Automatic plug-in traction device for unmanned tractor

Abstract

This application discloses an automatic plug-in / plug-out towing device for an unmanned tractor, comprising a towing pin and a first transmission component connected to the towing pin. The first transmission component drives the towing pin to move up and down, thereby automatically connecting or disconnecting the towing pin from the towing ring of a trailer or tractor. The first transmission component is equipped with a first detection component, and the automatic plug-in / plug-out towing device for an unmanned tractor is equipped with a first sensing component. The first sensing component is used to sense the first detection component to determine the movement position of the towing pin. This automatic plug-in / plug-out towing device for an unmanned tractor can detect the movement position of the towing pin and determine its connection status with the towing ring by detecting the towing pin's movement into position. This improves the success rate, connection accuracy, and reliability of the connection between the towing pin and the towing ring, thereby ensuring the safety and reliability of the towing process.

Description

Technical Field

[0001] This invention relates to the field of unmanned tractor technology, and more specifically to an automatic plug-in traction device for unmanned tractors. Background Technology

[0002] Currently, automatic towing or unhooking devices used in autonomous towing vehicles typically include limit switches to detect the position of the towing ring. The connection between the towing ring and the towing pin is initiated only after the towing ring is correctly inserted. However, simply detecting insertion does not determine the connection between the towing ring and the towing pin. For autonomous driving applications, this fails to truly demonstrate the automatic connection between the towing pin and the towing ring, and also reduces the accuracy and reliability of the connection. Summary of the Invention

[0003] In order to solve one or more technical problems in the prior art, or at least provide a beneficial alternative, the present invention provides an automatic plug-in traction device for an unmanned tractor to optimize the connection accuracy and reliability of the traction pin and the traction ring.

[0004] The present invention discloses an automatic plug-in traction device for an unmanned tractor, comprising a traction pin and a first transmission component connected to the traction pin. The first transmission component drives the traction pin to move up and down, so that the traction pin can automatically connect or disconnect from the towing ring of a trailer or tractor. The first transmission component is provided with a first detection component, and the automatic plug-in traction device for an unmanned tractor is provided with a first sensing component. The first sensing component is used to sense the first detection component to determine the movement position of the traction pin.

[0005] The automatic plug-in / plug-out traction device for the unmanned tractor of the present invention also has the following additional technical features:

[0006] Two first sensors are provided, each located on the movement path of the traction pin. One of the first sensors senses the first detection element to determine that the traction pin has moved to insert into the traction ring, and the other first sensor senses the first detection element to determine that the traction pin has moved to disengage from the traction ring.

[0007] The automatic plug-in traction device for the unmanned tractor also includes a guide device and a second transmission component connected to the guide device. The second transmission component drives the guide device to move up and down. The guide device is used to guide the towing ring of the trailer or tractor from the left and right directions.

[0008] The second transmission component is provided with a second detection component, and the automatic plug-in traction device for the unmanned tractor is provided with a second sensing component. The second sensing component is used to sense the second detection component to determine the movement position of the guide device.

[0009] The automatic plug-in traction device for the unmanned tractor also includes a drive unit. The first transmission member and the second transmission member are respectively connected to the drive unit. The drive unit is configured to drive the traction pin to move while also driving the guide device to move in the opposite direction to the traction pin.

[0010] When the traction pin moves downward to insert into the traction ring, the guide device moves upward to a first height away from the traction ring, and the second sensor senses the second detection element. When the traction pin moves upward to disengage from the traction ring, and the first sensor senses the first detection element, the guide device moves downward to a second height to dock with the traction ring.

[0011] The driving device includes a motor and a drive gear driven by the motor. The first transmission component and the second transmission component are both transmission racks, which are respectively located on opposite sides of the drive gear and are coupled and connected to the drive gear for transmission.

[0012] The first or second detection element is a sensor, and the first or second sensor is an inductive switch; or the first or second detection element is a magnet, and the first or second sensor is a Hall element.

[0013] The guiding device includes a first guide frame and a second guide frame arranged opposite to each other on the left and right sides. The first guide frame and the second guide frame are connected as one unit. The automatic plug-in traction device for the unmanned tractor is provided with a slide rail. Both the first guide frame and the second guide frame are provided with sliders so that they can slide along the slide rail during the up and down movement of the guiding device.

[0014] The guide device defines a mounting cavity for inserting the traction ring, and the mounting cavity is provided with a limit switch to detect whether the traction ring is inserted in place.

[0015] By adopting the above technical solution, the present invention has the following beneficial effects:

[0016] 1. The automatic insertion and removal towing device for unmanned towing vehicles of the present invention can detect the movement position of the towing pin and determine its connection with the towing ring by detecting the movement of the towing pin into position. This can improve the success rate, connection accuracy and reliability of the connection between the towing pin and the towing ring, thereby ensuring the safety and reliability of the towing process.

[0017] 2. In a preferred embodiment, two first sensors are provided, each located on the movement path of the traction pin. One first sensor senses the first detection element to determine that the traction pin has moved to insert into the traction ring, and the other first sensor senses the first detection element to determine that the traction pin has moved to disengage from the traction ring. By providing two first sensors, they can cooperate with the first detection element to detect different functional positions of the traction pin, thereby improving detection accuracy. Furthermore, when one first sensor fails, it does not affect the normal use of the other first sensor, thus reducing the failure rate.

[0018] 3. In a preferred embodiment, the automatic insertion and removal traction device for the unmanned tractor further includes a guide device and a second transmission component connected to the guide device. The second transmission component drives the guide device to move up and down. The guide device is used to guide the towing ring of the trailer or tractor from both left and right directions. By setting the guide device, the towing ring can be corrected from both left and right directions, which can improve the accuracy and efficiency of the towing ring insertion. Furthermore, by setting the guide device to be able to move up and down, after the towing ring is successfully connected to the towing pin, the guide device is driven to move upward by the second transmission component, which can avoid affecting the left and right swing of the connection position between the unmanned tractor and the trailer or tractor when turning, thereby improving the turning flexibility.

