Automated tow vehicle trailer coupler

Abstract

A system for automatically connecting the air lines and electrical wires of a tractor unit (12) to a trailer unit (14). The tractor unit (12) has a tow seat connector (20) configured to be connected to a pivot pin of the trailer unit (14). The height of the tow seat connector (20) is adjustable. A trailer connector (310) is mounted to the trailer unit (14) and carries the air lines and electrical connectors. A height control system for the tow seat connector (20) is configured to automatically control the height of the tow seat connector (20) when it is connected to the pivot pin of the trailer unit (14) to control the height of the trailer connector (310). A tow connector (600) carries the air lines and electrical connectors and is configured to be operatively connected to mating connectors of the trailer connector (310). A tow connector bracket (710) removably carries the tow connector (600). The tractor connector bracket (710) control system moves the tractor connector bracket (710) toward and away from the trailer connector (310) along the longitudinal axis. The clamping mechanism (959) carried by the tractor connector (600) establishes at least two alternative clamping states, one of which is that the tractor connector (600) is clamped to and carried by the tractor connector bracket (710) such that the tractor connector (600) moves with the movement of the tractor connector bracket (710), and the second clamping state is that the tractor connector (600) is clamped to the trailer connector (310) such that the tractor connector bracket (710) moves freely relative to the tractor connector (600).

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to provisional application 63 / 205667, filed on January 10, 2021. Technical Field

[0003] This invention relates to attaching a tractor to a trailer. Background Technology

[0004] Trailers frequently dock or connect with, and detach from, tractors in freight yards, warehouse facilities, and intermodal transport facilities. Docking and detaching operations require manual intervention, making them relatively expensive and time-consuming. Summary of the Invention

[0005] The automated tractor-trailer coupling system and method includes a tractor coupling head movably carried by a tractor and a trailer coupling head carried by a trailer. These heads include means for connecting air lines from the tractor to air lines from the trailer, such as lines for braking and emergency braking. Alternatively or additionally, these heads include means for connecting electrical wires from the tractor to the trailer, such as electrical signals for trailer travel and brake lights.

[0006] All the examples and features mentioned below can be combined in any technically possible way.

[0007] On one hand, a system for automatically connecting at least one of an air line or electrical wire of a tractor to a trailer configured to be towed by the tractor, wherein the tractor includes a tow seat connector configured to be coupled to a pivot pin of the trailer, wherein the height of the tow seat connector is adjustable, comprising: a trailer connector mounted to the trailer and including at least one of an air line connector or an electrical connector; a tow seat connector height control system configured to automatically control the height of the tow seat connector when the tow seat connector is coupled to the pivot pin of the trailer to control the height of the trailer connector; and a tractor connector including an air line connector configured to be operably coupled to the air line connector of the trailer connector or configured to be operably coupled to the air line connector of the trailer connector. At least one of the electrical connectors for connecting to a trailer joint; a tractor joint bracket configured to removably carry the tractor joint; a tractor joint bracket control system configured to move the tractor joint bracket toward and away from the trailer joint along a longitudinal axis; and a clamping mechanism carried by the tractor joint and configured to establish at least two alternative clamping states, one of which is that the tractor joint is clamped to and carried by the tractor joint bracket, such that the tractor joint moves with the movement of the tractor joint bracket, and the second of which is that the tractor joint is clamped to the trailer joint, such that the tractor joint bracket moves freely relative to the tractor joint.

[0008] Some examples include one of the features above and / or below, or any combination thereof. In one example, the trailer joint includes mechanical features configured to engage with mechanical features of the tractor joint to provide movement of the trailer joint along a vertical axis orthogonal to the longitudinal axis, and movement of the tractor joint along a transverse axis orthogonal to both the vertical and longitudinal axes. In another example, the tractor also includes an adjustable-angle boom carrying the tow seat connector, and a tow seat connector height control system includes a first sensor sensing the boom angle, a second sensor sensing the tow seat connector angle, and a controller configured to automatically control the height of the tow seat connector based on the sensed boom angle and the sensed tow seat connector angle. In yet another example, a tractor joint bracket control system includes a single-degree-of-freedom linear actuator carried by the tractor and configured to move the tractor joint bracket toward and away from the trailer along a longitudinal axis. In the example, the tractor coupling also includes mechanical features configured to engage with features of the trailer coupling to align the tractor coupling with the trailer coupling by providing movement of the trailer coupling along a vertical axis orthogonal to the longitudinal axis and movement of the tractor coupling along a transverse axis orthogonal to both the vertical and longitudinal axes.

[0009] Some examples include one of the above and / or below features, or any combination thereof. In some examples, the system further includes a trailer coupling frame carrying at least one extended magnetic member configured and arranged to be removably coupled to the underside of a trailer, thereby coupling the trailer coupling frame to the trailer, wherein the trailer coupling head is supported by the trailer coupling frame. In examples, the system further includes a bend located between the trailer coupling head and the trailer coupling frame, wherein the bend is configured and arranged to provide vertical compliance of the trailer coupling head relative to the trailer. In examples, the bend is more compliant in one vertical direction than in another. In examples, the bend is also configured and arranged to provide rotational compliance of the trailer coupling head relative to the trailer about a longitudinal axis. In examples, the system further includes a pair of air lines and a wire coupled to the trailer coupling head, and a strain relief and support mechanism carried and supported by the trailer coupling frame, wherein the strain relief and support mechanism includes a differential flexible support structure that is more flexible in the lateral direction than in the longitudinal direction.

[0010] Some examples include one of the features above and / or below, or any combination thereof. In some examples, the tractor connector bracket includes a linkage mechanism configured to allow the tractor connector to move along a transverse axis orthogonal to the longitudinal axis and rotate about a vertical axis orthogonal to both the longitudinal and transverse axes. In some examples, the linkage mechanism includes a four-bar linkage. In some examples, the four-bar linkage includes a fixed link, two ground links pivotally connected to the fixed link, and a floating link pivotally connected to the two ground links. In some examples, the tractor connector is removably connected to the floating link. In some examples, the floating link includes opposing inwardly inclined funnel surfaces configured to engage with mechanical features of the trailer connector to provide movement of the tractor connector along the transverse axis. In some examples, the floating link includes opposing upwardly inclined ramps configured to engage with mechanical features of the trailer connector to provide movement of the trailer connector along the vertical axis. In the example, the tractor coupling bracket also includes mechanical features configured to engage with the centering funnel of the tractor when the tractor coupling bracket moves along the longitudinal axis away from the trailer coupling toward the tractor to its original position relative to the tractor.

[0011] Some examples include one of the above and / or below features, or any combination thereof. In the examples, the clamping mechanism includes a clamping arm configuration that alternately clamps to a tractor connector bracket and a trailer connector. In the examples, the trailer connector includes a trailer connector surface having opposing ends and carrying two air seals and an electrical connector between the opposing ends, and the tractor connector includes a tractor connector surface having opposing ends and carrying two air seals and an electrical connector between the opposing ends, wherein when the tractor connector is clamped to the trailer connector, the air seals and electrical connector of the two surfaces are configured to engage together. In the examples, the clamping arm configuration includes two sets of clamping arms, one set near one end of the tractor connector surface and the other set near the other end of the tractor connector surface, wherein each set includes a first arm configured to lock to the tractor connector bracket and a second arm configured to lock to the trailer connector; and the clamping mechanism also includes a rotary motor configured to move at least one set of clamping arms.

