Automatic plug-in and pull-out traction device for unmanned tractor

Abstract

The automatic insertion and removal traction device for an unmanned tractor of this application includes a traction pin and a guide device, and further includes a first transmission rack movably connected to the traction pin, a second transmission rack fixedly connected to the guide device, and a drive gear. The first and second transmission racks are respectively located on opposite sides of the drive gear and are coupled and transmitted to the drive gear. The first and second transmission racks move up and down in opposite directions under the drive of the drive gear. The guide device includes a first guide frame and a second guide frame arranged opposite to each other, which are connected as one unit. The automatic insertion and removal traction device for an unmanned tractor is provided with a slide rail, and both the first and second guide frames are provided with sliders to slide along the slide rail during the up and down movement of the guide device. The guide device also includes a fixed base and an upper baffle and a lower baffle fixed on the fixed base, which are arranged opposite to each other. The upper baffle and the lower baffle are provided with through holes arranged opposite to each other.

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, existing automatic towing or unhooking devices for unmanned tractor vehicles have a drive mechanism that moves the towing pin and guide device. This mechanism includes one driving gear and two driven gears. The driving gear drives one of the driven gears, which in turn drives the other driven gear. The two driven gears rotate in opposite directions, thus driving the towing pin and guide device to move in opposite directions. While this structure can achieve the linkage between the towing pin and guide device, it is complex, costly, and prone to failure. Furthermore, if a fault occurs between the driving gear and one of the driven gears, the transmission between the two driven gears will also fail, resulting in a high failure rate and low reliability. Additionally, the other driven gear is not directly connected to the driving gear, resulting in a long transmission chain and low transmission efficiency. 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, which solves the problems of complex drive transmission structure, low transmission efficiency, high failure rate and poor transmission reliability of existing traction pins and guide devices.

[0004] This invention discloses an automatic insertion and removal towing device for an unmanned tractor, comprising a towing pin and a guide device. The towing pin is used to connect or disconnect with the towing ring of a trailer or tractor. The guide device is used to guide the towing ring from two directions. It further includes: a first transmission rack movably connected to the towing pin, a second transmission rack fixedly connected to the guide device, and a drive gear. The first and second transmission racks are respectively located on opposite sides of the drive gear and are coupled and transmitted to it. The first and second transmission racks move up and down in opposite directions under the drive of the drive gear. The guide device includes a first guide frame and a second guide frame arranged opposite to each other, connected as a single unit. The automatic insertion and removal towing device for an unmanned tractor is provided with a slide rail. Both the first and second guide frames are provided with sliders to slide along the slide rail during the up and down movement of the guide device. The guide device also includes a fixed base and upper and lower baffles fixed to the fixed base, arranged opposite to each other. The upper and lower baffles are provided with oppositely arranged through holes for the towing pin to pass through.

[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] It also includes a rotating shaft driven by a motor, the drive gear passing through the rotating shaft and rotating with the rotating shaft, and bearings at both ends of the rotating shaft to guide the rotation of the rotating shaft.

[0007] The distance between the first transmission rack and the second transmission rack is adjustable to couple with drive gears of different specifications.

[0008] The first transmission rack is provided with a first detection element, and the automatic insertion and removal traction device for the 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 traction pin.

[0009] The second transmission rack is provided with a second detection element, and the automatic insertion and removal traction device for the unmanned tractor is provided with a second sensing element. The second sensing element is used to sense the second detection element to determine the movement position of the guide device.

[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 first guide frame and the second guide frame are connected as one unit by a connecting vertical plate. The side of the connecting vertical plate facing away from the first guide frame is provided with a first slider corresponding to the first guide frame, and the side of the connecting vertical plate facing away from the second guide frame is provided with a second slider corresponding to the second guide frame. The middle part of the side of the connecting vertical plate facing away from the first guide frame and the second guide frame is fixedly connected to the second transmission rack.

