tractor of the embodiment of the present disclosure can also realize the automatic traction function of the trailer. When the mop of the trailer is in an inclined state, the automatic traction of the trailer can be performed with reference to the above-mentioned case where the mop is in a vertical state. The docking and traction process of the unmanned tractor and the trailer is roughly the same, which will not be repeated here.

[0047] For the case where the mop handle of the trailer is in a horizontal state, such as Figure 7As shown, when the unmanned tractor 1 is needed to tow the trailer 2 with the mop in a horizontal state, the unmanned tractor 1 is backed up to the position of the trailer 2, and the lifting mechanism 13 drives the traction mechanism 14 to move downward, and the traction mechanism 14 is moved downward to a position substantially horizontal with the traction ring 143 of the mop 22, and then the unmanned tractor 1 continues to back up to the position of the mop 22 of the trailer 2 (as shown in FIG. Figure 8a As shown in FIG. 1 , during the reversing process of the unmanned tractor 1, the bucket ring 221 of the mop 22 pushes the traction buckle 144 upward (or, the bucket ring 221 of the mop 22 pushes the traction buckle 144, so that the free end of the traction buckle 144 rotates upward, as shown in FIG. 1 ). Figure 8b As shown), the free end of the traction buckle 144 is sleeved on the traction buckle 144 (as shown Figure 8c As shown), the mop 22 ring is connected with the traction buckle 144, and the lock tongue 1421 extended by the electromagnetic lock 142 is used to limit the traction buckle 144 from rotating downward, thereby preventing the mop 22 ring from coming off the traction buckle 144 (as shown in FIG. Figure 8c As shown), the unmanned tractor 1 and the trailer 2 are reliably docked. After the docking is completed, the unmanned tractor 1 is pulled forward, and the unmanned tractor 1 is automatically pulled by the trailer 2 through the cooperation of the traction device 12 of the unmanned tractor 1 and the mop 22 of the trailer 2. When the unmanned tractor 1 needs to be separated from the trailer 2, the lock tongue 1421 of the electromagnetic lock 142 is retracted to release the limiting effect of the lock tongue 1421 on the traction buckle 144, so that the traction buckle 144 rotates downward, and the trailer ring 221 of the mop 22 is disengaged from the free end of the traction buckle 144 (as shown in FIG. Figure 6 As shown), the unmanned tractor 1 is disconnected from the trailer 2, thereby realizing the automatic uncoupling function of the unmanned tractor and the trailer.

[0048] In this way, the unmanned tractor according to the embodiment of the present disclosure can realize the automatic traction function of the unmanned tractor on the trailer without modifying the existing trailer, and the unmanned tractor is suitable for docking with mops in different states (such as a mop in a vertical state, a mop in a horizontal state, or a mop in an inclined state), thereby effectively increasing the scope of application of the unmanned tractor.

[0049] In some embodiments of the present disclosure, a reset mechanism is provided between the traction buckle 144 and the traction ring 143, and the reset mechanism is used to drive the traction buckle 144 to rotate and reset, so that the free end of the traction buckle 144 is reset to the position limited by the lock tongue 1421. It should be understood that when the unmanned tractor 1 of the embodiment of the present disclosure is in the process of automatic docking with the trailer 2 (or in other words, in the process of automatic hooking), after the trailer ring 221 of the mop 22 pushes the traction buckle 144 upward, the traction buckle 144 needs to be rotated downward to reset; when the unmanned tractor 1 is in the process of automatic disengagement with the trailer 2 (or in other words, in the process of automatic unhooking), when the lock tongue 1421 of the electromagnetic lock 142 cancels the limiting effect on the traction buckle 144, the traction buckle 144 rotates downward to disengage the trailer ring 221 of the mop 22 from the traction buckle 144, the traction buckle 144 needs to be rotated upward to reset.