[0012] On the other hand, a system for automatically connecting at least one of the air lines or electrical wires of a tractor to a trailer configured to be towed by the tractor, wherein the tractor includes a tow seat connector configured to be coupled to a central pin of the trailer and an adjustable angle boom carrying the tow seat connector, wherein the height of the tow seat connector is adjustable, comprising: a trailer joint head mounted to the trailer and including at least one of an air line connector or an electrical connector; a trailer connection frame carrying at least one extended magnetic member configured and arranged to be removably coupled to the underside of the trailer, thereby connecting the trailer connection frame to the trailer, wherein the trailer joint head is supported by the trailer connection frame; a bend located between the trailer joint head and the trailer connection frame, wherein the bend is configured and arranged to provide vertical compliance of the trailer joint head relative to the trailer; wherein The bend is more compliant in one vertical direction than in another, and the bend is also configured and arranged to provide rotational compliance of the trailer joint relative to the trailer about a longitudinal axis; a tow hitch coupling height control system configured to automatically control the height of the tow hitch coupling when the tow hitch coupling is engaged with the central pin of the trailer to control the height of the trailer joint, and includes a first sensor sensing the boom angle, a second sensor sensing the tow hitch coupling angle, and a controller configured to automatically control the height of the tow hitch coupling based on the sensed boom angle and the sensed tow hitch coupling angle; and a tow truck coupling including at least one of an air line connector configured to be operably connected to an air line connector of the trailer joint or an electrical connector configured to be operably connected to an electrical connector of the trailer joint. The trailer joint includes mechanical features configured to engage with the mechanical features of the tow truck coupling to provide movement of the trailer joint along a vertical axis orthogonal to the longitudinal axis, and movement of the tow truck coupling along a transverse axis orthogonal to both the vertical and longitudinal axes. The tractor connector bracket is configured to removably carry the tractor connector and includes a four-bar linkage configured to allow the tractor connector to move along a lateral axis and rotate about a vertical axis. It includes a fixed link, two ground links pivotally connected to the fixed link, and a floating link pivotally connected to the two ground links. The tractor connector is removably connected to the floating link, which includes opposing inwardly inclined funnel surfaces configured to engage with mechanical features of the trailer connector to provide movement of the tractor connector along the lateral axis. The floating link also includes opposing upwardly inclined ramps configured to engage with mechanical features of the trailer connector to provide movement of the trailer connector along the vertical axis. The tractor connector bracket also includes mechanical features configured to engage with the tractor's centering funnel when the tractor connector bracket moves along a longitudinal axis away from the trailer connector toward the tractor to its original position relative to the tractor.A tractor-trailer connector bracket control system is configured to move a tractor-trailer connector bracket toward and away from a trailer connector along a longitudinal axis; and includes a single-degree-of-freedom linear actuator carried by a tractor and configured to move the tractor-trailer connector bracket toward and away from the trailer along a longitudinal axis. A clamping mechanism is carried by the tractor-trailer connector and configured to establish at least two alternative clamping states, one in which the tractor-trailer connector is clamped to and carried by the tractor-trailer connector bracket, such that the tractor-trailer connector moves with the movement of the tractor-trailer connector bracket; and the second clamping state in which the tractor-trailer connector is clamped to the trailer connector, such that the tractor-trailer connector bracket moves freely relative to the tractor-trailer connector. The clamping mechanism includes clamping arms configured to alternately clamp to the tractor-trailer connector bracket and the trailer connector. Attached Figure Description

[0013] The following discussion of at least one example, with reference to the accompanying drawings, is not intended to be drawn to scale. The drawings are included to provide illustration and further understanding of various aspects and examples, and are incorporated into and constitute a part of this specification, but are not intended to define limitations on the invention. In the drawings, the same or substantially the same components shown in different figures may be indicated by the same reference characters or numbers. For clarity, not every component is labeled in every figure. In the drawings:

[0014] Figure 1 This is a side view of the tractor-trailer combination.

[0015] Figure 2 This is a schematic diagram of various aspects of a system used to automatically connect air lines and electrical wires from a tractor to a trailer.

[0016] Figures 3A-3C Together, they form a flowchart detailing the operation of a system for automatically connecting air lines and electrical wires from a tractor to a trailer.

[0017] Figure 4 This is a schematic block diagram of a system for automatically connecting air lines and electrical wires from a tractor to a trailer.

[0018] Figure 5 This is a schematic diagram of various aspects of a system used to automatically connect air lines and electrical wires from a tractor to a trailer, involving determining the height of the trailer.

[0019] Figure 6 This is a perspective view of a trailer connector assembly used in a system that automatically connects air lines and wires from a tractor to a trailer.

[0020] Figure 7 yes Figure 6 Exploded view of the extended magnetic component of the trailer connector assembly.

[0021] Figure 8A yes Figure 6 A side view of the trailer connector assembly, and Figure 8B The bend is shown more schematically in its bent position.

[0022] Figure 8C It is along Figure 6 The longitudinal cross-sectional view taken from line 8C-8C shows the bending section in detail, while Figure 8D It is shown Figure 8C An enlarged view of the interaction between the curved parts.

[0023] Figure 9A yes Figure 6 A side view of the trailer coupling assembly, which attaches to the trailer and carries air lines and electrical wires. Figure 9B It is along Figure 9A The cross-sectional view taken from line 9B-9B.

[0024] Figure 10 Is with Figure 6 An internal perspective view of a tractor connector used with a trailer connector.

[0025] Figure 11 This is a perspective view of the tractor side components, in which... Figure 10 The tractor coupling is close to Figure 6 The trailer connector is engaged.

[0026] Figure 12 yes Figure 11 A perspective view of the floating link of the tractor side assembly.

[0027] Figure 13 It is used in conjunction with a linear actuator. Figure 11 A perspective view of the tractor side components.

[0028] Figure 14A and 14B They are installed on the tractor. Figure 13 Top and perspective views of the components and linear actuators.

[0029] Figure 15 It shows Figure 11 A schematic top view of the operation of the four-bar linkage device of the tractor side component.

[0030] Figure 16 yes Figure 10 Detailed perspective view of the tractor coupling.

[0031] Figure 17A yes Figure 10 A partial schematic diagram of the top of the clamping mechanism of the tractor connector.

[0032] Figure 17B yes Figure 17B A partial perspective view of the clamping mechanism. Detailed Implementation

[0033] The examples of methods, systems, and apparatus discussed herein are not limited in application to the details of the construction and arrangement of components set forth in the following description or shown in the accompanying drawings. These methods and apparatuses can be implemented in other examples and can be practiced or performed in various ways. The examples of specific embodiments provided herein are for illustrative purposes only and are not intended to be limiting. In particular, the functions, components, elements, and features discussed in conjunction with any one or more examples are not intended to exclude similar roles in any other examples.

[0034] The examples disclosed herein may be combined with other examples in any way consistent with at least one principle disclosed herein, and references to “example,” “some examples,” “alternative examples,” “various examples,” “an example,” etc., are not necessarily mutually exclusive, but are intended to indicate that a particular feature, structure, or property described may be included in at least one example. The appearance of these terms herein does not necessarily refer to the same example.

[0035] Furthermore, the wording and terminology used herein are for descriptive purposes and should not be considered restrictive. Any reference to examples, components, elements, actions, or functions of computer program products, systems, and methods mentioned herein in the singular may also include embodiments comprising multiple examples, and any plural reference to any example, component, element, action, or function herein may also include examples comprising only the singular. Therefore, references in singular or plural form are not intended to limit the currently disclosed systems or methods and their components, actions, or elements. The terms “comprising,” “including,” “having,” “containing,” “involving,” and variations thereof, as used herein, mean to include the items listed thereafter and their equivalents, as well as additional items. References to “or” may be interpreted inclusively, such that any term described using “or” may mean a single, more than one, or any of all the described terms.