[0012] A first reinforcing horizontal plate is provided between the first guide frame and the connecting vertical plate, and a second reinforcing horizontal plate is provided between the second guide frame and the connecting vertical plate.

[0013] The upper baffle is connected to an upper flap at the end away from the fixed seat, and the lower baffle is connected to a lower flap at the end away from the fixed seat, which is arranged opposite to the upper flap. The upper and lower flaps are used to guide the traction ring from both the upper and lower directions.

[0014] The mounting base is provided with multiple 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.

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

[0016] 1. The automatic insertion and removal traction device for unmanned tractor vehicles of the present invention can realize the linkage movement of the traction pin and the guide device, which can save operation time and improve overall work efficiency. On this basis, the traction pin and the guide device are driven by a first transmission rack and a second transmission rack, respectively. The first transmission rack and the second transmission rack are coupled to the drive gear, which has a simple structure and high reliability. Furthermore, the first transmission rack and the second transmission rack are directly connected to the drive gear, resulting in a short transmission chain and improved transmission efficiency.

[0017] Furthermore, the first and second guide frames are integrated into a single structure, which can balance the transmission of impact, prevent deformation caused by excessive local stress on the first and second guide frames, and prevent the impact from continuing to be transmitted to the second transmission rack. At the same time, at the location of the traction pin, the impact can be absorbed by the upper and lower baffles, preventing the impact from continuing to be transmitted to the first transmission rack. In other words, the optimized structure of the guiding device and the precision requirements of the slider and slide rail can ensure the accuracy of the coupling between the two transmission racks and the drive gear, thus ensuring the reliability of the transmission.

[0018] Since the traction pin and guide device are distributed on both sides of the drive gear through the first and second transmission racks, when the load provided by the traction pin and 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, improve the sensitivity and response accuracy of the transmission, thereby improving the transmission efficiency and thus improving the motion efficiency of the traction pin and guide device.

[0019] 2. In a preferred embodiment, the automatic plug-in traction device for the unmanned tractor further includes a rotating shaft driven by a motor, the drive gear passing through the rotating shaft and rotating with the rotating shaft, and bearings at both ends of the rotating shaft to guide the rotation of the rotating shaft; by setting bearings, the rotating shaft can be guided, which can improve the stability of the rotation of the rotating shaft, thereby improving the reliability of the engagement between the drive gear and the two transmission racks.

[0020] 3. In a preferred embodiment, the distance between the first transmission rack and the second transmission rack is adjustable to couple with drive gears of different specifications. This application can configure drive gears of appropriate specifications according to actual needs, and configure first and second transmission racks that match the drive gears. Furthermore, by adjusting the distance between the first and second transmission racks, the connection (coupling) between the two and the drive gear can be satisfied, ensuring transmission accuracy. By replacing drive gears of different specifications, it helps to improve the movement speed of the structures driven by them (traction pins and guide devices), optimize working efficiency, and other working parameters.

[0021] 4. In a preferred embodiment, the first transmission rack is provided with a first detection element, and the automatic insertion and removal traction device for the 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 traction pin. This application can detect the movement position of the traction pin and determine its connection with the traction ring by detecting that the traction pin has moved into place. This can improve the success rate, connection accuracy and reliability of the connection between the traction pin and the traction ring, thereby ensuring the safety and reliability of the towing process.

[0022] 5. In a preferred embodiment, the second transmission rack is provided with a second detection element, and the automatic insertion and removal traction device for the unmanned tractor is provided with a second sensing element. The second sensing element is used to sense the second detection element 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 to improve the efficiency of the whole 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.

[0023] 6. 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. This application can utilize the linkage between the traction pin and the guide device for mutual positioning detection, that is, the positioning detection of one party can simultaneously determine the positioning of the other party. This allows only one detection element and a corresponding sensor to be set for the configuration of the traction pin or the guide device, saving the number of detection elements and sensors, simplifying the overall configuration, and reducing costs.

