Automatic unhooking and hooking device

Abstract

The invention relates to the technical field of control systems for unhooking and hooking of tractors, in particular to an automatic unhooking and hooking device. According to the technical scheme, the unhooking and hooking device comprises a base assembled with a tractor and a trailer connecting plate to be dragged, and further comprises a power output assembly arranged on one side face of the base, and a controller for controlling all assemblies of the whole unhooking and hooking device to operate is installed on the side face, away from the base, of the power output assembly. The power output assembly comprises a rectangular fixing column in bolted connection with the side face of the base, a mounting plate is in bolted connection with the top of one side of the rectangular fixing column, a cavity is formed in the rectangular fixing column, a rotating shaft is rotationally arranged in the cavity, and the two ends of the rotating shaft are fixedly connected with a first belt wheel and a winding wheel in a sleeving mode respectively. According to the device, automatic hooking and automatic unhooking can be conducted, manual intervention is not needed, the device can be matched with an unmanned tractor to achieve the whole-course unmanned traction work process, the linkage effect of the device is good, the effects of corresponding guiding and linkage unhooking are achieved, and the device cost is low.

Description

Technical Field

[0001] The invention relates to the technical field of a tractor unhooking control system, and in particular to an automatic unhooking device. Background Art

[0002] Existing tractors usually achieve the connection and disconnection functions between the tractor and the traction trailer by manually plugging and pulling out the traction pin. In the use of unmanned tractors, it is usually necessary to be unmanned throughout the process, so this part of the work needs to be automated during use. The automatic unhooking device proposed in patent CN207310997U realizes the automatic unhooking of the trolley through the setting of proximity sensors, actuators and locking hooks, reduces manual labor and improves the degree of automation. However, since the trailer designs of various manufacturers are different, how to adapt a unhooking hook to multiple trailers is also a design difficulty. Therefore, the design of accurate guidance of automatic unhooking and automatic hooking for different models is a necessary requirement under the unmanned trend. In view of the above reasons, the present application proposes an automatic unhooking device that is adaptable to different models and is accurate and fast. Summary of the invention

[0003] The purpose of the present invention is to address the problems existing in the background technology and to provide an automatic unhooking device that is adaptable to different vehicle models and is accurate and fast.

[0004] The technical solution of the present invention is an automatic unhooking device, comprising a base assembled with a tractor and a connecting plate of a trailer to be towed, and also comprising:

[0005] A power output assembly is arranged on one side of the base, and a controller for controlling the operation of each assembly of the entire unhooking device is installed on the side of the power output assembly away from the base;

[0006] The power output assembly comprises a rectangular fixed column connected with the side bolts of the base, a mounting plate is connected with the top bolts of one side of the rectangular fixed column, a cavity is arranged in the rectangular fixed column, a rotating shaft is rotatably arranged in the cavity, a first pulley and a winding wheel are respectively fixedly sleeved and connected at both ends of the rotating shaft, a reduction motor for driving the first pulley in linkage is arranged on one side of the first pulley, a connecting belt is wound and rolled on the winding wheel, a lifting block penetrating the cavity of the rectangular fixed column is connected at the bottom end of the connecting belt, and a traction pin for clamping and traction of the trailer connecting plate is fixedly connected to one side of the lifting block;

[0007] Linkage assemblies are also provided on both sides of the power output assembly, and the linkage assemblies include a first rack and a first gear meshed with one side of the first rack, a second gear is coaxially provided on the front side of the first gear, a second rack is meshed with one side of the second gear, and the front side of the second rack is connected to a side guide plate for guiding the trailer connecting plate.

[0008] Optionally, a bottom plate is fixedly connected to the side surface of the base below the side guide plate, and a first hole larger than the diameter of the traction pin is formed on the bottom plate.