[0036] In the automated tractor-trailer coupling system and method of the present invention, the tractor coupling head can be moved toward and away from the tractor via a tractor coupling head bracket, the trailer coupling head being carried by the trailer. The system includes sensors that determine the angles of the tractor boom and the tow seat connector carried at the boom end; the approximate height of the trailer coupling head can be determined based on these two angles and the length of the boom. The system calculates when the boom is raised to a height that best matches the heights of the trailer-side coupling head and the tractor-side coupling head. Small mismatches are accommodated by other elements of the system, such as the compliance of the trailer-side coupling head. A single-degree-of-freedom linear actuator is used to move the tractor coupling head to engage with the trailer coupling head. The tractor coupling head bracket includes a mechanical linkage that laterally aligns the two heads while keeping them directly facing each other when they are engaged. The two coupling heads include mutually engaging mechanical features that allow for a final, minor lateral and / or vertical alignment of the heads. A bend in the support of the trailer coupling head allows for minor vertical movement of the head to address minor vertical misalignments. The bend also allows for minute rotation of the trailer joint about its longitudinal axis to correct minor rotational (i.e., tilt) misalignment. Position sensors in the tractor joint indicate when these joints are properly engaged, thus linking the air and electrical connections. A latching mechanism carried by the tractor joint latches the tractor joint to the trailer joint, allowing the tractor joint bracket to retract to its original position on the tractor, leaving the tractor joint on the trailer. This allows the trailer to rotate independently relative to the tractor, which is necessary for tractor-trailer operations in tight-gap applications. Subsequently, by moving the tractor joint bracket via a linear actuator, the tractor joint can be removed from the trailer joint until the bracket mates with and aligns with the tractor joint. The latching mechanism then releases from the trailer joint and clamps onto the tractor joint bracket. The tractor joint bracket is then retracted to its original position on the tractor, along with the tractor joint.

[0037] Figure 1 This is a side view of the tractor-trailer assembly 10, showing the tractor 12 connected to the ground 16 and ready to tow the trailer 14 along it. As is known in the art, this connection is achieved by connecting the tractor's tow seat coupling 20 to the trailer pivot pin (not shown). This establishes the trailer's rotation axis 24. The height of the tow seat coupling 20 can be determined by controlling the angle of the hydraulic boom 22. Here, for ease of reference, the spatial axes X (lateral horizontal axis), Y (vertical axis), and Z (front and rear longitudinal axis) are identified.

[0038] This system and method are fully automated: no human intervention is required (assuming the trailer carries the trailer-side connector assembly). The tractor-side connector moves toward and away from the trailer (along the longitudinal Z-axis). Figure 2This is a schematic diagram of various aspects of a system for automatically connecting air lines and wires from a tractor to a trailer. A linear actuator 21 is carried at the rear 13 of the tractor 12 and includes a rail 30 supported by a structural support 32. A bracket 40 can be controlled to move along the rail 30 in two directions along the Z-axis (i.e., toward and away from the trailer 14). The bracket 40 removably carries a tractor coupling head 42 configured to mate with a trailer coupling head 62 carried at the front 15 of the trailer 14. In an example, the trailer coupling assembly 60 includes a trailer coupling head 62 carried by a frame 64. The frame 64 is coupled to the trailer 14 such that the trailer coupling head 62 is positioned at a known height. In some examples, the frame 64 is carried at the bottom, side, and / or front 15 edge of the trailer 14 and configured to place the coupling head 62 precisely at or in front of the front 15 and at or near the bottom 18. As explained in more detail below, since not all trailers are identical, this known positioning can be achieved, at least in part, by using a suitably designed frame that supports the head or frame to reference the front edge and / or side of the trailer. In the example, mating heads 42 and 62 each include two separate air line fittings and an electrical connector. When the air line fittings and electrical connector are mated together, compressed air and electrical signals from the tractor 12 are transmitted to the trailer 14.

[0039] Figures 3A-3C Together is an exemplary operation flowchart 100 of an automated connection system and method, which uses three different automated systems / methods: a tractor operating system (the relevant operations of its 102, 104 are in...) Figure 3A (detailed description in the text), tractor control and interface system (its 140 related operations are in...) Figure 3B (detailed description in the text) and the tractor / trailer coupling control system (its 180 related operations are in...) Figure 3C (detailed description in the text).

[0040] exist Figure 3A In the fully automatic tractor / trailer attachment cycle 102, the tractor first connects to the trailer (via the tractor's tow seat connector). The tractor connector engages and locks with the trailer connector, and the tractor moves away to tow the trailer. More specifically, in steps 110 and 112, when the tractor's tow seat is below the front lip of the trailer, the tractor retracts into the trailer and stops. In steps 114 and 116, the tow seat is raised to the height of the trailer, and the tractor retracts into the trailer until the tow seat latches onto the trailer pivot pin. A towing test 118 is then performed, which requires moving forward without releasing the trailer's brakes; if the tractor and trailer remain connected, the test passes; otherwise, the tow seat latching onto the pivot pin is retried. Step 120 requires connecting the tractor connector to the trailer connector, the details of which are... Figure 3B and 3CThe information is disclosed in the document. Then, in steps 122 and 124, the parking brake is released, and the tractor unit drives away.

[0041] exist Figure 3A In the fully automatic tractor / trailer release cycle 104, in step 130, the trailer is parked. Then, in step 120, the automatic coupling cycle is run; this disengages the tractor coupling from the trailer coupling and separates the tractor from the trailer. In step 134, the tractor parking brake is released, and in step 136, the tractor drives away.

[0042] exist Figure 3B The fully automatic coupling cycle operation 120 ensures the correct connection and separation of the tractor and trailer. After setting the parking brake in step 142, step 144 checks the status and calculations of two sensor systems (described elsewhere in this document): "Trailer Detection" and "Automatic Coupling Latch" are sensor systems, while "Hole Height" is a calculation. If there is a problem in step 144, steps 170 and 172 cause the operation to stop and issue an error signal.

[0043] In step 146, with the trailer present, the boom is low and both couplings are unlocked, the trailer's air lines and electrical wires are not connected to the tractor, and the system is ready to perform the automatic coupling operation. In step 148, by first raising the boom to the appropriate height, and then in step 150, issuing a signal for the coupling operation, the tractor is operatively coupled to the trailer (details are in...). Figure 3C (Disclosed in the literature). In step 172, if the boom fails to be raised to the appropriate height or if a connection error exists, an error signal is issued and operation stops. In step 152, if no error exists, the boom is raised to the travel height (the trailer landing gear is pulled off the ground), and in step 154, the trailer brakes are applied.

[0044] In step 160, if the trailer is present, the boom is high, and both couplings are latched, the trailer's air lines and wiring, as well as the trailer itself, are connected to the tractor, and the system is ready to perform the automatic disconnection operation. In step 162, by first lowering the boom to the appropriate automatic connection height, and then issuing a disconnection operation signal in step 164, the tractor and trailer are operatively disconnected (details are in...). Figure 3C (Disclosed in the document). If the boom fails to descend successfully or if a separation error occurs, in step 172, an error signal is issued and operation stops, awaiting manual intervention (e.g., manually connecting air lines and electrical wires, or further intervention may be required). If no error occurs, after separation step 164 is completed, in step 166, the boom is lowered until its movement stops for a predetermined period of time (e.g., 1 second) (meaning the trailer landing gear has touched the ground), and in step 168, the towing seat is unlocked.

[0045] Fully automatic connection controller operation 180 Figure 3C The details are described below. When the coupling signal is issued in step 150, the homing sequence 184 begins, in which the tractor coupling head moves to the position of the trailer coupling head and then latches onto the trailer coupling head, as described in steps 186-196. In step 186, the sensors and latching status on the tractor coupling head (both described elsewhere) are checked to ensure that the tractor coupling head is in the original position of the tractor and is latched onto its bracket. In step 188, the drive for the linear track system (also described elsewhere) is activated at a moderate speed. This causes the tractor coupling head to move toward the trailer coupling head. If an overcurrent is detected in step 198, the coupling head returns to its original position and attempts to dock again at a reduced speed in step 200. An overcurrent situation may occur if the trailer-side component is severely misaligned with, improperly installed, damaged, or missing from the tractor-side component. The tractor-side coupling may strike it with a certain force, but its sensing sensors will not detect anything; however, due to encountering an unexpected obstacle, the motor may generate a current spike due to the additional sudden jolt. This condition can result in a false negative due to engaging the trailer-side connector too quickly. The tractor side will then return to its original position and proceed again, but at a slower speed. This eliminates the false negative condition while still maintaining a fast cycle time. If the second engagement attempt fails, an error is indicated to the operator.