[0024] 7. In a preferred embodiment, the first guide frame and the second guide frame are connected as a whole by a connecting vertical plate. A first slider is provided on the side of the connecting vertical plate facing away from the first guide frame, corresponding to the first guide frame. A second slider is provided on the side of the connecting vertical plate facing away from the second guide frame, corresponding to the second guide frame. The middle part of the side of the connecting vertical plate facing away from both the first and second guide frames is fixedly connected to the second transmission rack. By providing the connecting vertical plate, the integrated processing of the first and second guide frames can be facilitated. Furthermore, the connecting vertical plate provides mounting space for the first slider, the second slider, and the second transmission rack, optimizing space utilization and promoting a compact layout of the guiding device. Further, by optimizing the positional distribution of the first slider, the second slider, and the second transmission rack, and placing the second transmission rack between (in the middle) the first and second sliders, the load on the second transmission rack from the first and second guide frames can be balanced, improving the smoothness of the guiding device's movement and ensuring the accuracy of the second transmission rack's transmission. This improves the sensitivity and response accuracy of the second transmission rack's transmission, thereby increasing transmission efficiency.

[0025] 8. In a preferred embodiment, a first reinforcing horizontal plate is provided between the first guide frame and the connecting vertical plate, and a second reinforcing horizontal plate is provided between the second guide frame and the connecting vertical plate. By providing the reinforcing horizontal 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 can be improved, 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 and the second guide frame to the second transmission rack is more balanced, ensuring the accuracy of the second transmission rack transmission and the consistency and balance of the movement of the first guide frame and the second guide frame.

[0026] 9. In a preferred embodiment, an upper flap is connected to the end of the upper baffle away from the fixed seat, and a lower flap is connected to the end of the lower baffle away from the fixed seat, which is arranged opposite to the upper flap. The upper and lower flaps are used to guide the traction ring from both vertical and horizontal directions. By setting the upper and lower flaps, the traction ring can be guided in both vertical and horizontal directions during insertion. In addition, the first guide frame and the second guide frame provide guidance in the horizontal direction, which can improve the guiding accuracy and speed up the accurate insertion of the traction ring.

[0027] 10. In a preferred embodiment, the fixed base is provided with multiple spaced buffer ribs to buffer 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; by setting the limit switch, feedback can be provided on whether the towing ring is inserted in place, and when the towing ring is not inserted in place, the docking path of the tractor and the towing ring can be adjusted in time to ensure docking efficiency; furthermore, placing the limit switch between two buffer ribs can prevent impact from damaging the limit switch, ensuring detection accuracy and extending its service life. Attached Figure Description

[0028] 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:

[0029] 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.

[0030] 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.

[0031] Figure 3 This is a schematic diagram of the structure of a guide device according to one embodiment of this application.

[0032] Figure 4 This is a schematic diagram of the guide device according to another embodiment of this application.

[0033] Figure 5 This is a schematic diagram illustrating an application scenario under one embodiment of this application.

[0034] Figure label:

[0035] 10-Traction pin;

[0036] 20-First transmission rack, 21-Second transmission rack, 22-Drive gear, 23-Motor, 24-Rotating shaft, 25-Bearing, 261-First mounting base, 262-Second mounting base, 27-Adjusting bolt, 263-Rack guide wheel;

[0037] 30-First guide frame, 31-Second guide frame, 32-Upper baffle, 33-Lower baffle, 320-Through hole, 321-First slide rail, 322-Second slide rail, 331-First slider, 332-Second slider, 34-Connecting vertical plate, 341-Mounting part, 342-Allowing opening, 35-First reinforcing horizontal plate, 36-Second reinforcing horizontal plate, 301-First limiting plate, 302-First guide plate, 311-Second limiting plate, 312-Second guide plate, 37-Upper flip plate, 38-Lower flip plate;

[0038] 40 - First detection element, 41 - Second detection element, 42 - First sensing element, 43 - Second sensing element. Detailed Implementation