[0009] Optionally, a lifting opening penetrating the rectangular fixed column is provided on one side of the cavity, the lifting block penetrates the lifting opening and is arranged to slide with the inner wall of the lifting opening in a limited position, and a lifting seat is bolted to the side of one end of the lifting block away from the connecting belt;

[0010] A mounting frame is installed on one side of the lifting seat, and a fixing plate is connected to the inner wall of the mounting frame through bolts. The traction pin is fixedly connected to the bottom of the fixing plate and passes through the bottom plate of the mounting frame.

[0011] Optionally, the reduction motor is bolted to one side of the mounting plate, and the output end of the reduction motor is fixedly connected to an output connecting shaft that passes through the mounting plate, the outer ring sleeve of the output connecting shaft is mounted with a second pulley, and a transmission belt that synchronously links the first pulley and the second pulley is arranged between the two.

[0012] Optionally, linkage plates are respectively assembled on both sides of the mounting frame, and the first rack is fixedly connected to one side of the linkage plate;

[0013] A connecting shaft is connected between the first gear and the second gear, one end of the connecting shaft is rotatably mounted on the side wall of the base through a bearing, and the diameter of the first gear is smaller than the diameter of the second gear.

[0014] Optionally, the front side of the second rack is connected to a fixed plate, the back side of the fixed plate is assembled with a sliding guide block, the side of the base is installed with a sliding guide rail along its height direction, and the sliding guide block is arranged to be lifted and slid in the sliding guide rail.

[0015] Optionally, the side guide plate is provided with an opening for the lifting and lowering movement of the traction pin, the bottom of the mounting frame is provided with a mounting base plate assembled with the side of the base, a buffer frame is provided below the mounting base plate, and sensor assemblies are installed on both sides of the buffer frame and in the base plate.

[0016] Optionally, it also includes an operating system for controlling its automatic hooking and automatic unhooking, and the operating system is used to control the cloud, vehicle and unhooking devices, and monitor and drive their operating process.

[0017] In summary, the present application includes at least one of the following beneficial technical effects:

[0018] The invention realizes the purpose of guiding the trailer connecting plate to enter and align with the traction pin through the linkage effect of the side guide plates on both sides and the traction pin, combined with the trumpet-shaped setting of the side guide plates, so as to realize the hooking operation of the trailer connected with the trailer connecting plate, thereby improving the hooking efficiency. At the same time, after the traction bolt falls down and is connected, the side guide plates are raised and will not interfere with the steering angle of the trailer, thereby reducing the turning radius of the tractor;

[0019] Furthermore, the present invention uses two rotatable gears and two racks on both sides, which form reverse motion by meshing with the gears. At the same time, the gears meshing with the two racks have different sizes, which will produce a different stroke motion ratio, thereby amplifying the smaller stroke of the traction bolt to the larger stroke of the protection guide baffle. In addition, the weight ratio on both sides of the gear is similar, so that it is in a stable state and only needs a small power to pull up and down, saving power consumption and the power demand of the motor reducer. The linkage unhooking operation is realized by setting a reduction motor, so the equipment investment of the present invention is small and the linkage effect is good.

[0020] In summary, the present invention can automatically couple and uncouple without manual intervention, and can cooperate with unmanned tractors to achieve a fully unmanned traction workflow. The device has a good linkage effect, has the corresponding guidance and linkage uncoupling effects, and has a low device cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the main structure of the present invention is provided;

[0022] Figure 2 for Figure 1 A schematic diagram of the structure of the power output assembly in FIG.

[0023] Figure 3 for Figure 2 A schematic diagram of the remaining structure of the power output assembly;

[0024] Figure 4 A schematic diagram of the hook completion state of the present invention is provided;

[0025] Figure 5 for Figure 4 A schematic diagram of the structure from another angle;

[0026] Figure 6 Provide the automatic hook flow chart of the operating system control of the present invention;

[0027] Figure 7 The automatic decoupling flow chart of the operating system control of the present invention is given.