[0050] In the above embodiment, by providing a reset mechanism between the traction buckle 144 and the traction ring 143, the reset mechanism can not only realize that after the bucket ring 221 of the mop 22 pushes the traction buckle 144 upward, the traction buckle 144 is driven to rotate downward and reset, but also can realize that after the locking tongue 1421 of the electromagnetic lock 142 cancels the limiting effect on the traction buckle 144, the traction buckle 144 rotates downward to disengage the bucket ring 221 of the mop 22 from the traction buckle 144, the traction buckle 144 is driven to rotate upward and reset. In other words, by providing a reset mechanism between the traction buckle 144 and the traction ring 143, it can be ensured that the free end of the traction buckle 144 is maintained at or reset to the position limited by the locking tongue 1421 of the electromagnetic lock 142.

[0051] In some specific embodiments of the present disclosure, Figure 5b , Figure 5c , Figure 5d and Figure 6 As shown, the first end of the traction buckle 144 is provided with a sleeve portion, which is sleeved on the traction ring 143; the reset mechanism includes a reset torsion spring, one end of the reset torsion spring is against the outer surface of the traction buckle 144, and the other end of the reset torsion spring is against the outer surface of the traction ring 143. The reset torsion spring is used to reset the traction buckle 144, which has a simple structure, convenient assembly and low cost.

[0052] In some embodiments of the present disclosure, Figure 5b to Figure 5e As shown, the lower surface of the free end of the traction buckle 144 is formed with a support surface for contacting with the lock tongue 1421. When the lock tongue 1421 is extended, the support surface is supported on the lock tongue 1421 to limit the downward rotation of the traction buckle 144. The traction buckle 144 and the lock tongue 1421 are overlapped to achieve the limiting effect of the lock tongue 1421 on the traction buckle 144, so as to achieve the purpose of limiting the downward rotation of the traction buckle 144. This matching structure has low requirements on matching accuracy and higher matching reliability.

[0053] Furthermore, if Figure 5b to Figure 5e As shown, the support surface is provided with limiting convex ribs for limiting the front end and left and right sides of the lock tongue 1421. Specifically, the limiting convex ribs can be surrounded by a groove-shaped structure with one side open, and the traction buckle 144 is supported on the lock tongue 1421. The left and right sides and the front end of the lock tongue 1421 are limited in the groove-shaped structure surrounded by the limiting convex ribs, so that the reliability of the traction buckle 144 and the lock tongue 1421 can be improved.

[0054] In some specific embodiments of the present disclosure, Figure 5b and Figure 5c As shown, the lock tongue 1421 is a wedge-shaped lock tongue 1421, and the lower surface of the lock tongue 1421 is a wedge-shaped surface; when the free end of the traction buckle 144 is located below the lock tongue 1421 and rotates in the direction close to the lock tongue 1421, the free end of the traction buckle 144 contacts and cooperates with the wedge-shaped surface to drive the lock tongue 1421 to retract, so that the free end of the traction buckle 144 rotates upward to the top of the lock tongue 1421. By adopting the wedge-shaped lock tongue 1421, the lock tongue 1421 can be retracted by relying on the free end of the traction buckle 144 to cooperate with the wedge-shaped lock tongue 1421 during the process of the free end of the traction buckle 144 rotating upward and resetting. When the free end of the traction buckle 144 rotates upward to the top of the lock tongue 1421, the lock tongue 1421 can be automatically extended. This process is similar to the retraction and extension of the lock tongue 1421 of the door lock structure, so that the control of the lock tongue 1421 can be simplified, making the control of the entire traction device 12 more simplified. Of course, the retraction and extension of the lock tongue 1421 can also be achieved completely by electric control as needed.

[0055] In other embodiments of the present disclosure, a limiting groove for inserting the locking tongue 1421 is provided on the end surface of the free end of the traction buckle 144. When the locking tongue 1421 is extended, the locking tongue 1421 is inserted into the limiting groove to limit the downward rotation of the traction buckle 144. The traction buckle 144 and the locking tongue 1421 are plugged in a manner to achieve the limiting effect of the locking tongue 1421 on the traction buckle 144, so as to limit the downward rotation of the traction buckle 144. This matching structure can effectively ensure the stability and reliability of the matching between the traction buckle 144 and the locking tongue 1421, and avoid the situation in which the traction buckle 144 rotates upward to cause the bucket ring 221 of the mop 22 to be detached from the traction buckle 144 in the event of sudden bumps, sudden braking, etc.