[0019] In a preferred embodiment of this implementation, the second transmission component is provided with a second detection component, and the automatic plug-in traction device for the unmanned tractor is provided with a second sensing component. The second sensing component is used to sense the second detection component to determine the movement position of the guide device. By detecting the movement position of the guide device, on the one hand, the next operation step can be seamlessly connected after the guide device is determined to be in place, thereby improving the efficiency of the entire process. On the other hand, the drive of the guide device can be stopped after the guide device is determined to be in place, which can prevent the motor and other drive sources from running continuously, causing serious heat generation and affecting their service life.

[0020] 4. In a preferred embodiment, the automatic plug-in traction device for the unmanned tractor further includes a drive device. The first transmission member and the second transmission member are respectively connected to the drive device. The drive device is configured to drive the traction pin to move while simultaneously driving the guide device to move in the opposite direction to the traction pin. Thus, this application can use the same drive device to drive the traction pin and the guide device to move in a coordinated manner, which can save on the configuration of the drive device, reduce energy consumption, and improve overall work efficiency. Furthermore, the simultaneous movement of the traction pin and the guide device in opposite directions meets the actual working conditions, which helps to save operation time and shorten the overall process operation time.

[0021] 5. In a preferred embodiment, when the traction pin moves downward to insert into the traction ring, the guide device moves upward to a first height away from the traction ring, and the second sensor senses the second detection element. When the traction pin moves upward to disengage from the traction ring, and the first sensor senses the first detection element, the guide device moves downward to a second height to engage with the traction ring. Under the premise that the traction pin and the guide device move simultaneously in opposite directions, this application can utilize their linkage for mutual detection. That is, by detecting the arrival of either one, the arrival of the other can be determined simultaneously. This allows the configuration corresponding to the traction pin or the guide device to only require one detection element and a corresponding sensor, saving the number of detection elements and sensors, simplifying the overall configuration, and reducing costs.

[0022] 6. In a preferred embodiment, the driving device includes a motor and a drive gear driven by the motor. The first transmission component and the second transmission component are both transmission racks, respectively located on opposite sides of the drive gear and coupled to the drive gear for transmission. On the one hand, the structure of the gear and rack combination is simple and reliable. On the other hand, using the same gear to directly couple with two transmission racks can shorten the transmission chain and improve transmission efficiency. Furthermore, when the loads provided by the guide device and the traction pin are equivalent, the loads acting on the two transmission racks can be made equivalent, the forces acting on both sides of the drive gear can be balanced, the coupling accuracy between the two transmission racks and the drive gear can be improved, and the smoothness and stability of the transmission of the two transmission racks can be improved. On this basis, the transmission efficiency can be further improved.

[0023] 7. In a preferred embodiment, the guiding device includes a first guide frame and a second guide frame arranged opposite to each other on the left and right sides. The first guide frame and the second guide frame are connected as a whole. The automatic insertion and removal traction device for the unmanned tractor is provided with a slide rail. Both the first guide frame and the second guide frame are provided with sliders to slide along the slide rail during the up and down movement of the guiding device. By designing the first guide frame and the second guide frame as a whole structure, when the guiding device is subjected to external impact, the first guide frame and the second guide frame can transmit the impact evenly, which can prevent the first guide frame or the second guide frame from being deformed due to excessive local stress, thus protecting the structure of the guiding device. Furthermore, since the first guide frame and the second guide frame are subjected to balanced forces, they can maintain a symmetrical arrangement, which can improve the accurate guidance of the traction ring. In addition, the first guide frame and the second guide frame are guided along the slide rail by the sliders. The structure of the slider and the slide rail has a larger transmission contact area, which can improve the stability of the movement of the first guide frame and the second guide frame.

[0024] 8. In a preferred embodiment, the guide device defines a mounting cavity for inserting the traction ring, and a limit switch is provided in the mounting cavity to detect whether the traction ring is inserted in place; in addition to detecting the movement position of the traction pin, the movement position of the traction ring is further detected, which can form a dual detection, which is beneficial to improve the alignment accuracy and efficiency of the traction ring and the traction pin, and improve the success rate, connection accuracy and reliability of the connection between the two. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0026] Figure 1 This is a schematic diagram of the structure of an automatic plug-in traction device for an unmanned tractor according to one embodiment of this application.

[0027] Figure 2 This is a schematic diagram of a drive transmission structure for controlling the linkage between the traction pin and the guide device according to one embodiment of this application.

[0028] Figure 3 This is a schematic diagram of the structure of a guide device according to one embodiment of this application.

[0029] Figure 4 This is a schematic diagram of the guide device according to another embodiment of this application.

[0030] Figure 5 This is a schematic diagram illustrating an application scenario under one embodiment of this application.

[0031] Figure label:

[0032] 10-Traction pin;

[0033] 20-First guide frame, 21-Second guide frame, 221-First slide rail, 222-Second slide rail, 231-First slider, 232-Second slider, 24-Connecting vertical plate, 241-Mounting part, 242-Allowing opening, 25-First reinforcing horizontal plate, 26-Second reinforcing horizontal plate, 201-First limiting plate, 202-First guide plate, 211-Second limiting plate, 212-Second guide plate, 27-Upper baffle, 28-Lower baffle, 271-Through hole, 291-Upper flip plate, 292-Lower flip plate;

[0034] 30-Motor, 31-Drive gear, 32-First transmission rack, 33-Second transmission rack, 34-Rotating shaft, 35-Bearing, 361-First mounting base, 362-Second mounting base, 37-Adjusting bolt, 363-Rack guide wheel;

[0035] 40 - First detection element, 41 - Second detection element, 42 - First sensing element, 43 - Second sensing element. Detailed Implementation

[0036] To more clearly illustrate the overall concept of the present invention, a detailed description will be provided below with reference to the accompanying drawings and examples.