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] like Figures 1 to 5 As shown, this application provides an automatic insertion and removal towing device for an unmanned tractor, including a towing pin 10 and a guide device. The towing pin 10 is used to connect or disconnect with the towing ring of a trailer or tractor. The guide device is used to guide the towing ring from two directions, left and right. It also includes: a first transmission rack 20 movably connected to the towing pin 10, a second transmission rack 21 fixedly connected to the guide device, and a drive gear 22. The first transmission rack 20 and the second transmission rack 21 are respectively located on opposite sides of the drive gear 22 and are coupled and driven by the drive gear 22. The first transmission rack 20 and the second transmission rack 21 are connected to the drive gear 22 in a driving direction. Driven by the moving gear 22, the guide device moves up and down in opposite directions; the guide device includes a first guide frame 30 and a second guide frame 31 arranged opposite to each other, the first guide frame 30 and the second guide frame 31 are connected as one unit, the unmanned tractor's automatic plug-in traction device is provided with a slide rail, and both the first guide frame 30 and the second guide frame 31 are provided with sliders to slide along the slide rail during the up and down movement of the guide device; the guide device also includes a fixed seat and an upper baffle 32 and a lower baffle 33 arranged opposite to each other fixed on the fixed seat, the upper baffle 32 and the lower baffle 33 are provided with through holes 320 arranged opposite to each other for the traction pin 10 to pass through.

[0047] In related technologies, multi-stage gear transmission schemes are provided to achieve linkage control of the traction pin and the guiding device. However, this configuration is complex, has a high failure rate, and the long intermediate transmission chain reduces transmission efficiency. In contrast, this application provides a gear and rack mesh structure, which is simple in structure and has high transmission sensitivity / response accuracy and high transmission efficiency.

[0048] Furthermore, since the first transmission rack 20 and the second transmission rack 21 are simultaneously coupled with the drive gear 22, the transmission accuracy requirements between the drive gear 22 and the first transmission rack 20, and between the drive gear 22 and the second transmission rack 21, are relatively high. Therefore, this application provides optimized conditions in terms of impact load transmission, traction pin 10, and guide device movement to ensure that the aforementioned transmission accuracy meets the requirements. Specifically, the first guide frame 30 and the second guide frame 31 are configured as an integrated structure, which allows the impact to be transmitted more evenly to the first guide frame 30 and the second guide frame 31, and can disperse the impact pressure to prevent it from being transmitted to the second transmission rack 21; the upper baffle 32 and the lower baffle 33 can resist the impact on the traction pin 10, and can prevent the impact from being transmitted to the first transmission rack 20. Furthermore, when the guiding device moves, the first guide frame 30 and the second guide frame 31 can move along the slide rail via the slider. When the traction pin 10 moves, the through hole 320 can provide guidance. That is, the stability of the movement of the guiding device and the traction pin 10 can be guaranteed by the above conditions, and the unstable posture such as deviation, tilting, and shaking during the movement can be prevented. This ensures that the drive gear 22 can be accurately coupled with the first transmission rack 20 and the second transmission rack 21.

[0049] like Figure 1 and Figure 2 As shown, the drive gear 22 can be driven by the motor 23. When the drive gear 22 rotates in the first direction, the first transmission rack 20 can drive the traction pin 10 to move downward, and at the same time, the second transmission rack 21 can drive the guide device to move upward. When the drive gear 22 rotates in the second direction opposite to the first direction, the first transmission rack 20 can drive the traction pin 10 to move upward, and at the same time, the second transmission rack 21 can drive the guide device to move downward.

[0050] 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 20 and the second transmission rack 21 can be equalized, the forces acting on both sides of the drive gear 22 can be balanced, the coupling accuracy of the first transmission rack 20, the second transmission rack 21 and the drive gear 22 can be improved, and the smoothness and stability of the transmission of the first transmission rack 20 and the second transmission rack 21 can be improved.