[0056] In some embodiments of the present disclosure, Figure 3As shown, the traction ring 143 is tilted, and the part of the traction ring 143 connected to the traction buckle 144 is higher than the part of the traction ring 143 connected to the electromagnetic lock 142, so that when the lock tongue 1421 is in a state of limiting the free end of the traction buckle 144, the first end of the traction buckle 144 is higher than the second end of the traction buckle 144. Through the above arrangement, when the traction device 12 approaches the bucket ring 221 of the mop 22, the bucket ring 221 can more easily push the traction buckle 144 upward and be mounted on the traction buckle 144; and for the bucket 2 with the mop 22 arranged vertically, the mop 22 arranged tilted, and the mop 22 arranged horizontally, it can ensure that the bucket ring 221 pushes the traction buckle 144 upward and is mounted on the traction buckle 144. Preferably, the inclination angle of the traction ring 143 relative to the horizontal plane is 45 degrees.

[0057] In some embodiments of the present disclosure, Figure 5b to Figure 5e As shown, the traction ring 143 is in the shape of a runway, and includes two straight wall sections arranged in parallel and two arc-shaped wall sections connecting the two straight wall sections. The electromagnetic lock 142 is fixedly connected to the middle part of one of the straight wall sections, and the traction buckle 144 is rotatably connected to the middle part of the other straight wall section. Through the above arrangement, when the free end of the traction buckle 144 is limited by the lock tongue 1421 of the electromagnetic lock 142, the inner area of ​​the traction ring 143 is divided into two symmetrical spaces by the traction buckle 144; when the trailer ring 221 is sleeved on the traction buckle 144, the trailer ring 221 has a larger activity space in the inner area of ​​the traction ring 143, so when the unmanned tractor 1 is used to tow the trailer 2, it is conducive to more flexible turning during the traction process, such as Fig. 9 , which is a schematic structural diagram of an unmanned tractor in a turning state when towing a trailer using an embodiment of the present disclosure.

[0058] In some embodiments of the present disclosure, Figure 5b to Figure 5e As shown, an open slot is provided in the middle of the straight wall section of the two straight wall sections that is fixedly connected to the electromagnetic lock 142, and the traction ring 143 is clamped on the two opposite outer surfaces of the electromagnetic lock 142 through the open slot, and the lock tongue 1421 extends from the open slot to the inner area of ​​the traction ring 143, and the extension direction of the lock tongue 1421 is toward the first end of the traction buckle 144. Through the above arrangement, the free end of the traction buckle 144 is limited by the lock tongue 1421 of the electromagnetic lock 142.

[0059] In some embodiments of the present disclosure, Figure 5a to Figure 5dAs shown, the lifting mechanism 13 includes a fixed bracket 131, a guide rail 132 and a driving assembly installed on the fixed bracket 131; the guide rail 132 is vertically arranged, the slider 141 of the traction mechanism 14 is slidably connected to the guide rail 132, and the driving assembly is used to drive the traction mechanism 14 to move up and down along the guide rail 132. Further, the driving assembly includes a motor 133, a sprocket connected to the output shaft of the motor 133, and a chain 134 installed on the sprocket, the slider 141 is fixed on the chain 134, and the motor 133 drives the traction mechanism 14 to move up and down along the guide rail 132 through the sprocket and the chain 134. Compared with the transmission method of the electric screw, the transmission method of the motor with the sprocket and the chain has higher accuracy, and the docking of the unmanned tractor 1 and the trailer 2 is smoother. Of course, the lifting mechanism is not limited to the above-mentioned transmission method, and other transmission methods such as the motor with the belt and the electric screw can also be used.

[0060] In some embodiments of the present disclosure, a sensing sensor and a controller are provided on the tractor body 11. The sensing sensor is used to sense the initial position state of the mop 22 and send a sensing signal to the controller. The controller is used to control the movement of the tractor body 11 and the lifting and lowering of the lifting mechanism 13 according to the received sensing signal; wherein the initial position state of the mop 22 includes at least one of a vertical state, a horizontal state and an inclined state.