[0037] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0038] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0039] Furthermore, in the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0041] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two connected entities do not establish a connection relationship through a transitional structure, but are connected solely by a connecting structure to form a whole. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0042] In this invention, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0043] like Figures 1 to 5 As shown, this application provides an automatic plug-in towing device for an unmanned tractor, including a towing pin 10 and a first transmission member connected to the towing pin 10. The first transmission member drives the towing pin 10 to move up and down, so that the towing pin 10 can automatically connect or disconnect from the towing ring of a trailer or tractor. The first transmission member is provided with a first detection element, and the automatic plug-in towing device for an unmanned tractor is provided with a first sensing element. The first sensing element is used to sense the first detection element to determine the movement position of the towing pin 10.

[0044] In related technologies, only methods are provided to detect whether the traction ring is inserted in place. However, detecting that the traction ring is inserted in place cannot determine its connection with the traction pin. For autonomous driving applications, this cannot truly reflect the automatic connection between the traction pin and the traction ring, and it also reduces the accuracy and reliability of the connection between the traction pin and the traction ring.

[0045] Furthermore, the existing technical solutions also have the following problems: During long-term use, the towing ring will inevitably be affected by impacts from trailers or other external sources, which will cause the towing ring itself to deform to a certain extent. In the absence of relevant testing methods, the connection between the towing pin and the towing ring may be unstable (for example, the towing pin is only inserted into the towing ring to half the depth). During towing, the towing pin may easily detach from the towing ring, which is a safety accident.

[0046] Due to the deformation of the towing ring, the towing ring and the towing pin appear to be successfully connected in the initial stage of connection (in fact, there is a great safety hazard). This appearance is misleading to outsiders, making it difficult for those skilled in the art to realize the actual connection between the towing ring and the towing pin, as well as the cause of the problem and its consequences (the separation of the towing pin and the towing ring during towing may be attributed to other factors during the journey).

[0047] After recognizing the aforementioned problems, the applicant proposed adding a method to detect the movement position of the towing pin. Specifically, the applicant realized that the error requirement for the downward movement of the towing pin is actually greater than the error requirement for the insertion and engagement of the towing pin and the towing ring. In other words, simply detecting whether the towing ring is inserted correctly cannot accurately determine its connection with the towing pin; determining the connection through this method is unreliable. Therefore, from another perspective, this application, by detecting whether the towing pin has moved into position, can more accurately determine the connection between the towing pin and the towing ring. This can improve the success rate, accuracy, and reliability of the connection, and reduce the risk of the towing pin and towing ring disengaging during trailer transport.

[0048] Specifically, this application can detect the movement position of the traction pin 10. For example, when the traction pin 10 moves to the insertion of the traction ring, the first sensing element and the first detection element cooperate to provide a positioning indication signal to determine that the traction pin 10 has moved to the position. At this time, the traction pin 10 and the traction ring are successfully connected, and the two can be automatically connected to meet the application scenario requirements of autonomous driving.

[0049] This application detects the movement position of the traction pin 10, which can include detecting multiple movement positions of the traction pin 10. For example, during the movement of the traction pin 10 toward the traction ring, multiple positions of the traction pin 10 can be detected. In addition to determining the connection status between the traction pin 10 and the traction ring, the movement speed of the traction pin 10 can also be controlled. For instance, when the traction pin 10 is far from the traction ring, it can be controlled to move toward the traction ring faster; when the traction pin 10 is close to the traction ring, it can be controlled to decelerate or move at a constant speed to ensure the connection accuracy with the traction ring. Similarly, during the movement of the traction pin 10 away from the traction ring, multiple positions of the traction pin 10 can be detected to control the movement speed of the traction pin 10, determine the target position of the traction pin 10, etc.

[0050] It should be noted that, based on the methods of this application, a stable connection between the towing pin 10 and the towing ring can be ensured, thus preventing the towing pin 10 from separating from the towing ring during towing.

[0051] In a preferred embodiment, two first sensors are provided, each located on the movement path of the traction pin 10. One of the first sensors senses the first detection element to determine that the traction pin 10 has moved to insert into the traction ring, and the other first sensor senses the first detection element to determine that the traction pin 10 has moved to disengage from the traction ring.

[0052] In this embodiment, during the movement of the traction pin 10, the first detection element can detect the first sensing element at different positions, thereby determining that the traction pin 10 has reached different functional positions, which can improve the detection accuracy.

[0053] The first sensing element is not limited to two, but can be more, and can be distributed at intervals along the movement path of the traction pin 10 as a means to assist in controlling the movement speed of the traction pin 10.

[0054] In a preferred embodiment, the automatic plug-in traction device for the unmanned tractor also includes a guide device and a second transmission component connected to the guide device. The second transmission component drives the guide device to move up and down. The guide device is used to guide the towing ring of the trailer or tractor from both left and right directions.

[0055] like Figure 1 and Figure 3 As shown, the guiding device includes a first guide frame 20 and a second guide frame 21 arranged opposite each other. Under the action of the second transmission member, the first guide frame 20 and the second guide frame 21 can move up and down. For example, initially, the first guide frame 20 and the second guide frame 21 are located at a position close to the height of the towing ring. By further adjusting the height of the first guide frame 20 and the second guide frame 21, or by adjusting the height of the towing ring, the guiding function of the first guide frame 20 and the second guide frame 21 during the insertion of the towing ring can be satisfied. Furthermore, after the towing ring is successfully connected to the towing pin 10, the second transmission member can drive the first guide frame 20 and the second guide frame 21 to move upward, so that space is made on both sides of the towing ring to ensure the flexibility of turning during trailer operation.

