An automated docking apparatus and a vehicle comprising the same

Abstract

The application discloses an automatic docking equipment, which is characterized in that: the docking equipment is loaded with first circuit connectors and first air path connectors on the fixed module and the corresponding circuits and air paths on the trailer, and is loaded with second circuit connectors and second air path connectors on the docking module and the corresponding circuits and air paths on the semi-trailer head; the docking module is driven by the driving module to approach or move away from the fixed module, so as to provide a reserved space for the docking and separation of the semi-trailer head and the trailer; the docking module can be automatically connected or separated from the fixed module, so that the first circuit connectors and the second circuit connectors are one-to-one connected or separated, and the first air path connectors and the second air path connectors are one-to-one connected or separated, thereby realizing the automatic separation and docking of the air paths and the circuits on the semi-trailer head and the trailer.

Description

Technical Field

[0001] The present invention relates to the field of automatic vehicle docking, in particular to an automatic docking device and a vehicle comprising the same. Background Art

[0002] A semitrailer is a trailer with its axle placed behind the center of gravity of the vehicle (when the vehicle is evenly loaded) and equipped with a coupling device that can transmit horizontal and vertical forces to the towing vehicle.

[0003] In the application of autonomous driving, the autonomous driving of semi-trailers is an important component in the production process.

[0004] Since the air circuits and electrical circuits on the semi-trailer also need to be connected and disconnected during the docking and disconnection process, manual intervention is often required. This is time-consuming and labor-intensive, and also makes the air circuits and electrical circuits lack stability during the docking and disconnection process, resulting in damage to the air circuits or electrical circuits, which affects production efficiency and causes losses. Summary of the Invention

[0005] In order to overcome the shortcomings in the above-mentioned background technology that the air circuit and the circuit on the semi-trailer need to be disconnected and connected, manual intervention is often required, which is time-consuming and labor-intensive, and makes the air circuit and the circuit lack stability during the docking and disconnection process, resulting in damage to the air circuit or the circuit, which not only affects production efficiency but also causes losses, the purpose of the present invention is to provide an automatic docking device.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A first aspect of the present invention provides an automatic docking device, which includes a fixed module, a docking module and a driving module. The fixed module is arranged on the trailer, wherein the fixed module is loaded with a plurality of first circuit connectors and first air circuit connectors corresponding to the circuits and air circuits on the trailer, and the docking module is loaded with a plurality of second circuit connectors and second air circuit connectors corresponding to the circuits and air circuits on the front of the semi-trailer. The driving module is arranged on the front of the semi-trailer and can be connected or separated from the docking module, and can drive the docking module close to or away from the fixed module. The docking module can automatically connect or separate from the fixed module, and is used to realize one-to-one connection or separation of the first circuit connector and the second circuit connector, and one-to-one connection or separation of the first air circuit connector and the second air circuit connector.

[0008] In some possible implementations, the fixing module includes a first loading plate, a nut plate is provided at the bottom of the first loading plate, and the first gas path connector and the first circuit connector are embedded in the first loading plate and are located near the nut plate.

[0009] In some possible implementation manners, the docking module comprises a second loading plate, the bottom of the second loading plate is provided with a first connecting plate, a servo motor located between the second loading plate and the first connecting plate is further embedded on the second loading plate, the output end of the servo motor is connected with a telescopic bolt, and the second air joint and the second circuit joint are embedded on the second loading plate and located near the telescopic bolt.

[0010] In some possible implementation manners, the driving module comprises a plurality of driving motors, the output end of the driving motor is connected with one end of a slide column, the slide column is embedded in a fixed plate, the other end of the slide column is connected with a second connecting plate, the second connecting plate can be magnetically connected with the first connecting plate, and the second connecting plate is embedded on the fixed plate.

[0011] In some possible implementation manners, a plurality of first guide sleeves are further arranged on the first loading plate, a plurality of connecting sleeves are arranged on the second loading plate, a plurality of guide columns are fixedly inserted into the connecting sleeves, a plurality of second guide sleeves are arranged on the fixed plate, and the guide columns can be inserted into the first guide sleeves or the second guide sleeves through axial movement.