[0046] In step 190, the linear track stops when the sensing sensor on the tractor connector detects the mating plate on the trailer connector; now, the two connectors are mated together, the air line seals are in contact, and the electrical connectors are in electrical contact. Then, in step 192, the pneumatic latch of the clamping system is actuated to release the tractor connector from its bracket and latch it onto the trailer connector. After a brief wait, in step 194, the linear track is reversed to retract the tractor connector bracket (without the tractor connector). In step 196, the connection is complete when the original position is sensed (e.g., using a sensor that can detect magnetic eddy currents in a conductive material, not shown). In this example, when the system is first started, the first step is to “reposition” the tractor connector assembly by finding the location where the sensor is mounted on the tractor connector bracket. The system maintains a digital memory of the assembly position, for example, based on the number of revolutions counted in the linear actuator motor (described below). The digital memory is used as the “initial” position until the system is powered on again and the initial sensor is queried. Furthermore, the soft limit can be hard-coded at the end of the motor stroke; that is, there can be a set position at the end of the actuator, which can be inferred from the mechanical characteristics of the automatic coupling. The motor will not move the mechanism beyond a preset number of revolutions. Note that the same function can be achieved using another sensor at the end of the stroke.

[0047] In step 164, upon the issuance of a separation signal, sequence 212 begins, where the tractor connector bracket moves to the position of the tractor connector and then latches onto it, as described in steps 214-224. In step 214, the sensors and latching status on the tractor connector bracket are checked to ensure the tractor connector bracket is in the original position of the tractor and that the tractor connector is latched onto the trailer connector. In step 216, the drive of the linear track system is activated at a moderate speed. This moves the tractor connector bracket toward the tractor connector. If an overcurrent is detected in step 198, the speed is reduced in step 200. In step 218, when the sensing sensors on the tractor connector detect the tractor connector bracket, the linear track is decelerated until it reaches a zero state (i.e., the end of travel). The tractor connector bracket is now in place relative to the tractor connector. Then, in step 220, the pneumatic latch of the clamping system is actuated to release the tractor connector from the trailer connector and latch it onto its bracket. After a brief wait, in step 222, the linear track is reversed to retract the trailer coupling bracket (with coupling). In step 224, separation is complete when the original position is sensed or the encoder on the linear actuator motor counts to the "original" position.

[0048] Figure 4 This is a schematic diagram of an exemplary control system 250 for a subject-specific automated tractor-trailer coupling system. The controller 252 can be implemented using one or more physical controllers. Controllers are well known in the art. In some examples, they may include one or more analog or digital circuits. Alternatively or additionally, they may be implemented using one or more microprocessors executing software instructions. The software instructions may include digital signal processing instructions. Operation can be performed by analog circuits or by a microprocessor executing software that performs equivalent operations to analog operations. The controller 252 is input with data from all sensors 254 and is configured to control the tractor head height via the tractor head lifting system 256; control the linear actuator extension / retraction motor 258; control the tractor / trailer coupling clamping mechanism 262; and control the air line / wire actuation 260 (for use after these heads have been coupled).

[0049] In some examples, the towing unit's towing seat connector is carried at the end of a hydraulic boom, the angle of which is controllable to determine the height of the towing seat, and thus the height of the trailer connected to the towing seat. Figure 5A trailer height adjustment system 70 is schematically shown, configured to adjust the height of a trailer connected to a tractor. System 70 includes a sensor 82 (e.g., an inclinometer or inertial measurement unit) mounted on a tractor boom 22, which pivots relative to a tractor frame 72 about a pivot axis 76. Sensor 82 is configured to sense the angle of the boom relative to a horizontal plane and / or the derivative or change of that angle. A tow seat connector 20 is carried at the end of the boom 22 and, as known in the art, is configured to be coupled to a pivot pin (not shown) on the trailer. The tow seat connector 20 is freely and passively pivoted relative to the boom 22 about a pivot axis 80. A sensor 84 (e.g., an inclinometer or inertial measurement unit) is mounted to the tow seat connector 20. Sensor 84 is configured to sense the angle of the tow seat connector relative to a horizontal plane and / or the derivative or change of that angle. The height of the trailer (and thereby inferring the height of the trailer connector fixed to the trailer) can be calculated based on the length of the boom and the two measured angles (or the changes in the two measured angles). In some examples, the optimal boom angle is calculated based on trigonometric calculations of two sensed angles and the boom length. In other examples, the derivative of the angle is used to detect "hard limits" in raising and lowering the boom. The trailer can be detected as being at its maximum height, at which point the derivative of the boom angle reaches zero. Furthermore, when a trailer is lowered to a height greater than the tractor's minimum position, the derivative can be used to determine that the boom has placed the trailer back onto its landing gear at an angle above the truck's horizon.

[0050] The automatic tractor-trailer coupling of the present invention includes a tow seat coupling height control system, wherein the trailer (not shown) is automatically raised to an "automatic coupling height" at which the trailer coupling head and the tractor coupling head are nominally at the same height (the same Y position). In some examples, the height control system automatically controls the angle of the tractor's tow seat boom 22, thereby establishing the height of the tow seat coupling 20 located at the boom end and connected to the trailer pivot pin. Therefore, this also sets the height of the trailer (bottom 18, Figure 2 Since the position of the trailer joint relative to the bottom of the trailer is known (through... Figure 2 (The design of the trailer coupling assembly 60) determines the height of the trailer coupling head by determining the height of the towing seat coupling.

[0051] In some examples, as described above, the height of the trailer joint is determined based on the boom angle, trailer angle, and boom length. In other examples, the height control system can be implemented in other ways. For example, optical sensors (such as laser-based sensors carried on the tractor unit) or distance sensors can identify the trailer joint (e.g., based on its shape), or a target can be mounted on the trailer joint. The orientation of the trailer joint relative to the sensors can be used to control the boom height.

[0052] Figure 6-1 Figure 7 illustrates aspects and details of an exemplary, non-limiting system for automatically connecting two air lines and one electrical wire of a tractor unit to a trailer unit connected to the tractor unit via a towing coupling to a pivot pin connection. Typically, the tractor unit coupling is removably carried by a towing unit coupling bracket that is movable toward and away from the trailer unit. The trailer unit coupling is carried by the trailer unit in a known position established by the trailer coupling assembly. The system includes sensors that determine the angles of the tractor unit boom and the towing coupling carried at the boom end; the height of the trailer unit coupling can be determined based on these two angles and the length of the boom. Once the tractor unit is physically connected to the trailer unit via the towing coupling, the system automatically adjusts the height of the trailer unit so that the trailer unit coupling is at the same height as the tractor unit coupling. A single-degree-of-freedom linear actuator is then automatically controlled to move the tractor unit coupling to mate and engage with the trailer unit coupling. The tractor unit coupling bracket includes a four-bar mechanical linkage that laterally aligns the two couplings while keeping them directly facing each other when they are engaged. The two connectors include mating mechanical features that allow for final, minor alignment of the heads. The bend in the connector, which attaches the trailer connector to the trailer, allows for minor vertical movement of the connector to correct minor vertical misalignment while keeping the trailer connector parallel to the tractor unit. The bend also allows for minor rotation of the trailer connector about its longitudinal axis to correct minor rotational misalignment. A position sensor in the tractor connector indicates when the connectors are properly engaged, ensuring air and electrical connections. A latching mechanism carried by the tractor connector then latches the tractor connector to the trailer connector, allowing the tractor connector bracket to be retracted to its original position on the tractor unit. Air lines and wires from the tractor unit are now connected to the trailer unit's air lines and wires, allowing the tractor unit to supply compressed air for operating the trailer brakes and the power and signals required to operate the trailer lighting system.