[0061] In some specific embodiments of the present disclosure, the initial position state of the mop 22 is a vertical state or an inclined state, and the controller controls the lifting mechanism 13 to drive the traction mechanism 14 to move downward, so that the bucket ring 221 pushes the traction buckle 144 upward during the downward movement of the traction mechanism 14, and the free end of the traction buckle 144 is sleeved on the traction buckle 144.

[0062] In some other specific embodiments of the present disclosure, the initial position state of the mop 22 is a horizontal state, and the controller controls the tractor body 11 to move backward to drive the traction mechanism 14 to move backward, so that the bucket ring 221 pushes the traction buckle 144 upward during the backward movement of the traction mechanism 14, and the free end of the traction buckle 144 is sleeved on the traction buckle 144.

[0063] In the above embodiment, the initial position state of the mop is sensed by the sensing sensor and a sensing signal is sent to the controller. The controller controls the movement of the tractor body and the lifting and lowering of the lifting mechanism according to the received sensing signal, thereby realizing the function of the unmanned tractor being able to automatically tow the trailer with the mop in different states, thereby effectively increasing the application range of the unmanned tractor.

[0064] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0065] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An unmanned tractor for towing a trailer, wherein the trailer (2) is provided with a mop (22), and the end of the mop (22) is provided with a trailer ring (221), characterized in that: It comprises a tractor body (11) and a traction device (12) installed on the tractor body (11); The traction device (12) comprises a lifting mechanism (13) and a traction mechanism (14) arranged on the lifting mechanism (13); the lifting mechanism (13) is used to drive the traction mechanism (14) to move up and down; the traction mechanism (14) comprises a slider (141) slidably connected to the lifting mechanism (13), an electromagnetic lock (142) fixedly connected to the slider (141), a traction ring (143) fixedly connected to the electromagnetic lock (142), and a traction buckle (144) installed on the traction ring (143); The traction buckle (144) has a first end and a second end which are arranged opposite to each other, the first end of the traction buckle (144) is rotatably connected to a portion of the traction ring (143) which is away from the electromagnetic lock (142) and opposite to the electromagnetic lock (142), and the second end of the traction buckle (144) is a free end; The electromagnetic lock (142) has a retractable lock tongue (1421), and when the lock tongue (1421) is extended, it is used to limit the free end of the traction buckle (144) to limit the downward rotation of the traction buckle (144); The traction ring (143) has an inner area for the bucket ring (221) to pass through, the bucket ring (221) can push the traction buckle (144) upward, and the free end of the traction buckle (144) is sleeved on the traction buckle (144); When the locking tongue (1421) is retracted, the limiting effect of the locking tongue (1421) on the traction buckle (144) is cancelled, and the traction buckle (144) rotates downward to allow the bucket ring (221) to escape from the free end of the traction ring (143); The traction ring (143) is arranged obliquely, and the portion of the traction ring (143) connected to the traction buckle (144) is higher than the portion of the traction ring (143) connected to the electromagnetic lock (142), so that when the lock tongue (1421) is in a state of limiting the free end of the traction buckle (144), the first end of the traction buckle (144) is higher than the second end of the traction buckle (144), and when the mop (22) is arranged vertically, obliquely or horizontally, the bucket ring (221) can push the traction buckle (144) upwards and be sleeved on the traction buckle (144); A reset mechanism is provided between the traction buckle (144) and the traction ring (143), and the reset mechanism is used to drive the traction buckle (144) to rotate and reset, so that the free end of the traction buckle (144) is reset to a position limited by the lock tongue (1421).

2. The unmanned tractor according to claim 1, characterized in that: The first end of the traction buckle (144) is provided with a sleeve portion, and the sleeve portion is sleeved on the traction ring (143); The reset mechanism comprises a reset torsion spring, one end of the torsion arm of the reset torsion spring abuts against the outer surface of the traction buckle (144), and the other end of the torsion arm of the reset torsion spring abuts against the outer surface of the traction ring (143).