[0028] Reference numerals:

[0029] 1. Base; 11. Sliding rail; 12. Bottom plate;

[0030] 2. Power output assembly; 20. Rectangular fixed column; 21. Lifting port; 22. Mounting plate; 23. Rotating shaft; 24. Winding wheel; 25. First pulley; 26. Second pulley; 27. Transmission belt; 28. Output connecting shaft; 29. ​​Speed ​​reduction motor; 210. Connecting belt; 211. Lifting block; 212. Lifting seat; 213. Mounting frame; 214. Fixed plate; 215. Traction pin; 216. Mounting bottom plate;

[0031] 3. Controller;

[0032] 4. linkage assembly; 41. linkage plate; 42. first rack; 43. connecting shaft; 44. first gear; 45. second gear; 46. second rack; 47. fixing plate; 48. sliding guide block;

[0033] 5. Side guide plate;

[0034] 6. Trailer connection plate;

[0035] 7. Buffer rack;

[0036] 8. Sensor assembly. DETAILED DESCRIPTION

[0037] The technical solution of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0038] The components of the embodiments of the present disclosure generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the present disclosure claimed, but merely represents selected embodiments of the present disclosure.

[0039] Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present disclosure.

[0040] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0041] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0042] Example

[0043] like Figure 1 As shown, an automatic uncoupling device proposed by the present invention includes an operating system for controlling its automatic hooking and automatic uncoupling, and the operating system is used to control the cloud, the vehicle end and the uncoupling device, and monitor and drive its operating process. The uncoupling device also includes a base 1 assembled with a tractor and a trailer connecting plate 6 to be towed, a power output component 2 is provided on one side of the base 1, and a controller 3 for controlling the operation of each component of the entire uncoupling device is installed on the side of the power output component 2 away from the base 1, and the controller 3 includes but is not limited to a PNS autonomous navigation public system for executing an operating algorithm.

[0044] Specific as Figure 1 As shown, the power output assembly 2 includes a rectangular fixing column 20 connected to the side of the base 1 by bolts, and a mounting plate 22 is bolted to the top of one side of the rectangular fixing column 20. A cavity is provided in the rectangular fixing column 20, which is not shown in the figure. Figure 3As shown, a rotating shaft 23 is rotatably arranged in the cavity, one end of the rotating shaft 23 is rotatably connected to the inner wall of the cavity, and the other end passes through the rectangular fixed column 20, and the two ends of the rotating shaft 23 are respectively fixedly sleeved with a first pulley 25 and a winding wheel 24, and a reduction motor 29 for driving the first pulley 25 in linkage is arranged on one side of the first pulley 25, and the reduction motor 29 is bolted to one side of the mounting plate 22, and the output end of the reduction motor 29 is fixedly connected to an output connecting shaft 28 that passes through the mounting plate 22, and the outer ring sleeve of the output connecting shaft 28 is installed with a second pulley 26, and a transmission belt 27 for synchronous linkage between the first pulley 25 and the second pulley 26 is arranged between the first pulley 25 and the second pulley 26. The sizes are the same, and the two are rotated synchronously by combining with the transmission belt 27. A connecting belt 210 is wound and rolled on the winding wheel 24. The bottom end of the connecting belt 210 is connected to a lifting block 211 that penetrates the cavity of the rectangular fixed column 20. The lifting block 211 is a "T"-shaped block, which is used to adapt to the lifting and sliding of the lifting port 21. One side of the lifting block 211 is fixedly connected with a traction pin 215 for the trailer connecting plate 6 to clamp and pull. A lifting port 21 that penetrates the rectangular fixed column 20 is opened on one side of the cavity. The lifting block 211 penetrates the lifting port 21 and is set to slide with the inner wall of the lifting port 21. The lifting seat 212 is bolted to the side of the lifting block 211 away from the connecting belt 210. Figure 2 As shown, a mounting frame 213 is installed on one side of the lifting seat 212, and the inner wall of the mounting frame 213 is connected to a fixing plate 214 by bolts. A traction pin 215 is fixedly connected to the bottom of the fixing plate 214 and penetrates the bottom plate of the mounting frame 213, and the trailer connecting plate 6 connected to the trailer is clamped by the penetrating traction pin 215.