[0056] Furthermore, the second transmission component is provided with a second detection component, and the automatic plug-in traction device for the unmanned tractor is provided with a second sensing component. The second sensing component is used to sense the second detection component to determine the movement position of the guide device.

[0057] By detecting the movement position of the guide device, on the one hand, the next operation step can be carried out seamlessly after the guide device has been determined to be in place, thereby improving the efficiency of the entire process. On the other hand, the drive of the guide device can be stopped after the guide device has been determined to be in place, which can prevent the motor and other drive sources from running continuously, causing serious heat generation and affecting their service life.

[0058] Specifically, this application can detect multiple movement positions of the guide device. For example, during the movement of the guide device toward the traction ring, by determining the current position of the guide device, this position can be compared with the current position of the traction ring, so that the position of the guide device or the traction ring can be adjusted in a timely manner to improve the accuracy and efficiency of traction ring insertion. Furthermore, detecting the position of the guide device can also provide a basis for controlling the movement speed of the guide device, thereby improving the control accuracy of the guide device. Similarly, during the movement of the guide device away from the traction ring, multiple positions of the guide device can be detected to control the movement speed of the guide device, determine the target position of the guide device, etc.

[0059] Multiple second sensors can be arranged along the movement path of the guide device. When the guide device moves to one of the positions, the second detection element can cooperate with the corresponding second sensor to achieve the positioning detection.

[0060] In a preferred embodiment, the automatic plug-in traction device for the unmanned tractor also includes a drive device. The first transmission member and the second transmission member are respectively connected to the drive device. The drive device is configured to drive the traction pin 10 to move while also driving the guide device to move in the opposite direction to the traction pin 10.

[0061] In this embodiment, using the same drive device to drive the traction pin 10 and the guide device to move in tandem can save on the configuration of the drive device, reduce energy consumption, and improve overall work efficiency. Furthermore, the traction pin 10 and the guide device move in opposite directions at the same time to meet the actual working conditions, which helps to save operation time and shorten the operation time of the entire process.

[0062] More preferably, such as Figure 1 and Figure 2 As shown, the driving device includes a motor 30 and a drive gear 31 driven by the motor 30. The first transmission component and the second transmission component are both transmission racks, which are respectively disposed on opposite sides of the drive gear 31 and are coupled and transmitted to the drive gear 31.

[0063] To distinguish between the two transmission racks, the transmission rack that drives the traction pin 10 is called the first transmission rack 32, and the transmission rack that drives the guide device is called the second transmission rack 33. The guide device is a structure composed of the first guide frame 20 and the second guide frame 21.

[0064] like Figure 2 As shown, the first transmission rack 32 and the second transmission rack 33 are located on opposite sides of the driving gear 31. When the driving gear 31 rotates in the first direction, the first transmission rack 32 drives the traction pin 10 to move downwards, and simultaneously, the second transmission rack 33 drives the guide device to move upwards. When the driving gear 31 rotates in the second direction opposite to the first direction, the first transmission rack 32 drives the traction pin 10 to move upwards, and simultaneously, the second transmission rack 33 drives the guide device to move downwards. The first transmission rack 32 and the second transmission rack 33 are respectively coupled to the driving gear 31, resulting in a simple structure and high reliability. Furthermore, since both the first transmission rack 32 and the second transmission rack 33 are directly connected to the driving gear 31, the transmission chain is short, which improves transmission efficiency.

[0065] By using the above structure, when the loads provided by the traction pin 10 and the guide device are equal, the loads acting on the first transmission rack 32 and the second transmission rack 33 can be equalized, the forces acting on both sides of the drive gear 31 can be balanced, the coupling accuracy of the first transmission rack 32, the second transmission rack 33 and the drive gear 31 can be improved, and the smoothness and stability of the transmission of the first transmission rack 32 and the second transmission rack 33 can be improved.

[0066] Furthermore, such as Figure 2 As shown, the drive gear 31 passes through the rotating shaft 34 and rotates with the rotating shaft 34. Bearings 35 are respectively provided at both ends of the rotating shaft 34 to guide the rotation of the rotating shaft 34. By providing guidance for the rotating shaft 34 with bearings 35, the rotational stability of the rotating shaft 34 can be improved, thereby enhancing the reliability of the gear and rack engagement.

[0067] Furthermore, the distance between the first transmission rack 32 and the second transmission rack 33 is adjustable to couple with the drive gear 31 of different specifications. This application can configure a suitable drive gear 31 according to actual needs, and configure a first transmission rack 32 and a second transmission rack 33 that match the drive gear 31. Furthermore, by adjusting the distance between the first transmission rack 32 and the second transmission rack 33, the connection (coupling) between them and the drive gear 31 is satisfied, ensuring transmission accuracy. Changing the specifications of the drive gear 31 helps improve the movement speed of the structures it drives (traction pin 10 and guide device), optimizing working parameters such as efficiency. Figure 2 As shown, the outer sides of the first transmission rack 32 and the second transmission rack 33 are provided with a first mounting seat 361 and a second mounting seat 362 arranged opposite to each other. As a means of adjusting the distance between the first transmission rack 32 and the second transmission rack 33, at least one of the first mounting seat 361 and the second mounting seat 362 can be adjusted by adjusting bolt 37.