[0053] When the tractor unit detaches from the trailer, a linear actuator moves the tractor unit connector bracket, allowing the tractor unit connector to be removed from the trailer unit connector until the bracket mates and aligns with the tractor unit connector. Then, the latching mechanism of the tractor unit connector releases from the trailer unit connector and clamps onto the tractor unit connector bracket. The tractor unit connector bracket is then retracted to its original position on the tractor unit. This disconnects the air lines and electrical wiring between the tractor unit and the trailer. The tractor unit can then freely detach and drive away from the trailer.

[0054] Figure 6A trailer coupling assembly 300 is shown in detail, comprising a trailer coupling 310 connected to a trailer coupling frame 330 via a bend 340, which is shown and described in more detail elsewhere herein. The bend 340 provides at least some vertical compliance of the trailer coupling relative to the trailer, and is more compliant in one vertical direction than in another. The bend 340 may also be configured and arranged to provide some rotational compliance of the trailer coupling relative to the trailer about a longitudinal axis. An extended magnetic member 350 is configured and arranged to be removably coupled to the underside of the trailer, thereby coupling the trailer coupling frame to the trailer. For example, as... Figure 9A As shown, this positions the trailer joint 310 in front of the front 15 of the trailer 14 and at a known height relative to the bottom 18 of the trailer. The trailer pivot pin 19 is as follows... Figure 9A As shown.

[0055] In some examples, the trailer joint 310 includes mechanical features configured to engage with mechanical features of the tractor joint and / or tractor joint bracket to provide (at least) movement of the trailer joint along a vertical axis (Y) orthogonal to the longitudinal axis (Z), and movement of the trailer joint along a transverse axis (X) orthogonal to both the vertical and longitudinal axes. In the examples, fins 317 and elongated protrusions 318 and 319 are configured to be received in corresponding slots in the tractor joint bracket and the tractor joint. Furthermore, the inclined bottom 321 of the trailer joint surface 311 (see...) Figure 8A The connector 310 is configured to contact and straddle the inclined surface of the tractor coupling and / or its bracket to achieve better vertical alignment of the coupling. The coupling 310 has ends 312 and 313. Many of these features are explained in more detail elsewhere herein.

[0056] Trailer connector 310 includes air-sealing members 314 and 315, which may be standard resilient seals in a manual air connector with a gland for manual operation (typically used by human drivers to connect the tow truck's air line to the trailer's air line). Additionally, an electrical connector 316 is located between seals 314 and 315 and includes the necessary electrical contacts to transmit power and signals to the trailer. Figure 8A An air connector 322 is shown, which is operatively connected to a sealing member 315, and a standard trailer air hose can be connected to the air connector 322. Similarly, an electrical connector 323 is operatively connected to an electrical connector 316, and a standard trailer cable can be connected to the electrical connector 316.

[0057] In the example, the extended magnetic member 350 includes the same extended magnetic arms 352 and 354. Exemplary details of arm 352 are provided below. Figure 7As shown in the figure. The magnet assembly 360 (in a non-limiting example, comprising four bar magnets, such as magnets 361, arranged end-to-end as shown, wherein each magnet includes one or more through holes (e.g., holes 362 and 363) receiving one of non-magnetic (e.g., stainless steel) bolts 374, each bolt receiving a nut 378) is held by side plates 371 and 372, which are coupled to member 332, which is pivotally coupled to portion 331 of frame 330. Other means may be used alone or in combination to hold one or more magnets in place within the arm, such as bosses in the side plates surrounding some or all of the magnets, plastic sheaths around the magnets, or adhesives used to secure the magnets to the side plates. If the magnets are properly restricted to moving between side plates 371 and 372, the non-magnetic bolts, if used to help hold plates 371 and 372 together, do not need to pass through the magnets themselves. Pivot 333 allows arm 352 to pivot downwards and return toward coupling head 310, enabling assembly 300 to be stored in a smaller space than if arms 352 and 354 were fixed. Hardware (e.g., a spring-loaded button) housed in openings 334 and 335 holds arm 352 in place. When this hardware is released or retracted, the arm can pivot relative to member 331 and center member 337, as... Figure 6 As shown, central member 337 is the central member of frame 330. (As indicated...) Figure 6 As shown, the top of magnet assembly 360 is located directly below the tops of arms 371 and 372 (e.g., the top 373 of arm 371). Plates 371 and 372 are made of a magnetic material such as ferritic steel, thus carrying, guiding, and confining the magnetic field, making the tops of the arms magnetic and magnetically coupled to the steel underside of the trailer. Because the magnets do not contact the trailer, they are less susceptible to corrosion and wear that can result from repeated installation and removal of these trailer-side connectors by operators from various trailers within the site.

[0058] Bending part 340 in Figure 6 and 8AAs shown in -8D. In this example, the bend is made of, for example, plastic or plastic fiber composite or fiber-reinforced rubber, but any other flexible material or composite suitable for applications capable of withstanding the environments experienced by vehicle trailers may also be used. The bend 340 includes an upper bend member 341 held by a frame 330 and a head 310, and carries a generally trapezoidal portion 342. Similarly, a lower bend member 343 is held by a frame 330 and a head 310, and carries a generally trapezoidal portion 344. The bend members 341 and 343 may be punched from a reinforced rubber sheet, which will have the required flexibility and be able to withstand the harsh environments and handling of the trailer assembly. The portions 342 and 344 are separate and connected to the bend members. The portions 342 and 344 cooperate with each other in such a way that the downward travel of the head 310 is more restricted than the upward travel. Furthermore, in some examples, the bends are biased downwards (e.g., by the weight of the heads they bear), such that head 310 is positioned slightly below frame 330. This can provide additional upward movement of the coupling head 310 to correct Y-axis misalignment between the two heads. Figure 6 As shown, each of plates 341 and 343 has two sets of mating portions 342 and 344, with an empty space between them through which the two air lines and one electrical wire can pass. See also Figure 9A .

[0059] exist Figure 8B-8D The diagram shows a set of interlocking parts 342 and 344 in more detail. (For example...) Figure 8B As shown, portion 342 has a lower wall 381, while portion 344 has an upper wall 383. Walls 381 and 383 are arranged and fitted together with protrusions and slots. Figure 8D It is shown in detail in the middle. Figure 8D yes Figure 8C Enlarged view of detail 397. Wall 383 has a slot 385, and wall 381 has protruding protrusions or bosses 387 and 389. Figure 8A , 8CIn the intermediate position shown in 8D, protrusion 387 is closer to the other end of slot 385 (indicated by distance 391), while protrusion 389 is closer to one end of slot 385 (indicated by distance 393). A positive vertical force or deflection below the trailer joint surface 311 (e.g., when the joint impacts any of ramps 741, 743, 745, or 753) causes the top 342 to slide to the left relative to the bottom 344. Part 342 can slide past distance 391 before protrusion 387 contacts the end of slot 385 and stops. Once protrusion 387 contacts the end of the slot in the bottom curved portion, it begins to transmit shear forces between the top and bottom parts 342 and 344. Once these shear forces are transmitted, parts 342 and 344 form a single beam much more rigid than two separate parts. This positive deflection is as follows: Figure 8B As shown. Similarly, when a negative vertical force is applied to the connector, the top curved portion 342 slides to the right relative to the bottom portion 344. The portion 342 can slide a distance 393 before the protrusion 389 contacts the stop. Once the protrusion 389 contacts the end of the slot in the bottom portion, it begins to transmit shear forces between the top and bottom portions. Once these shear forces are transmitted between the top and bottom portions, they form a single beam that is much more rigid than two separate portions. Therefore, this design has a greater limitation on downward travel than on upward travel.