[0012] In some possible implementation manners, a plurality of first sensors are arranged on the second loading plate, a plurality of second sensors and third sensors are arranged on the fixed plate, the first sensors are used for detecting a position signal of the nut plate, the second sensors are used for detecting a position signal of the first connecting plate, and the third sensors are used for detecting a position signal of the second connecting plate.

[0013] In some possible implementation manners, a lead screw motor is arranged on each side of the second loading plate, the driving end of the lead screw motor is connected with a protective cover, and the lead screw motor synchronously drives the protective cover to be folded or separated.

[0014] In some possible implementation manners, the docking device further comprises a position correcting module, the position correcting module comprises a first support frame, a first slide rod is arranged on each side of the first support frame, at least one first sliding sleeve is sleeved on the first slide rod, a first spring located between the first sliding sleeve and the first support frame is further sleeved on the first slide rod, the first sliding sleeve is connected with a second support frame, a second slide rod is arranged on each side of the second support frame, at least one second sliding sleeve is sleeved on the second slide rod, and a second spring located between the second sliding sleeve and the second support frame is further sleeved on the second slide rod, the positional relationship between the first slide rod and the second slide rod is perpendicular to each other, and the second sliding sleeve is connected with the fixed plate.

[0015] According to the second aspect of the present application, a vehicle is provided, and the vehicle comprises the automatic docking device.

[0016] The beneficial effects of the present application are that: by loading the first circuit connector and the first gas circuit connector on the circuit and the gas circuit of the fixed module and the trailer, loading the second circuit connector and the second gas circuit connector on the circuit and the gas circuit of the docking module and the semi-trailer head, driving the docking module to approach or move away from the fixed module by the driving module, providing a reserved space for the docking and separation of the semi-trailer head and the trailer, and automatically connecting or separating the docking module and the fixed module, the first circuit connector and the second circuit connector are connected or separated one by one, the first gas circuit connector and the second gas circuit connector are connected or separated one by one, and the automatic separation and docking of the gas circuit and the circuit of the semi-trailer head and the trailer are realized. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of an automatic docking device according to an embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of the overall structure of an automatic docking device according to an embodiment of the present application. Figure One ;

[0019] Figure 3 It is a schematic diagram of the overall structure of an automatic docking device according to an embodiment of the present application. Figure Two .

[0020] In the figure: 1, first circuit connector; 2, first gas circuit connector; 3, second circuit connector; 4, second gas circuit connector; 51, first loading plate; 52, nut plate; 61, second loading plate; 62, first connecting plate; 63, servo motor; 64, telescopic bolt; 71, driving motor; 72, slide column; 73, fixed plate; 74, second connecting plate; 81, first guide sleeve; 82, connecting sleeve; 83, guide column; 84, second guide sleeve; 85, first sensor; 86, second sensor; 87, third sensor; 88, lead screw motor; 89, protective cover; 90, first support frame; 91, first sliding rod; 92, first sliding sleeve; 93, first spring; 94, second support frame; 95, second sliding rod; 96, second sliding sleeve; 97, second spring. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and the scope of protection of the present application can be more clearly defined.

[0022] BACKGROUND AND PROBLEMS TO BE SOLVED: In the automatic driving application, the automatic driving of the semitrailer is an important part in the production process. Because the air circuit and the electric circuit on the vehicle need to be disconnected and connected during the docking and separation of the semitrailer head and the trailer, manual intervention is often required, which is time-consuming and laborious and also lacks stability in the process of docking and separation, resulting in damage to the air circuit or the electric circuit, affecting production efficiency and causing losses.

[0023] To solve the above technical problems, an embodiment is provided, as shown in the accompanying drawings Figures 1-3 The embodiment provides an automatic docking device, which comprises a fixed module, a docking module and a driving module. The fixed module is arranged on the trailer, wherein the fixed module is loaded with a plurality of first circuit connectors 1 and first air circuit connectors 2 corresponding to the electric circuit and the air circuit on the trailer. The docking module is loaded with a plurality of second circuit connectors 3 and second air circuit connectors 4 corresponding to the electric circuit and the air circuit on the semitrailer head. The driving module is arranged on the semitrailer head and can be connected or separated from the docking module, and can drive the docking module to approach or move away from the fixed module. The docking module can be automatically connected or separated from the fixed module, and is used to realize one-to-one corresponding connection or separation of the first circuit connector 1 and the second circuit connector 3, and one-to-one corresponding connection or separation of the first air circuit connector 2 and the second air circuit connector 4.