[0068] Furthermore, the first mounting base 361 is provided with a rack guide wheel 363 to guide the first transmission rack 32, thereby improving the transmission accuracy and stability of the first transmission rack 32. Similarly, the second mounting base 362 is provided with a rack guide wheel to guide the second transmission rack 33, thereby improving the transmission accuracy and stability of the second transmission rack 33.

[0069] Of course, in other implementations, the drive device, the first transmission component, and the second transmission component may also have other structures. For example, the drive device may include a motor and a drive gear driven by the motor; the first transmission component may include a first-stage driven gear and a push-pull part (such as a push rod) for driving the traction pin 10 to move; the second transmission component may include a second-stage driven gear and a push-pull part (such as a push rod) for driving the guide device to move. The first-stage driven gear is meshed with the drive gear, and the second-stage driven gear is meshed with the first-stage driven gear. The rotation of the drive gear can drive the first-stage driven gear and the second-stage driven gear to rotate in opposite directions, thereby realizing the up-and-down movement of the traction pin 10 and the guide device in opposite directions.

[0070] In the above-mentioned scheme of linkage between the traction pin 10 and the guide device, further, when the traction pin 10 moves downward to insert into the traction ring, the guide device moves upward to a first height away from the traction ring, and the second sensor senses the second detection element; when the traction pin 10 moves upward to disengage from the traction ring, and the first sensor senses the first detection element, the guide device moves downward to a second height to dock with the traction ring.

[0071] In this embodiment, the second sensor and the second detection element work together to detect not only the upward movement of the guide device but also the downward movement of the traction pin 10. Similarly, the first sensor and the first detection element work together to detect not only the upward movement of the traction pin 10 but also the downward movement of the guide device. Therefore, even when the first sensor and the first detection element are not functioning properly, the successful connection between the traction pin 10 and the traction ring can still be determined by confirming that the guide device has reached the first height, further improving the reliability of the traction pin 10 positioning detection.

[0072] Specifically, such as Figure 2As shown, when the first transmission component is a first transmission rack 32 and the second transmission component is a second transmission rack 33, a first detection element 40 is provided on the top of the first transmission rack 32, and a second detection element 41 is provided on the top of the second transmission rack 33. Correspondingly, a first sensing element 42 and a second sensing element 43 are respectively provided on one side of the first detection element 40 and the second detection element 41. When the first transmission rack 32 moves upward to its position, the first sensing element 42 senses the first detection element 40; when the second transmission rack 33 moves upward to its position, the second sensing element 43 senses the second detection element 41. The coupling parameters of the first transmission rack 32, the second transmission rack 33, and the drive gear 31 are satisfied. When the traction pin 10 moves downward to insert into the traction ring (i.e., the two are successfully connected), the guide device moves upward so that the second sensing element 43 can sense the second detection element 41, thus providing a signal that the traction pin 10 has moved downward to its position. Similarly, when the guide device moves downward to the second height, the traction pin 10 moves upward so that the first sensor 42 can sense the first detection element 40, thus providing a signal that the guide device has moved downward into place.

[0073] Understandably, when the guide device moves downward to the second height, if it cannot match the height of the traction ring for effective guidance, the guidance requirements can be met by adjusting the height of the traction ring.

[0074] The first sensing element 42 and the second sensing element 43 can be set at the same height or at different heights, depending on the movement distance of the traction pin 10 and the guide device.

[0075] Furthermore, this application does not specifically limit the structure or form of the detection element and the sensing element; for example, any of the following can be used.

[0076] (1) The first detection element 40 or the second detection element 41 is a sensor, and the first sensor 42 or the second sensor 43 is a sensor switch. The sensor switch can be any of the following: electromagnetic sensor switch, infrared sensor switch, photoelectric sensor switch, etc. Correspondingly, different materials / structures of sensor elements are matched according to the type of sensor switch. The relevant working principle can be referred to the prior art, and will not be repeated here.

[0077] (2) The first detection element 40 or the second detection element 41 is a magnet, and the first sensing element 42 or the second sensing element 43 is a Hall element.

[0078] Based on the above embodiments and examples, the guiding device further includes a first guide frame 20 and a second guide frame 21 arranged opposite to each other on the left and right sides. The first guide frame 20 and the second guide frame 21 are connected as one unit. The automatic plug-in traction device for the unmanned tractor is provided with a slide rail. Both the first guide frame 20 and the second guide frame 21 are provided with sliders so as to slide along the slide rail during the up and down movement of the guiding device.

[0079] In this embodiment, by designing the first guide frame 20 and the second guide frame 21 as a single unit, their impact-bearing capacity is improved. This allows the impact pressure to be evenly transmitted to the guiding device to prevent stress concentration, reduces the risk of deformation of the first guide frame 20 and the second guide frame 21, and ensures their guiding accuracy for the traction ring. Furthermore, in the scheme where the guiding device is coupled to the drive gear 31 via the second transmission rack 33, the aforementioned integrated structure and the cooperation between the slider and the slide rail during the movement of the first guide frame 20 and the second guide frame 21 ensure the coupling accuracy between the second transmission rack 33 and the drive gear 31, ensuring the reliability and efficiency of the transmission. Simultaneously, in the scheme with the upper baffle 27 and the lower baffle 28, the upper baffle 27 and the lower baffle 28 can withstand a certain amount of impact, preventing further transmission of the impact to the first transmission rack 32, thus ensuring the coupling accuracy between the first transmission rack 32 and the drive gear 31. When the load provided by the traction pin 10 and the guide device is uniform, the two transmission racks can be subjected to balanced forces, which can improve the smoothness of the movement of the two transmission racks along the drive gear 31, improve the sensitivity and response accuracy of the transmission, thereby improving the transmission efficiency and thus improving the motion efficiency of the traction pin 10 and the guide device.