[0051] It should be noted that the movable guide device described in this application refers to the structure composed of the first guide frame 30 and the second guide frame 31, while the fixed seat, the upper baffle 32 and the lower baffle 33 are fixed structures and do not move.

[0052] In a preferred embodiment, the traction device of this application further includes a rotating shaft 24 driven by a motor 23, wherein the drive gear 22 passes through the rotating shaft 24 and rotates with the rotating shaft 24, and bearings 25 are respectively provided at both ends of the rotating shaft 24 to guide the rotation of the rotating shaft 24.

[0053] like Figure 2 As shown, by providing guidance for the rotating shaft 24 by setting the bearing 25, the rotational stability of the rotating shaft 24 can be improved, thereby improving the reliability of the gear and rack engagement.

[0054] In a preferred embodiment, the distance between the first transmission rack 20 and the second transmission rack 21 is adjustable to couple with the drive gear 22 of different specifications.

[0055] This application allows for the configuration of a suitable drive gear 22 according to actual needs, along with a first transmission rack 20 and a second transmission rack 21 that match the drive gear 22. Furthermore, by adjusting the distance between the first transmission rack 20 and the second transmission rack 21, the connection (coupling) between them and the drive gear 22 is ensured, thereby guaranteeing transmission accuracy. Replacing the drive gear 22 with different specifications 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 20 and the second transmission rack 21 are provided with a first mounting seat 261 and a second mounting seat 262 arranged opposite to each other. As a means of adjusting the distance between the first transmission rack 20 and the second transmission rack 21, at least one of the first mounting seat 261 and the second mounting seat 262 can be adjusted by adjusting bolt 27.

[0056] Furthermore, the first mounting base 261 is provided with a rack guide wheel 263 to guide the first transmission rack 20, thereby improving the transmission accuracy and stability of the first transmission rack 20. Similarly, the second mounting base 262 is provided with a rack guide wheel to guide the second transmission rack 21, thereby improving the transmission accuracy and stability of the second transmission rack 21.

[0057] In a preferred embodiment, the first transmission rack 20 is provided with a first detection element, and the automatic insertion and removal traction device for the 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 traction pin 10.

[0058] 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.

[0059] 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.

[0060] 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).

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] In some embodiments, multiple first sensors can be arranged on the movement path of the traction pin 10. When the traction pin 10 moves to one of the positions, the first detection element can cooperate with the corresponding first sensor to achieve the positioning detection.

[0066] Furthermore, the second transmission rack 21 is provided with a second detection element, and the automatic insertion and removal traction device for the unmanned tractor is provided with a second sensing element. The second sensing element is used to sense the second detection element to determine the movement position of the guide device.

[0067] 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.

[0068] 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.

[0069] In some embodiments, 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.

[0070] In a preferred embodiment, 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 engage 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, if Figure 2 As shown, a first detection element 40 is provided on the top of the first transmission rack 20, and a second detection element 41 is provided on the top of the second transmission rack 21. 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 20 moves upward to its position, the first sensing element 42 senses the first detection element 40; when the second transmission rack 21 moves upward to its position, the second sensing element 43 senses the second detection element 41. The coupling parameters of the first transmission rack 20, the second transmission rack 21, and the drive gear 22 are such that when the traction pin 10 moves downward to insert the traction ring (i.e., the two are successfully connected), the guide device moves upward to the point where the second sensing element 43 can sense the second detection element 41, 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 to the point where the first sensing element 42 can sense the first detection element 40, providing a signal that the guide device has moved downward to its position.