[0060] Figure 9A A trailer coupling assembly 300 is shown (via magnetic member 350) connected to the lower side 18 of trailer 14. The coupling 310 is located in front of the trailer front 15, allowing it to be accessed and connected to by a towing vehicle coupling, as described elsewhere herein. Air hoses 411 and 412, along with wire 413 (forming hose / line assembly 414), originate from coupling 310, pass through bend 340, and ascend through hose / line release structure 410. Figure 9B As shown, the hose / line release structure 410 is a strain release and support mechanism carried and supported by the trailer coupling frame for the hose / line assembly 414. Structure 410 includes a differential flexible support structure 419, which is more flexible in the lateral direction (X) and more rigid in the longitudinal direction (Z), allowing the hoses and lines to be pulled in different directions on the trailer surface without detaching. This varying flexibility allows the hoses and lines to bend left and right to reach the trailer's typical connectors while preventing them from bending forward or sagging towards the towing vehicle. Package 421 holds the support structure 419 and the hose / line assembly 414 in place relative to each other.

[0061] Figure 10This is an internal perspective view of a tractor-trailer connector 600 configured to mate with the aforementioned trailer connector. The tractor-trailer connector 600 includes a housing 612 having an open front side 602 for receiving the trailer connector. Glad hand-type air seals 604 and 606 and an electrical connector 608 are arranged such that they will mate with the air seals and electrical connector of the trailer connector.

[0062] The tractor-trailer coupling includes mechanical features configured to engage with features of the trailer coupling to align the tractor-trailer coupling with the trailer coupling by providing at least movement of the trailer coupling along the vertical axis (Y) and movement of the tractor-trailer coupling along the lateral axis (X). Slots 614 and 616 in the housing top 611 are configured to receive protrusions 319 and 318, respectively; their enlarged front openings allow the protrusions to be received in the slots, even if there may be some X-axis misalignment between these couplings. As described below, the coupling 600 is carried such that it can translate in two directions along the X-axis (the total amount is limited by the overall construction of the tractor-side assembly). Therefore, if the two couplings are slightly misaligned along the X-axis, the positioning of protrusions 318 and 319 in slots 616 and 614 will push the coupling 600 to the left or right, causing the two couplings to align correctly, thereby engaging the air seals and the electrical connectors. Similarly, the larger through slot 613 in the bottom 610 of the housing is configured to receive the fins 317 of the trailer connector 310 to help the two connectors be centered along the X-axis.

[0063] In this example, fin 317 is configured to engage with funnel surfaces 742 and 744 and slot 747 before the bracket has the opportunity to align it more closely in the Y direction. See also Figure 11 Fin 317 is long enough to accommodate the fact that the Y-alignment of the trailer connector and the bracket may deviate further when they first contact during engagement. Protrusions 318 and 319 then provide precise alignment between the tractor and trailer connectors and engage after fin 317 has engaged the tractor connector bracket and face 311 has been pushed upwards to match the Y-position of the two heads. When the tractor and trailer are only a few inches apart, protrusions 318 and 319 find slots 614 and 616. The smaller gaps between protrusions 318 and 319 and slots 614 and 616 result in more precise alignment of the connectors before latching. The electrical connector pins must be aligned before latching can be actuated, otherwise the electrical connector will jam. Protrusions 318 and 319 ensure that the connectors are fully aligned in the X-axis and Y-rotational directions when the latch is actuated. When the tractor connector bracket returns to pick up and remove the tractor connector from the trailer connector, the Y position of the tractor connector will be known from the angles of the two inclinometers (i.e., from the height of the trailer). This eliminates the need for fine alignment to be performed during the coupling operation.

[0064] Air lines 622 and 623, along with wire 624 (forming air / wire assembly 601), extend from the tractor unit into connector 600 and connect to seals 604 and 606 and electrical connector 608. Pneumatic actuators 630 and 632 are part of the clamping mechanism, as described in more detail below. Clamping arm ends 965 and 975 are also part of the clamping system.

[0065] Figure 11 The tractor-side assembly 700 is shown in detail, including a connector bracket 710 that removably carries the connector 600. The upwardly sloping lower surfaces 745 and 753 of the connector 600 are configured to contact the downwardly sloping portion 321 of the surface of the trailer connector, which can push the trailer connector upward (along the Y-axis) to accommodate any height difference between the two connectors. As described above, the bending of the trailer connector assembly allows for some upward movement of the trailer connector.

[0066] As described below, the tractor connector bracket 710 is configured to move toward and away from the trailer. The bracket 710 also includes a linkage mechanism 720 configured to allow the tractor connector 600 to move along the transverse axis (X) and rotate about the vertical axis (Y). These movements allow the head to align on the X-axis, and also allow the surfaces of the tractor connector to remain aligned with the surfaces of the trailer connector when both are brought together, such that the air seals and electrical connectors are in direct face-to-face contact rather than yawed at each other. In some examples, the linkage mechanism 720 includes a four-bar linkage. In some examples, the four-bar linkage includes a fixed link, two ground links pivotally connected to the fixed link, and a floating link pivotally connected to the two ground links. In some examples, the tractor connector is removably connected to the floating link. In some examples, the floating link includes opposing, inwardly inclined funnel surfaces configured to engage with mechanical features of the trailer connector to provide movement of the tractor connector along the transverse axis. In some examples, the floating link includes opposing upward-sloping ramps configured to engage with mechanical features of the trailer joint to provide movement of the trailer joint along a vertical axis.

[0067] Figure 11 The linkage mechanism 720 (which is also) Figure 15 (As shown in the diagram, but more schematically, and further described below) includes a fixed link 712, which is also a structure carried by a linear actuator, as described in more detail below. Grounding links 721 and 723 can each pivot about the fixed link 712 (along vertical pivot axes 722 and 724, respectively) (link 712 is not in...). Figure 15(As shown in the diagram). The arc-shaped raised steel plate (boss) 714 is the surface on which a ball pawl (not shown) rides. After each system cycle, the ball pawl locks the bracket in its central position. A floating link 740 removably carries the tractor coupling 600. The floating link 740 can pivot about vertical axes 795 and 797 relative to links 721 and 723, respectively. In one example, the linkage 720 is a Grasshof double rocker mechanism.

[0068] In some examples, Figure 12 The floating link 740, shown in detail, includes upwardly inclined ramps 741 and 743 located on either side of the slot 747. The downwardly inclined front portion 321 of the trailer joint 310 surface can be configured to contact surfaces 741 and 743, which can push the trailer joint upward (along the Y-axis) to accommodate any height difference between the two joints. Figure 11 As shown, surfaces 741 and 743 can be incorporated into surfaces 745 and 753 of head 600 to provide a continuous ramp that guides the trailer head upwards for proper alignment with the tractor head. In the example, bend 340 is configured such that head 310 is biased downwards but can be deflected upwards. Bend members 341 and 343 remain substantially parallel during this deflection, keeping the trailer joint head substantially flush with the tractor joint head and preventing upward tilting. Floating link 740 also includes funnel surfaces 742 and 744 configured to contact fin 317, which causes the tractor joint head to be pushed along the X-axis to align the two joint heads when they meet.

[0069] The linkage mechanism 720 carries mechanical features (e.g., roller 726), which are configured to engage with the centering funnel 900. Figure 13-15 The centering funnel 900 is fixed to the tractor unit and serves to establish a defined centering position for the tractor-side assembly when the tractor connector bracket returns to its "original" position on the tractor unit. The funnel 900 has inwardly tapering sides 901 and 902, configured such that when the tractor bracket returns to its original position on the tractor unit, rollers 726 engage one or both of them, guiding the bracket left and right to its original position. The center position is fixed on both the X and Z axes. As described above, a pawl (e.g., a ball pawl) (not shown) is used to help hold the linkage 720 relative to the bracket 710 in its center position until the force along the X-axis generated when the two heads contact and are misaligned along the X-axis overcomes the pawl. This then allows the tractor connector to translate along the X-axis, as described elsewhere herein. After the ball pawl is released, the tractor connector and its bracket are no longer fixed relative to the linear track bracket. After the ball pawl is released, the degrees of freedom of the tractor connector and its bracket are controlled by the four-bar linkage.