[0080] The movable guiding device refers to the structure composed of the first guide frame 20 and the second guide frame 21. Since the guiding device may include more structures, whether other parts of the guiding device move depends on actual needs. The purpose of the movement of the first guide frame 20 and the second guide frame 21 is to raise them after the towing pin is successfully connected to the towing ring, so as not to affect the left and right swaying of the connection position between the unmanned tractor and the trailer or trailer during turning, thus ensuring turning flexibility. When the guiding function is needed, the first guide frame 20 and the second guide frame 21 can be lowered.

[0081] Specifically, the first guide frame 20 and the second guide frame 21 are connected as a single unit, which can mean that they are integrally formed or assembled together by connection. Preferably, the first guide frame 20 and the second guide frame 21 can have a symmetrical structure and arrangement. The automatic insertion and removal traction device for the unmanned tractor is provided with a first slide rail 221 and a second slide rail 222. The first guide frame 20 is provided with a first slider 231, and the second guide frame 21 is provided with a second slider 232. When the drive gear 31 is controlled to rotate forward and reverse, the second transmission rack 33 can drive the first guide frame 20 and the second guide frame 21 to move up and down. At the same time, the first slider 231 slides along the first slide rail 221, and the second slider 232 slides along the second slide rail 222. Furthermore, the first slider 231 and the first slide rail 221, the second slider 232 and the second slide rail 222 can have sliding planes of a certain shape. Compared with the sliding structure sliding along the guide post (usually a cylindrical guide post), this can improve the stability of the transmission and improve the consistency and balance of the movement of the first guide frame 20 and the second guide frame 21, thereby ensuring the transmission accuracy of the second transmission rack 33. Figure 3 and Figure 4 As shown, the first slider 231 has, for example, an approximately U-shaped sliding surface. The middle part of the first slider 231 has a large planar contact area with the first slide rail 221, which can improve the stability and reliability of the sliding of the first slider 231. Similarly, the structure of the second slider 232 cooperating with the second slide rail 222 is the same as the structure of the first slider 231 cooperating with the first slide rail 221.

[0082] Furthermore, the first guide frame 20 and the second guide frame 21 are connected as a whole by a connecting vertical plate 24. The side of the connecting vertical plate 24 facing away from the first guide frame 20 is provided with a first slider 231 corresponding to the first guide frame 20, and the side of the connecting vertical plate 24 facing away from the second guide frame 21 is provided with a second slider 232 corresponding to the second guide frame 21. The middle part of the side of the connecting vertical plate 24 facing away from the first guide frame 20 and the second guide frame 21 is fixedly connected to the second transmission rack 33.

[0083] like Figure 3 As shown, the two ends of the connecting vertical plate 24 are respectively connected to the first guide frame 20 and the second guide frame 21, forming an integral structure. In some embodiments, the first guide frame 20, the second guide frame 21, and the connecting vertical plate 24 can be integrally formed. In other embodiments, the first guide frame 20 and the second guide frame 21 can be welded to the connecting vertical plate 24 respectively; of course, other connection methods besides welding can also be used. Preferably, the connecting vertical plate 24 is arranged perpendicularly to the first guide frame 20 and the second guide frame 21, which can reduce the space occupied and promote the miniaturization of the guiding device.

[0084] The side of the connecting vertical plate 24 facing away from the first guide frame 20 and the second guide frame 21 can provide mounting positions for the first slider 231, the second slider 232, and the second transmission rack 33, which can further optimize space utilization and promote a compact layout of the guiding device. Furthermore, by optimizing the positional distribution of the first slider 231, the second slider 232, and the second transmission rack 33, and placing the second transmission rack 33 between (in the middle) the first slider 231 and the second slider 232, the load on the second transmission rack 33 by the first guide frame 20 and the second guide frame 21 can be balanced, preventing the first guide frame 20 and the second guide frame 21 from tilting, improving the stability of the guiding device's movement, thereby ensuring the transmission accuracy of the second transmission rack 33, and also improving the transmission sensitivity and response accuracy of the second transmission rack 33, thereby improving transmission efficiency.

[0085] Furthermore, such as Figure 3 As shown, the connecting vertical plate 24 (and the first slider 231 and the second slider 232 thereon), the first slide rail 221 and the second slide rail 222 can form an I-shaped configuration, which can further improve the stability of the guide device movement, thereby ensuring the coupling accuracy of the second transmission rack 33 and the drive gear 31.

[0086] The first slider 231, the second slider 232, and the connecting vertical plate 24 can be integrally formed or welded together. The connecting vertical plate 24 has a mounting portion 241 in the middle, which can be, for example, a screw hole, for bolting connection with the second transmission rack 33. Alternatively, the connecting vertical plate 24 and the second transmission rack 33 can also be welded together.

[0087] Furthermore, a first reinforcing horizontal plate 25 is provided between the first guide frame 20 and the connecting vertical plate 24, and a second reinforcing horizontal plate 26 is provided between the second guide frame 21 and the connecting vertical plate 24.

[0088] By setting a reinforcing cross plate, on the one hand, the rigidity of the guide frame can be improved, the connection strength between the guide frame and the connecting vertical plate 24 can be increased, the bearing capacity of the guide frame against external impacts can be enhanced, and the risk of deformation can be reduced; on the other hand, it can serve as a counterweight structure, so that the load provided by the first guide frame 20 and the second guide frame 21 to the second transmission rack 33 is more balanced, ensuring the transmission accuracy of the second transmission rack 33 and the consistency and balance of the movement of the first guide frame 20 and the second guide frame 21.

[0089] like Figure 3 As shown, one or more first reinforcing cross plates 25 and one or more second reinforcing cross plates 26 can be set according to actual needs to improve the uniformity of the rigidity of the first guide frame 20 / second guide frame 21, and serve as an isolation structure to prevent impact from being transmitted to the slider, slide rail and the position of the second transmission rack 33.