[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] Regarding the structure of the guiding device, the first guide frame 30 and the second guide frame 31 are connected as a single unit, which can refer to both being integrally formed or assembled together via connection. Preferably, the first guide frame 30 and the second guide frame 31 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 321 and a second slide rail 322. The first guide frame 30 is provided with a first slider 331, and the second guide frame 31 is provided with a second slider 332. When the drive gear 22 is controlled to rotate forward and reverse, the second transmission rack 21 can drive the first guide frame 30 and the second guide frame 31 to move up and down. At the same time, the first slider 331 slides along the first slide rail 321, and the second slider 332 slides along the second slide rail 322. Furthermore, the first slider 331 and the first slide rail 321, the second slider 332 and the second slide rail 322 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 30 and the second guide frame 31, thereby ensuring the transmission accuracy of the second transmission rack 21. Figure 3 and Figure 4 As shown, the first slider 331 has, for example, an approximately U-shaped sliding surface. The middle part of the first slider 331 has a large planar contact area with the first slide rail 321, which can improve the stability and reliability of the sliding of the first slider 331. Similarly, the structure of the second slider 332 cooperating with the second slide rail 322 is the same as the structure of the first slider 331 cooperating with the first slide rail 321.

[0079] In a preferred embodiment, the first guide frame 30 and the second guide frame 31 are connected as a whole by a connecting vertical plate 34. The side of the connecting vertical plate 34 facing away from the first guide frame 30 is provided with a first slider 331 corresponding to the first guide frame 30, and the side of the connecting vertical plate 34 facing away from the second guide frame 31 is provided with a second slider 332 corresponding to the second guide frame 31. The middle part of the side of the connecting vertical plate 34 facing away from the first guide frame 30 and the second guide frame 31 is fixedly connected to the second transmission rack 21.

[0080] like Figure 3 As shown, the two ends of the connecting vertical plate 34 are respectively connected to the first guide frame 30 and the second guide frame 31, forming an integral structure. In some embodiments, the first guide frame 30, the second guide frame 31, and the connecting vertical plate 34 can be integrally formed. In other embodiments, the first guide frame 30 and the second guide frame 31 can be welded to the connecting vertical plate 34 respectively; of course, other connection methods besides welding can also be used. Preferably, the connecting vertical plate 34 is arranged perpendicularly to the first guide frame 30 and the second guide frame 31, which can reduce the space occupied and promote the miniaturization of the guiding device.

[0081] The side of the connecting vertical plate 34 facing away from the first guide frame 30 and the second guide frame 31 can provide mounting positions for the first slider 331, the second slider 332, and the second transmission rack 21, 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 331, the second slider 332, and the second transmission rack 21, and placing the second transmission rack 21 between (in the middle) the first slider 331 and the second slider 332, the load on the second transmission rack 21 by the first guide frame 30 and the second guide frame 31 can be balanced, preventing the first guide frame 30 and the second guide frame 31 from tilting, improving the stability of the guiding device's movement, thereby ensuring the transmission accuracy of the second transmission rack 21, and also improving the transmission sensitivity and response accuracy of the second transmission rack 21, thereby improving transmission efficiency.

[0082] Furthermore, such as Figure 3 As shown, the connecting vertical plate 34 (and the first slider 331 and the second slider 332 thereon), the first slide rail 321 and the second slide rail 322 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 21 and the drive gear 22.

[0083] The first slider 331, the second slider 332, and the connecting vertical plate 34 can be integrally formed or welded together. The connecting vertical plate 34 has a mounting part 341 in the middle, which can be, for example, a screw hole, for bolting connection with the second transmission rack 21. Alternatively, the connecting vertical plate 34 and the second transmission rack 21 can also be welded together.

[0084] Furthermore, a first reinforcing horizontal plate 35 is provided between the first guide frame 30 and the connecting vertical plate 34, and a second reinforcing horizontal plate 36 is provided between the second guide frame 31 and the connecting vertical plate 34.

[0085] 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 34 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 30 and the second guide frame 31 to the second transmission rack 21 is more balanced, ensuring the transmission accuracy of the second transmission rack 21 and the consistency and balance of the movement of the first guide frame 30 and the second guide frame 31.

[0086] like Figure 3 As shown, one or more first reinforcing cross plates 35 and one or more second reinforcing cross plates 36 can be set according to actual needs to improve the uniformity of the rigidity of the first guide frame 30 / second guide frame 31, 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 21.