[0070] Figure 12The floating link 740 also includes fixed posts 748 and 749, to which the clamping mechanism of the tractor connector can clamp to secure the connector to the bracket. Regions 750 and 751 are the locations of one or more sensing surfaces used to determine when the tractor connector bracket approaches its connection point with the tractor connector, as explained in more detail below.

[0071] Figure 13 and 14A Figures 14B and 14B show non-limiting examples of various aspects of a tractor-trailer coupling bracket control system, which includes a single-degree-of-freedom linear actuator 800 carried by a tractor and configured to move the tractor-trailer coupling bracket 710 toward and away from the trailer along a longitudinal axis. In the example, the linear actuator 800 is a commercially available single-degree-of-freedom linear actuator (e.g., Thomson Industrial's linear actuator MG10BLXCJ1-01245-01676DN0000S2). Housing 1006 ( Figure 14B This can be used to house controllers and other electronic components that operate the linear actuator and system as a whole. A portion 713 of the fixed link 712 is fixed to the track bracket 804, which is configured to move in two directions along the track 802, aligned with the Z-axis. Mechanical components such as members 806, 808, and 810 fix and support the linear actuator relative to the tractor unit. Due to the location of the tractor unit's battery 1004 and fuel tank 1002, the track 802 can be offset to the left of the tractor unit. Mounting the assembly on the left side of the tractor unit also shortens the length of hoses and cables from the trailer-side assembly to the trailer coupling. The position of the track, as well as the configuration of the tractor-side bracket and the tractor coupling, determines the necessary location of the trailer coupling on the trailer. In one example, this location can be established using a mounting clamp (not shown) and the design of the magnetic components and coupling of the trailer-side assembly, which properly positions the trailer coupling frame relative to the side of the trailer.

[0072] Figure 15 Triangle 762 is schematically shown, kinematically representing the floating link 740 carried by pivot links 721 and 723. Point 764 represents the surface of the tractor-trailer joint, and arc 764a represents its permissible path of motion. The four-bar linkage effectively keeps the surface substantially perpendicular to the radial line 777 emanating from the position of the trailer joint. Assuming the initial yaw angle of the trailer relative to the tractor is within 0 degrees plus or minus 5 degrees, the radial line represents the path that the surface of the tractor-trailer joint can travel. Therefore, as long as the initial tractor-trailer yaw is within 5 degrees of direct alignment, the four-bar linkage will ensure that the surface of the tractor-trailer joint is flush with the surface of the trailer joint. Other links can be designed to accommodate different initial yaw angles.

[0073] Figure 16 Two inductive sensors, 765 and 763, are shown; they are used to help properly control the tractor coupling bracket. Sensor 765 detects the foremost and rearmost edges of the plate 761 attached to the top of the floating link 740 and can be used when the bracket is retrieved from the trailer to rejoint the tractor (see [link]). Figure 3C Step 218). Sensor 763 detects a ferromagnetic plate (not shown) on top of the trailer coupling and can be used when the tractor coupling is transported to the trailer by the bracket (see step 218). Figure 3C Step 190). Figure 16 Pneumatic actuators 630 and 632, which are used to operate the clamping mechanism shown in Figure 17, are also partially shown. Air connections 631 and 633 are in... Figure 16 As shown in the example, in the case of pneumatic actuators used in a clamping mechanism, each actuator has two independent pressurized air inputs; one input moves the actuator in one direction of rotation, and the other input moves the actuator in the opposite direction of rotation. Each actuator can operate independently, or they can have a common air source to pneumatically connect their movements.

[0074] Figure 17A It is a partially transparent and schematic top view of the tractor connector 600 that mates with the trailer connector 310. Figure 17B This is a rear perspective view showing the clamping mechanism. The clamping mechanism 959 is used to clamp a tractor connector to a tractor connector bracket or a trailer connector. This clamping mechanism arrangement results in clamping arms configured to alternately clamp to the tractor connector bracket and the trailer connector. The trailer connector includes trailer connector surfaces with opposite ends; these surfaces carry two air seals and an electrical connector between the opposite ends. When the tractor connector is clamped to the trailer connector, the air seals and electrical connector on both surfaces are configured to engage. The clamping arm configuration includes two sets of clamping arms, one set near one end of the tractor connector surface and the other near the other end of the tractor connector surface. Each set includes a first arm configured to lock to the tractor connector bracket and a second arm configured to lock to the trailer connector. The clamping mechanism also includes a motor configured to move at least one set of clamping arms. In the described non-limiting embodiment, there are two pneumatic motors, each moving a set of clamping arms. Alternatively, any rotary actuator that provides sufficient torque, such as an electromechanical rotary actuator, can be used.

[0075] For clarity, some details of the two coupling heads are not shown. Actuators 630 and 632 are essentially the same. Each is configured to move a set of two clamping arms between a first position and a second position. In the first position, one arm engages one of the posts 748 and 749 of the bracket 740 (see...). Figure 12 In a second position, another arm engages the front end 312 or 313 of the trailer coupling 310. Each arm terminates in a hook configured to be rearward and latched to the structure. For example, actuator 630 has a hook 965 at the end of the first arm 966 and is configured to engage behind the end 313, and a hook 960 at the end of the second arm 961 and is configured to engage behind the post 749. Actuator 632 has a hook 975 at the end of the first arm 976 and is configured to engage behind the end 312, and a hook 970 at the end of the second arm 971 and is configured to engage behind the post 748. In this example, the four arms are identical, and in each group of arms, one arm is flipped relative to the other. For example, arms 971 and 976 are identical and pivotally engaged by pin 974, such that they can both rotate about pivot axis 974a. Each actuator 630 and 632 is configured according to the air input coupling ( Figure 17A Compressed air (not shown) is supplied to rotate clockwise and counterclockwise. For example, actuator 632 includes a rotating member 978 that rotates about axis 978a to move arms 971 and 976. Arm 971 includes a pin 993 located in slot 973 and moving along path 981, while arm 976 includes a pin 994 located in a separate slot (not shown) and moving along path 982. Triangles 991 and 992 represent the structure of arms 971 and 976, while arrow 980 shows the path of pin 974 when actuator 978 moves the arm clockwise, which will clamp hook 970 behind post 748 (not shown). In the example, when they are clamped, the crank arm of the motor moves beyond the center to produce a mechanical benefit. In the example, at any given time, the arm is clamped to only one of the tractor coupling bracket and trailer coupling. In the example, when clamping switches from one position to another, neither arm is clamped to the structure for a short period of time.

[0076] The elements in the diagram are shown and described as discrete elements in the block diagram. These can be implemented as one or more analog or digital circuits. Alternatively or additionally, they can be implemented using one or more microprocessors executing software instructions. The software instructions may include digital signal processing instructions. Operations can be performed by analog circuits or by a microprocessor executing software that performs equivalent operations to analog operations. Signal lines can be implemented as discrete analog or digital signal lines, as discrete digital signal lines with appropriate signal processing capable of handling individual signals, and / or as elements of a wireless communication system.

[0077] When a process is represented or implied in a block diagram, these steps can be performed by one or more elements. These steps can be performed together or at different times. The elements performing these activities can be physically identical or close to each other, or they can be physically separate. A single element can perform the actions of multiple blocks.