[0090] Furthermore, taking the first guide frame 20 as an example, by optimizing the structural configuration and arrangement, the center of gravity or centroid of the whole formed by the first guide frame 20, the first reinforcing horizontal plate 25, and the connecting vertical plate 24 connected to both the first guide frame 20 and the first reinforcing horizontal plate 25 can have a better correspondence with the first slider 231, thereby reducing the resistance to the movement of the first guide frame 20 and improving the stability of the movement of the first guide frame 20.

[0091] Furthermore, the first guide frame 20 includes a first limiting plate 201 perpendicularly connected to the connecting vertical plate 24 and a first guide plate 202 bent and connected to the first limiting plate 201; the second guide frame 21 includes a second limiting plate 211 perpendicularly connected to the connecting vertical plate 24 and a second guide plate 212 bent and connected to the second limiting plate 211; the first limiting plate 201 and the second limiting plate 211 are arranged in parallel opposite directions to limit the movement of the traction ring in the left and right directions; both the first guide plate 202 and the second guide plate 212 are provided with guide slopes, and the two guide slopes gradually approach each other along the direction in which the traction ring extends.

[0092] like Figure 3 As shown, initially, the traction ring is located outside the first guide plate 202 and the second guide plate 212. During the insertion of the traction ring, the first guide plate 202 and the second guide plate 212 provide guidance in the left and right directions, guiding the traction ring to move into the space defined by the first limiting plate 201 and the second limiting plate 211. When the traction ring moves into the space defined by the first limiting plate 201 and the second limiting plate 211, the traction ring reaches the installation position and can be connected to the traction pin above. The space defined by the first guide plate 202 and the second guide plate 212 gradually decreases along the direction of traction ring insertion, and the space defined by the first limiting plate 201 and the second limiting plate 211 can have a consistent width.

[0093] The first limiting plate 201 and the first guide plate 202 can be integrally formed, and the second limiting plate 211 and the second guide plate 212 can be integrally formed.

[0094] Furthermore, the guiding device also includes a fixed base and an upper baffle 27 and a lower baffle 28 arranged opposite to each other and fixed on the fixed base. The fixed base is installed to the unmanned tractor. The upper baffle 27 and the lower baffle 28, together with the first limiting plate 201 and the second limiting plate 211, form an installation cavity for the installation of the traction ring. The upper baffle 27 and the lower baffle 28 are provided with through holes 271 arranged opposite to each other for the traction pin 10 to pass through.

[0095] Unlike the first guide frame 20 and the second guide frame 21 mentioned above, the upper baffle 27 and the lower baffle 28 are fixed structures and do not move. The upper baffle 27 and the lower baffle 28 can provide movement guidance for the traction pin 10 through the through hole 271, preventing the traction pin 10 from deviating during movement and ensuring the connection accuracy between the traction pin 10 and the traction ring. On the other hand, the upper baffle 27 and the lower baffle 28 can withstand a certain amount of impact, preventing the impact from being further transmitted to the traction pin 10, thus ensuring the stability and reliability of the movement of the traction pin 10. Furthermore, the upper baffle 27 and the lower baffle 28, as well as the first limiting plate 201 and the second limiting plate 211, can enclose a rectangular cavity to limit the movement of the traction ring from four directions, which can improve the alignment accuracy between the traction ring and the traction pin 10 and improve the success rate and efficiency of the connection. During connection, the traction pin 10 first passes through the through hole 271 on the upper baffle 27, and then passes through the through holes 271 on the traction ring and the lower baffle 28, fixing the traction ring in the mounting cavity.

[0096] In some embodiments, the first slide rail 221 and the second slide rail 222 may also be disposed on a fixed base. For example, a guide post may be provided on the fixed base, and then a slide rail adapted to the slider structure may be provided on the guide post.

[0097] Furthermore, the upper baffle 27 is connected to an upper flip plate 291 at the end away from the fixed seat, and the lower baffle 28 is connected to a lower flip plate 292 arranged opposite to the upper flip plate 291 at the end away from the fixed seat. The upper flip plate 291 and the lower flip plate 292 are used to guide the traction ring from both the upper and lower directions.

[0098] like Figure 4 and Figure 5 As shown, the upper flap 291 is inclined upward relative to the upper baffle 27, and the lower flap 292 is inclined downward relative to the lower baffle 28. The upper flap 291, the lower flap 292, the first guide plate 202, and the second guide plate 212 can form a trumpet shape, which can further improve the guiding accuracy of the traction ring. This application does not limit the connection method of the upper flap 291 and the upper baffle 27; they can be integrally formed or welded together. Similarly, the lower flap 292 and the lower baffle 28 can be integrally formed or welded together.

[0099] Furthermore, the connecting vertical plate 24 is provided with a clearance opening 242 between the first guide frame 20 and the second guide frame 21. When the first guide frame 20 and the second guide frame 21 move downward into place, the bottom of the clearance opening 242 abuts against the top of the upper baffle 27.

[0100] In this embodiment, the upper baffle 27 can be used to limit the downward movement of the first guide frame 20 and the second guide frame 21, thereby eliminating the need for a limiting structure. Furthermore, when the clearance opening 242 abuts against the upper baffle 27, it indicates that the movement has reached its destination, eliminating the need for a destination detection structure. This simplifies the structural configuration and saves costs. In addition, the clearance opening 242 reduces the weight of the connecting vertical plate 24, which helps improve the transmission efficiency of the second transmission rack 33.