[0087] Furthermore, taking the first guide frame 30 as an example, by optimizing the structural configuration and arrangement, the center of gravity or centroid of the whole structure formed by the first guide frame 30, the first reinforcing horizontal plate 35, and the connecting vertical plate 34 connected to both the first guide frame 30 and the first reinforcing horizontal plate 35 can have a better correspondence with the first slider 331, thereby reducing the resistance to the movement of the first guide frame 30 and improving the stability of the movement of the first guide frame 30.

[0088] Furthermore, the first guide frame 30 includes a first limiting plate 301 perpendicularly connected to the connecting vertical plate 34 and a first guide plate 302 bent and connected to the first limiting plate 301. The second guide frame 31 includes a second limiting plate 311 perpendicularly connected to the connecting vertical plate 34 and a second guide plate 312 bent and connected to the second limiting plate 311. The first limiting plate 301 and the second limiting plate 311 are arranged in parallel opposite directions to limit the movement of the traction ring in the left and right directions. The first guide plate 302 and the second guide plate 312 are both provided with guide slopes, and the two guide slopes gradually approach each other along the direction in which the traction ring extends.

[0089] like Figure 3As shown, initially, the traction ring is located outside the first guide plate 302 and the second guide plate 312. During the insertion of the traction ring, the first guide plate 302 and the second guide plate 312 provide guidance in the left and right directions, guiding the traction ring to move into the space defined by the first limiting plate 301 and the second limiting plate 311. When the traction ring moves into the space defined by the first limiting plate 301 and the second limiting plate 311, the traction ring reaches the installation position and can be connected to the traction pin above. The space defined by the first guide plate 302 and the second guide plate 312 gradually decreases along the direction of traction ring insertion, and the space defined by the first limiting plate 301 and the second limiting plate 311 can have a consistent width.

[0090] The first limiting plate 301 and the first guide plate 302 can be integrally formed, and the second limiting plate 311 and the second guide plate 312 can be integrally formed.

[0091] In a preferred embodiment, the upper baffle 32 is connected to an upper flip plate 37 at the end away from the fixed seat, and the lower baffle 33 is connected to a lower flip plate 38 arranged opposite to the upper flip plate 37 at the end away from the fixed seat. The upper flip plate 37 and the lower flip plate 38 are used to guide the traction ring from both the upper and lower directions.

[0092] like Figure 4 and Figure 5 As shown, the upper flap 37 is inclined upward relative to the upper baffle 32, and the lower flap 38 is inclined downward relative to the lower baffle 33. The upper flap 37, the lower flap 38, the first guide plate 302, and the second guide plate 312 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 37 and the upper baffle 32; they can be integrally formed or welded together. Similarly, the lower flap 38 and the lower baffle 33 can be integrally formed or welded together.

[0093] Furthermore, the connecting vertical plate 34 is provided with a clearance opening 342 between the first guide frame 30 and the second guide frame 31. When the first guide frame 30 and the second guide frame 31 move downward into place, the bottom of the clearance opening 342 abuts against the top of the upper baffle 32.

[0094] In this embodiment, the upper baffle 32 can be used to limit the downward movement of the first guide frame 30 and the second guide frame 31, thereby eliminating the need for a limiting structure. Furthermore, when the clearance opening 342 abuts against the upper baffle 32, it indicates that the movement has reached its destination, eliminating the need for a positioning detection structure. This simplifies the structural configuration and saves costs. In addition, the clearance opening 342 reduces the weight of the connecting vertical plate 34, which helps improve the transmission efficiency of the second transmission rack 21.

[0095] Furthermore, the traction pin 10 is movably connected (e.g., hinged) to the first transmission rack 20, which can further prevent the impact from being transmitted to the position of the first transmission rack 20 and ensure the coupling accuracy of the first transmission rack 20 and the drive gear 22.

[0096] In a preferred embodiment, the mounting base is provided with multiple 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.