[0024] By loading the first circuit connector 1 and the first air circuit connector 2 on the fixed module and the electric circuit and the air circuit on the trailer, and loading the second circuit connector 3 and the second air circuit connector 4 on the docking module and the electric circuit and the air circuit on the semitrailer head, the driving module drives the docking module to approach or move away from the fixed module, providing a reserved space for the docking and separation of the semitrailer head and the trailer. The docking module can be automatically connected or separated from the fixed module, so that the first circuit connector 1 and the second circuit connector 3 are connected or separated one by one, and the first air circuit connector 2 and the second air circuit connector 4 are connected or separated one by one, realizing the automatic disconnection and connection of the air circuit and the electric circuit on the semitrailer head and the trailer.

[0025] On the basis of the above-mentioned embodiment, the fixed die set comprises a first loading plate 51, a nut plate 52 is arranged at the middle bottom of the first loading plate 51, the first air joint 2 and the first circuit joint 1 are embedded on the first loading plate 51 and located at the periphery of the nut plate 52. The docking die set comprises a second loading plate 61, a first connecting plate 62 is arranged at the middle bottom of the second loading plate 61, a servo motor 63 is embedded in the middle of the second loading plate 61 and located between the second loading plate 61 and the first connecting plate 62, the output end of the servo motor 63 is connected with a telescopic bolt 64, the second air joint 4 and the second circuit joint 3 are embedded on the second loading plate 61 and located near the telescopic bolt 64. The driving die set comprises a plurality of driving motors 71, the output end of the driving motor 71 is connected with one end of a slide column 72. The slide column 72 is embedded in a fixed plate 73, the other end of the slide column 72 is connected with a second connecting plate 74, the second connecting plate 74 can be magnetically connected with the first connecting plate 62, the second connecting plate 74 is embedded on the fixed plate 73. A plurality of first sensors 85 are arranged on the second loading plate 61, a plurality of second sensors 86 and third sensors 87 are arranged on the fixed plate 73, the first sensors 85 are used for detecting the position signal of the nut plate 52, the second sensors 86 are used for detecting the position signal of the first connecting plate 62, and the third sensors 87 are used for detecting the position signal of the second connecting plate 74.

[0026] Before the front of the semi-trailer is docked with the trailer, the second connecting plate 74 is magnetically connected to the first connecting plate 62. When the front of the semi-trailer is docked with the trailer, the driving motor 71 drives the fixing plate 73 to move axially upward in the Z-axis direction. After reaching a certain position, the second connecting plate 74 is separated from the first connecting plate 62. At this time, the second sensor 86 detects the position signal of the first connecting plate 62. According to the position signal detected by the second sensor 86, the driving motor 71 stops working, and the servo motor 63 drives the telescopic bolt 64 to rotate upward. The telescopic bolt 64 is tightened with the nut plate 52, so that the first circuit connector 1 and the second circuit connector 3 are connected one by one, and the first gas circuit connector 2 and the second gas circuit connector 4 are connected one by one, completing the gas circuit between the front of the semi-trailer and the trailer. Automatic docking with the circuit, at this time, the first sensor 85 detects the position signal of the nut plate 52, and the servo motor 63 stops working according to the braking principle; when the front of the semi-trailer is separated from the trailer, the servo motor 63 drives the telescopic bolt 64 to rotate downward, so that the telescopic bolt 64 is separated from the nut plate 52. After reaching a certain position, the second connecting plate 74 is magnetically connected to the first connecting plate 62. At this time, the second sensor 86 detects the position signal of the first connecting plate 62, and the servo motor 63 stops working according to the braking principle. The drive motor 71 drives the fixed plate 73 to move axially downward in the Z-axis direction. When the third sensor 87 detects the position signal of the second connecting plate 74, the drive motor 71 stops working, completing the automatic separation of the air path and circuit on the front of the semi-trailer and the trailer.