[0101] Furthermore, the traction pin 10 is movably connected (e.g., hinged) to the first transmission rack 32, which can further prevent the impact from being transmitted to the position of the first transmission rack 32 and ensure the coupling accuracy of the first transmission rack 32 and the drive gear 31.

[0102] Furthermore, the guide device defines a mounting cavity for inserting the traction ring, and the mounting cavity is provided with a limit switch to detect whether the traction ring is inserted in place.

[0103] In this embodiment, by detecting the position of the traction ring, the alignment accuracy between it and the traction pin 10 can be improved. Furthermore, by detecting the movement position of the traction pin 10, it can be ensured that the traction pin 10 is inserted into the traction ring and that the two are stably connected. Therefore, the overall accuracy and reliability of the connection between the traction pin 10 and the traction ring can be improved, preventing safety accidents such as the traction pin 10 detaching from the traction ring.

[0104] In an example where the guide device includes a first limiting plate 201, a second limiting plate 211, an upper baffle 27, and a lower baffle 28, these four components can enclose and define a mounting cavity, within which a limit switch can be located. More specifically, the limit switch can be located on the upper baffle 27 or the lower baffle 28.

[0105] In other embodiments, the mounting base is provided with a plurality of spaced buffer ribs to cushion the impact of the trailer or tractor during the insertion of the towing ring; the guide device is provided with a limit switch located between two of the buffer ribs to detect whether the towing ring is inserted in place.

[0106] The vertical plane where the fixing seat is located serves as the terminal limit for the traction ring in the insertion direction. By setting buffer ribs, it can absorb the impact load of the trailer or tractor during the insertion and connection of the traction ring. On the one hand, it can protect the tractor vehicle, and on the other hand, it can reduce the risk of displacement caused by impact, thereby ensuring the connection accuracy between the traction ring and the traction pin 10. Placing the limit switch between the two buffer ribs can prevent the limit switch from being damaged by impact, ensuring detection accuracy and extending its service life.

[0107] like Figure 5 As shown, the above-mentioned automatic plug-in / plug-out traction device for unmanned tractors can be applied to unmanned tractors.

[0108] The technical solutions protected by this invention are not limited to the above embodiments. It should be noted that any combination of the technical solutions of any embodiment with one or more other embodiments is within the protection scope of this invention. Although the invention has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of this invention are within the scope of protection claimed by this invention.

Claims

1. An automatic insertion and removal towing device for an unmanned tractor, comprising a towing pin and a first transmission member connected to the towing pin, wherein the first transmission member drives the towing pin to move up and down, so as to automatically connect or disconnect the towing pin from the towing ring of a trailer or tractor, characterized in that, The top of the first transmission component is provided with a first detection component, and the automatic insertion and removal traction device for the unmanned tractor is provided with a first sensing component. The first sensing component is used to sense the first detection component to determine the movement position of the traction pin. There are two first sensing components, which are distributed at intervals on the movement path of the traction pin. One of the first sensing components senses the first detection component to determine that the traction pin has moved to insert into the traction ring. The automatic plug-in towing device for the unmanned tractor also includes a guide device and a second transmission component connected to the guide device. The second transmission component drives the guide device to move up and down. The guide device is used to guide the towing ring of the trailer or tractor from the left and right directions. The top of the second transmission component is provided with a second detection component, and the automatic plug-in traction device for the unmanned tractor is provided with a second sensing component. The second sensing component is used to sense the second detection component to determine the movement position of the guide device. When the traction pin moves downward to insert into the traction ring, the guide device moves upward to a first height away from the traction ring, and the second sensor senses the second detection element. When the traction pin moves upward to disengage from the traction ring, and the other first sensor senses the first detection element, the guide device moves downward to a second height that engages with the traction ring. The automatic plug-in traction device for the unmanned tractor also includes a drive device. The first transmission member and the second transmission member are respectively connected to the drive device. The drive device is configured to drive the traction pin to move while also driving the guide device to move in the opposite direction to the traction pin. The driving device includes a motor and a drive gear driven by the motor. The first transmission component and the second transmission component are both transmission racks, which are respectively located on opposite sides of the drive gear and coupled to the drive gear for transmission. The guide device provides a load equivalent to that provided by the traction pin, so that the loads acting on the two transmission racks are equivalent. The first transmission component is a first transmission rack, and the second transmission component is a second transmission rack. The outer sides of the first transmission rack and the second transmission rack are provided with a first mounting seat and a second mounting seat arranged opposite to each other. The first mounting seat and the second mounting seat are used to adjust the distance between the first transmission rack and the second transmission rack. The first mounting seat is provided with a rack guide wheel that guides the first transmission rack, and the second mounting seat is provided with a rack guide wheel that guides the second transmission rack.

2. The automatic plug-in traction device for an unmanned tractor according to claim 1, characterized in that, Another of the first sensors senses the first detection element to determine that the traction pin has moved to disengage from the traction ring.

3. The automatic plug-in traction device for an unmanned tractor according to claim 1, characterized in that, The first or second detection element is a sensor, and the first or second sensor is a sensor switch; or The first or second detection element is a magnet, and the first or second sensing element is a Hall element.

4. The automatic plug-in traction device for an unmanned tractor according to claim 1, characterized in that, The guiding device includes a first guide frame and a second guide frame arranged opposite to each other on the left and right sides. The first guide frame and the second guide frame are connected as one unit. The automatic plug-in traction device for the unmanned tractor is provided with a slide rail. Both the first guide frame and the second guide frame are provided with sliders so that they can slide along the slide rail during the up and down movement of the guiding device.

5. An automatic plug-in traction device for an unmanned tractor according to claim 4, characterized in that, The guide device defines a mounting cavity for inserting the traction ring, and the mounting cavity is provided with a limit switch to detect whether the traction ring is inserted in place.

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