[0097] 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.

[0098] In some embodiments, the guide device defines a mounting cavity for insertion of a traction ring, and the limit switch is disposed within the mounting cavity.

[0099] 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.

[0100] In an example where the guide device includes a first limiting plate 301, a second limiting plate 311, an upper baffle 32, and a lower baffle 33, 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 32 or the lower baffle 33.

[0101] like Figure 5 As shown, the above-mentioned automatic plug-in / plug-out traction device for unmanned tractors can be applied to unmanned tractors.

[0102] 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 guide device, wherein the towing pin is used to connect or disconnect with a towing ring of a trailer or tractor, and the guide device is used to guide the towing ring from both left and right directions, characterized in that, Also includes: The drive gear, the first transmission rack movably connected to the traction pin, and the second transmission rack fixedly connected to the guide device are respectively located on opposite sides of the drive gear and coupled to the drive gear for transmission. The first transmission rack and the second transmission rack move up and down in opposite directions under the drive of the drive gear. The loads provided by the traction pin and the guide device are equivalent, so that the loads acting on the first transmission rack and the second transmission rack are equivalent. 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 base is provided with a rack guide wheel that guides the first transmission rack, and the second mounting base is provided with the rack guide wheel that guides the second transmission rack; 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. The guiding device also includes a fixed base and an upper baffle and a lower baffle that are arranged opposite to each other and fixed on the fixed base. The upper baffle and the lower baffle are provided with through holes arranged opposite to each other so that the traction pin can pass through. The top of the first transmission rack is provided with a first detection element, and the automatic insertion and removal traction device for the unmanned tractor is provided with a first sensing element on one side of the first detection element. The first sensing element is used to sense the first detection element to determine the movement position of the traction pin. The top of the second transmission rack is provided with a second detection element, and the automatic insertion and removal traction device for the unmanned tractor is provided with a second sensor on one side of the second detection element. The second sensor is used to sense the second detection element 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 to provide a signal that the traction pin has moved downward into place; 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 that engages with the traction ring.

2. The automatic plug-in traction device for an unmanned tractor according to claim 1, characterized in that, It also includes a rotating shaft driven by a motor, the drive gear passing through the rotating shaft and rotating with the rotating shaft, and bearings at both ends of the rotating shaft to guide the rotation of the rotating shaft.

3. The automatic plug-in traction device for an unmanned tractor according to claim 1, characterized in that, The distance between the first transmission rack and the second transmission rack is adjustable to couple with drive gears of different specifications.

4. The automatic plug-in traction device for an unmanned tractor according to claim 1, characterized in that, The first guide frame and the second guide frame are connected as one unit by a connecting vertical plate. The side of the connecting vertical plate facing away from the first guide frame is provided with a first slider corresponding to the first guide frame, and the side of the connecting vertical plate facing away from the second guide frame is provided with a second slider corresponding to the second guide frame. The middle part of the side of the connecting vertical plate facing away from the first guide frame and the second guide frame is fixedly connected to the second transmission rack.

5. An automatic plug-in traction device for an unmanned tractor according to claim 4, characterized in that, A first reinforcing horizontal plate is provided between the first guide frame and the connecting vertical plate, and a second reinforcing horizontal plate is provided between the second guide frame and the connecting vertical plate.

6. The automatic plug-in traction device for an unmanned tractor according to claim 1, characterized in that, The upper baffle is connected to an upper flap at the end away from the fixed seat, and the lower baffle is connected to a lower flap at the end away from the fixed seat, which is arranged opposite to the upper flap. The upper and lower flaps are used to guide the traction ring from both the upper and lower directions.

7. The automatic plug-in traction device for an unmanned tractor according to claim 1, characterized in that, The fixed base is provided with multiple spaced buffer ribs to buffer the impact of the trailer or tractor during the insertion of the towing ring. The guide device is equipped with a limit switch located between two of the buffer ribs to detect whether the traction ring is inserted in place.

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