[0027] Based on the above embodiment, a first guide sleeve 81 is provided on each side of the first loading plate 51, a connecting sleeve 82 is provided on each side of the second loading plate 61, a guide post 83 is fixedly inserted in the connecting sleeve 82, and a second guide sleeve 84 is provided on each side of the fixing plate 73. The first guide sleeve 81, the guide post 83, and the second guide sleeve 84 correspond to each other, and the guide post 83 can be inserted into the first guide sleeve 81 or the second guide sleeve 84 through axial movement. The first guide sleeve 81 and the second guide sleeve 84 are both configured as trumpet-shaped cylinders.

[0028] Before the front of the semi-trailer is docked with the trailer, one end of the guide column 83 is located in the second guide sleeve 84. When the front of the semi-trailer is docked with the trailer, the guide column 83 moves axially upward in the Z-axis direction along with the second loading plate 61. After the other end of the guide column 83 is inserted into the first guide sleeve 81, the alignment and tightening of the telescopic bolt 64 and the nut plate 52 are guided and limited, thereby improving the accuracy of the alignment and tightening of the telescopic bolt 64 and the nut plate 52, and at the same time enhancing the stability of the telescopic bolt 64 and the nut plate 52 during the connection process, thereby achieving perfect docking of the air circuit and the circuit on the front of the semi-trailer and the trailer.

[0029] When the semi-trailer head is disconnected from the trailer, one end of the guide column 83 is located in the first guide sleeve 81. When the semi-trailer head is connected to the trailer, the guide column 83 moves downward in the Z-axis direction along with the second loading plate 61, and one end of the guide column 83 is inserted into the second guide sleeve 84, thereby improving the stability during the disconnection of the telescopic bolt 64 and the nut plate 52 and achieving perfect disconnection of the air circuit and the circuit on the semi-trailer head and the trailer.

[0030] On the basis of the above embodiment, two lead screw motors 88 are arranged on the two sides of the second loading plate 61, the driving end of the lead screw motor 88 is connected with the protective cover 89, and the lead screw motor 88 synchronously drives the protective cover 89 to fold or separate.

[0031] The lead screw motor 88 drives the protective cover 89 to move in the X-axis direction. When the two protective covers 89 are folded together, the second circuit connector 3 and the second air circuit structure are protected.

[0032] On the basis of the above embodiment, the butt joint device further comprises a position correction module, the position correction module comprises a first support frame 90, first slide rods 91 are arranged on the two sides of the first support frame 90, two first slide sleeves 92 are sleeved on the first slide rods 91, first springs 93 are sleeved on the first slide rods 91 between the first slide sleeves 92 and the first support frame 90, the first slide sleeves 92 are connected with a second support frame 94, second slide rods 95 are arranged on the two sides of the second support frame 94, two second slide sleeves 96 are sleeved on the second slide rods 95, and second springs 97 are sleeved on the second slide rods 95 between the second slide sleeves 96 and the second support frame 94. The position relationship between the first slide rods 91 and the second slide rods 95 is perpendicular to each other, and the second slide sleeves 96 are connected with the fixed plate 73.

[0033] When the semi-trailer head is connected to or disconnected from the trailer, since the first guide sleeve 81 and the second guide sleeve 84 are both horn-shaped cylinders, after one end of the guide column 83 is inserted into the horn-shaped inner wall of the first guide sleeve 81 or the second guide sleeve 84, the first slide sleeves 92 move reciprocally in the X-axis direction on the first slide rods 91 under the elastic deformation of the first springs 93 to make fine adjustment, and the second slide sleeves 96 move reciprocally in the Y-axis direction on the second slide rods 95 under the elastic deformation of the second springs 97 to make fine adjustment, so that the fixed plate 73 moves reciprocally in the X-axis direction and the Y-axis direction to correct the position of one end of the guide column 83 inserted into the cylindrical inner wall of the first guide sleeve 81 or the second guide sleeve 84, thereby improving the accuracy and stability of the connection or disconnection of the semi-trailer head and the trailer.