[0078] Examples of the systems and methods described herein include computer components and computer-implemented steps that will be obvious to those skilled in the art. For example, those skilled in the art will understand that computer-implemented steps may be stored as computer-executable instructions on a computer-readable medium, such as a floppy disk, hard disk, optical disk, flash ROMs, non-volatile ROMs, and RAM. Furthermore, those skilled in the art will understand that computer-executable instructions may execute on various processors, such as microprocessors, digital signal processors, gate arrays, etc. For ease of illustration, not every step or element of the systems and methods described herein is described as part of a computer system, but those skilled in the art will recognize that each step or element may have a corresponding computer system or software component. Therefore, such computer systems and / or software components are implemented by describing their respective steps or elements (i.e., their functions) and are within the scope of this disclosure.

[0079] Depending on the aspects and examples, the functions, methods, and / or components of the methods and systems disclosed herein can be implemented or performed in a digital signal processor (DSP) and / or other analog or digital circuits, adapted to perform signal processing and other functions according to the aspects and examples disclosed herein. Alternatively or additionally, microprocessors, logic controllers, logic circuits, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), general-purpose computing processors, microcontrollers, etc., or any combination thereof may be suitable, and may include analog or digital circuit components and / or other components with respect to any particular implementation.

[0080] The functions and components disclosed herein can operate in the digital domain, the analog domain, or a combination of both, and where appropriate, certain examples include analog-to-digital converters (ADCs) and / or digital-to-analog converters (DACs), although illustrations of ADCs or DACs are lacking in the various figures. Furthermore, the functions and components disclosed herein can operate in the time domain, the frequency domain, or a combination of both, and certain examples include various forms of Fourier or similar analysis, synthesis, and / or transform to accommodate processing in various domains.

[0081] Any suitable hardware and / or software, including firmware, can be configured to perform or implement the components of the aspects and examples disclosed herein, and various implementations of the aspects and examples may include components and / or functions in addition to those disclosed. Various implementations may include stored instructions for a digital signal processor and / or other circuitry to cause that circuitry to perform at least partially the functions described herein.

[0082] Having described at least one example and several aspects therefor, it should be understood that various changes, modifications, and improvements will readily occur to those skilled in the art. These changes, modifications, and improvements are intended to be part of this disclosure and are intended to be within the scope of the invention. Therefore, the foregoing description and drawings are merely exemplary, and the scope of the invention should be determined by a proper interpretation of the appended claims and their equivalents.

Claims

1. A system for automatically connecting at least one of the air lines or electrical wires of a tractor to a trailer configured to be towed by the tractor without human intervention, wherein the tractor includes a towing seat connector configured to be coupled to a pivot pin of the trailer, wherein the height of the towing seat connector is adjustable, the system comprising: A trailer connector, which is mounted to a trailer, and includes at least one of an air line connector or an electrical connector; A tow seat connector height control system, which can be controlled by a system for automatically connecting at least one of the air lines or wires of a tractor to a trailer configured to be towed by the tractor without human intervention, and configured to automatically control the height of the tow seat connector when the tow seat connector is connected to the pivot pin of the trailer, so as to control the height of the trailer connector during the automatic connection of at least one air line or wire of the tractor to the trailer. A tractor coupling includes at least one of an air line connector configured to be operably connected to an air line connector of a trailer coupling or an electrical connector configured to be operably connected to an electrical connector of a trailer coupling. Tractor connector bracket, configured to removably support tractor connector; A tractor connector bracket control system configured to move the tractor connector bracket toward and away from the trailer connector along the longitudinal axis; as well as A clamping mechanism, which is carried by a tractor connector and configured to establish at least two alternative clamping states, one of which is that the tractor connector is clamped to and carried by a tractor connector bracket, such that the tractor connector moves with the movement of the tractor connector bracket; and the second clamping state is that the tractor connector is clamped to a trailer connector, such that the tractor connector bracket moves freely relative to the tractor connector.

2. The system according to claim 1, wherein, The trailer coupling includes mechanical features configured to engage with mechanical features of the tractor coupling to provide movement of the trailer coupling along a vertical axis orthogonal to the longitudinal axis, and movement of the tractor coupling along a transverse axis orthogonal to both the vertical and longitudinal axes.

3. The system according to any of the preceding claims further includes a trailer coupling frame carrying at least one extended magnetic member, said extended magnetic member being configured and arranged to be removably coupled to the underside of a trailer, thereby coupling the trailer coupling frame to the trailer, wherein, The trailer connector is supported by a trailer connector frame.

4. The system of claim 3 further includes a bend located between the trailer connector and the trailer coupling frame, wherein the bend is configured and arranged to provide one or both of vertical compliance of the trailer connector relative to the trailer and rotational compliance of the trailer connector relative to the trailer about the longitudinal axis.

5. The system according to claim 4, wherein, The curved portion is more compliant in one vertical direction than in the other.

6. The system of claim 3 further includes a pair of air lines and a wire connected to the trailer joint, and a strain relief and support mechanism carried and supported by the trailer joint frame for the air lines and the wire, wherein the strain relief and support mechanism includes a differential flexible support structure that is more flexible in the lateral direction than in the longitudinal direction.

7. The system according to claim 1, wherein, The tractor also includes an adjustable-angle boom that carries the towing seat connector, and wherein the towing seat connector height control system includes a first sensor for sensing the boom angle, a second sensor for sensing the towing seat connector angle, and a controller configured to automatically control the height of the towing seat connector based on the sensed boom angle and the sensed towing seat connector angle.

8. The system according to claim 1, wherein, The tractor connector bracket includes a linkage mechanism configured to allow the tractor connector to move along a transverse axis orthogonal to the longitudinal axis and to rotate about a vertical axis orthogonal to both the longitudinal and transverse axes.

9. The system according to claim 8, wherein, The linkage mechanism includes a four-bar linkage mechanism, which includes a fixed link, two ground links pivotally connected to the fixed link, and a floating link pivotally connected to the two ground links, wherein the tractor coupling head is removably connected to the floating link.

10. The system according to claim 9, wherein, The floating link includes at least one of the following: a relatively inwardly inclined funnel surface configured to engage with a mechanical feature of the trailer joint to provide movement of the trailer joint along the lateral axis; and a relatively upwardly inclined ramp configured to engage with a mechanical feature of the trailer joint to provide movement of the trailer joint along the vertical axis.

11. The system according to claim 9, wherein, The tractor coupling bracket also includes mechanical features configured to engage with the centering funnel of the tractor when the tractor coupling bracket moves along the longitudinal axis away from the trailer coupling toward the tractor to its original position relative to the tractor.

12. The system according to claim 1, wherein, The tractor coupling bracket control system includes a single-degree-of-freedom linear actuator carried by the tractor and configured to move the tractor coupling bracket toward and away from the trailer along the longitudinal axis.

13. The system according to claim 1, wherein, The clamping mechanism includes clamping arms that alternately clamp to the tractor connector bracket and the trailer connector.

14. The system according to claim 13, wherein: The trailer joint includes a trailer joint surface having opposing ends and carrying two air seals and an electrical connector between the opposing ends, and the tractor joint includes a tractor joint surface having opposing ends and carrying two air seals and an electrical connector between the opposing ends, wherein when the tractor joint is clamped to the trailer joint, the air seals and electrical connector of the two surfaces are configured to mate together. The clamping arm configuration includes two sets of clamping arms, one set near one end of the tractor connector surface and the other set near the other end of the tractor connector surface, wherein each set includes a first arm configured to lock to the tractor connector bracket and a second arm configured to lock to the trailer connector; and The clamping mechanism also includes a rotary motor configured to move at least one set of clamping arms.

15. The system according to claim 1, wherein, The tractor connector also includes mechanical features configured to engage with features of the trailer connector to align the tractor connector with the trailer connector by providing movement of the trailer connector along a vertical axis orthogonal to the longitudinal axis and movement of the tractor connector along a transverse axis orthogonal to both the vertical and longitudinal axes.

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