3. The unmanned tractor according to claim 1, characterized in that: A support surface for abutting against the locking tongue (1421) is formed on the lower surface of the free end of the pulling buckle (144); when the locking tongue (1421) is extended, the support surface is supported on the locking tongue (1421) to limit the pulling buckle (144) from rotating downward.

4. The unmanned tractor according to claim 3, characterized in that: The support surface is provided with limiting convex ribs for limiting the front end and left and right sides of the locking tongue (1421).

5. The unmanned tractor according to claim 3, characterized in that: The lock tongue (1421) is a wedge-shaped lock tongue, and the lower surface of the lock tongue (1421) is a wedge-shaped surface; When the free end of the traction buckle (144) is located below the locking tongue (1421) and rotates in a direction close to the locking tongue (1421), the free end of the traction buckle (144) contacts and cooperates with the wedge surface to drive the locking tongue (1421) to retract, so that the free end of the traction buckle (144) rotates upward to above the locking tongue (1421).

6. The unmanned tractor according to claim 1, characterized in that: A limiting groove for inserting the locking tongue (1421) is provided on the end surface of the free end of the pulling buckle (144); when the locking tongue (1421) is extended, the locking tongue (1421) is inserted into the limiting groove to limit the pulling buckle (144) from rotating downward.

7. The unmanned tractor according to claim 1, characterized in that: The traction ring (143) is in the shape of a runway, and comprises two straight wall sections arranged in parallel and two arc-shaped wall sections connecting the two straight wall sections. The electromagnetic lock (142) is fixedly connected to the middle part of one of the straight wall sections, and the traction buckle (144) is rotatably connected to the middle part of the other straight wall section.

8. The unmanned tractor according to claim 7, characterized in that: An open slot is provided in the middle of the straight wall section of the two straight wall sections that is fixedly connected to the electromagnetic lock (142); the traction ring (143) is clamped on two opposite outer surfaces of the electromagnetic lock (142) through the open slot; the lock tongue (1421) extends from the open slot to the inner area of ​​the traction ring (143), and the extension direction of the lock tongue (1421) is toward the first end of the traction buckle (144).

9. The unmanned tractor according to claim 1, characterized in that: The lifting mechanism (13) comprises a fixed bracket (131), and a guide rail (132) and a driving assembly mounted on the fixed bracket (131); The guide rail (132) is arranged vertically, the slider (141) of the traction mechanism (14) is slidably connected to the guide rail (132), and the driving component is used to drive the traction mechanism (14) to move up and down along the guide rail (132).

10. The unmanned tractor according to claim 9, characterized in that: The driving assembly comprises a motor (133), a sprocket connected to an output shaft of the motor (133), and a chain (134) mounted on the sprocket, the slider (141) is fixed on the chain (134), and the motor (133) drives the traction mechanism (14) to move up and down along the guide rail (132) via the sprocket and the chain (134).

11. The unmanned tractor according to any one of claims 1 to 10, characterized in that: The tractor body (11) is provided with a sensing sensor and a controller, the sensing sensor is used to sense the initial position state of the mop (22) and send a sensing signal to the controller, and the controller is used to control the movement of the tractor body (11) and the lifting and lowering of the lifting mechanism (13) according to the received sensing signal; Wherein, the initial position state of the mop (22) includes at least one of a vertical state, a horizontal state and an inclined state.

12. The unmanned tractor according to claim 11, characterized in that: The initial position state of the mop (22) is a vertical state or an inclined state, and the controller controls the lifting mechanism (13) to drive the traction mechanism (14) to move downward, so that the bucket ring (221) pushes the traction buckle (144) upward during the downward movement of the traction mechanism (14), and the free end of the traction buckle (144) is sleeved on the traction buckle (144); or The initial position state of the mop (22) is a horizontal state, and the controller controls the tractor body (11) to move backward to drive the traction mechanism (14) to move backward, so that the bucket ring (221) pushes the traction buckle (144) upward during the backward movement of the traction mechanism (14), and the free end of the traction buckle (144) is sleeved on the traction buckle (144).

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