[0034] In a second aspect of the embodiment, a vehicle is provided, and the vehicle comprises the automatic butt joint device.

[0035] The above embodiments are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and implement it, and cannot limit the protection scope of the present application, and any equivalent changes or modifications made according to the spirit and essence of the present application shall be covered within the protection scope of the present application.

Claims

1. An automatic docking device, characterized in that: The docking device includes a fixed module, a docking module and a driving module. The fixed module is arranged on the trailer, wherein the fixed module is loaded with a plurality of first circuit connectors (1) and first gas circuit connectors (2) correspondingly connected to the circuit and gas circuit on the trailer, and the docking module is loaded with a plurality of second circuit connectors (3) and second gas circuit connectors (4) correspondingly connected to the circuit and gas circuit on the front of the semi-trailer. The driving module is arranged on the front of the semi-trailer and is connected to or separated from the docking module, driving the docking module to approach or move away from the fixed module. The docking module can automatically connect to or separate from the fixed module, and is used to realize the one-to-one connection or separation of the first circuit connector (1) and the second circuit connector (3), and the one-to-one connection or separation of the first gas circuit connector (2) and the second gas circuit connector (4). The fixed module comprises a first loading plate (51), a nut plate (52) is provided at the bottom of the first loading plate (51), the first gas path connector (2) and the first circuit connector (1) are embedded on the first loading plate (51) and are located near the nut plate (52). The docking module comprises a second loading plate (61), a first connecting plate (62) is provided at the bottom of the second loading plate (61), a servo motor (63) is embedded on the second loading plate (61) and is located between the second loading plate (61) and the first connecting plate (62), an output end of the servo motor (63) is connected to a telescopic bolt (64), and the second air circuit connector (4) and the second circuit connector (3) are embedded on the second loading plate (61) and are located near the telescopic bolt (64). The drive module includes a plurality of drive motors (71), the output end of the drive motor (71) is connected to one end of a sliding column (72), the sliding column (72) is embedded in a fixed plate (73), the other end of the sliding column (72) is connected to a second connecting plate (74), the second connecting plate (74) can be magnetically connected to the first connecting plate (62), and the second connecting plate (74) is embedded in the fixed plate (73). The first loading plate (51) is further provided with a plurality of first guide sleeves (81), the second loading plate (61) is provided with a plurality of connecting sleeves (82), a plurality of guide posts (83) are fixedly inserted in the connecting sleeves (82), and the fixing plate (73) is provided with a plurality of second guide sleeves (84), the guide posts (83) can be inserted into the first guide sleeve (81) or the second guide sleeve (84) through axial movement. The second loading plate (61) is provided with a plurality of first sensors (85), and the fixing plate (73) is provided with a plurality of second sensors (86) and a third sensor (87), wherein the first sensor (85) is used to detect a position signal of the nut plate (52), the second sensor (86) is used to detect a position signal of the first connecting plate (62), and the third sensor (87) is used to detect a position signal of the second connecting plate (74). The docking device also includes a calibration module.

2. The automatic docking device according to claim 1, characterized in that: Screw motors (88) are respectively provided on both sides of the second loading plate (61), and the driving end of the screw motor (88) is connected to the protective cover (89). The screw motor (88) synchronously drives the protective cover (89) to close or open.

3. The automatic docking device according to claim 1, characterized in that: The calibration module includes a first support frame (90), first slide bars (91) are respectively provided on both sides of the first support frame (90), at least one first slide sleeve (92) is sleeved on the first slide bar (91), a first spring (93) is further sleeved on the first slide bar (91) and located between the first slide sleeve (92) and the first support frame (90), the first slide sleeve (92) is connected to the second support frame (94), second slide bars (95) are respectively provided on both sides of the second support frame (94), at least one second slide sleeve (96) is sleeved on the second slide bar (95), a second spring (97) is further sleeved on the second slide bar (95) and located between the second slide sleeve (96) and the second support frame (94), the first slide bar (91) and the second slide bar (95) are perpendicular to each other, and the second slide sleeve (96) is connected to the fixed plate (73).

4. A vehicle, characterized in that: The vehicle comprises an automatic docking device according to any one of claims 1-3.

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