[0045] Further, such as Figure 1-5As shown, linkage components 4 are also provided on both sides of the power output component 2, and the linkage components 4 include a first rack 42 and a first gear 44 meshingly provided on one side of the first rack 42, a second gear 45 is coaxially provided on the front side of the first gear 44, and a second rack 46 is meshingly provided on one side of the second gear 45, a connecting shaft 43 is connected through the first gear 44 and the second gear 45, one end of the connecting shaft 43 is rotatably installed with the side wall of the base 1 through a bearing, the diameter of the first gear 44 is smaller than the diameter of the second gear 45, and the first rack 42 and the second rack 46 are moved to the left and right sides of the first gear 44 and the second gear 45 by the arrangement of the first gear 44 and the second gear 45. The opposite side is lifted and engaged, the front of the second rack 46 is connected to a fixed plate 47, the back of the fixed plate 47 is assembled with a sliding guide block 48, the side of the base 1 is installed with a sliding guide rail 11 along its height direction, the sliding guide block 48 is located in the sliding guide rail 11 and is arranged to lift and slide, so as to ensure the stable lifting and lowering operation of the sliding guide block 48, the two sides of the mounting frame 213 are respectively assembled with linkage plates 41, one side of the linkage plate 41 to which the first rack 42 is fixedly connected, the front of the second rack 46 is connected with a side guide plate 5 for guiding the trailer connecting plate 6, and the side guide plate 5 is combined with the bottom plate 12 to form a bell-shaped connecting groove;

[0046] This embodiment Figure 5 In the figure, the side of the base 1 is located below the side guide plate 5 and is fixedly connected to a bottom plate 12, on which a first hole larger than the diameter of the traction pin 215 is opened, and on the side guide plate 5 an opening is opened for the traction pin 215 to move up and down, namely the above-mentioned trumpet-shaped connecting groove.

[0047] See also Figure 2 and Figure 5 As shown, a mounting base plate 216 assembled with the side of the base 1 is provided at the bottom of the mounting frame 213, and a buffer frame 7 is provided below the mounting base plate 216. The buffer frame 7 is provided to achieve buffering during the descending movement of the two traction pins 215 of the mounting frame 213 to prevent the traction pins 215 from descending too much and touching the ground and being damaged. Sensor assemblies 8 are installed on both sides of the buffer frame 7 and in the base plate 12. There are four groups of sensor assemblies 8, namely, a hook in place sensor, an unhooking in place sensor, an initial zero position sensor and a traction plate in place sensor, wherein the traction plate in place sensor is installed in the base plate 12.

[0048] In this embodiment, when the trailer connecting plate 6 connected to the traction trailer is hooked with the device, the controller 3 controls the operation of various components in the device, wherein the start of the reduction motor 29 realizes the purpose of rotating the second pulley 26 and the first pulley 25, and the first pulley 25 rotates the winding wheel 24 to realize the winding of the connecting belt 210, and then the lifting block 211 pulls the lifting seat 212, the mounting frame 213, the fixing plate 214 and the traction pin 215 upward along the guide of the lifting port 21, and while the lifting seat 212 and the mounting frame 213 are pulled, the first rack 42 meshes and rotates the first gear 44, and the second gear 45 follows the rotation. The second gear 45 rotates counterclockwise to push the second rack 46 downward along the guide of the sliding guide block 48 and the sliding guide rail 11, thereby achieving the effect of pushing the side guide plate 5 downward, and forming a trumpet-shaped groove in combination with the bottom plate 12, thereby providing guidance for the entry and connection of the trailer connecting plate 6 to ensure accurate positioning. After the trailer connecting plate 6 enters the opening formed by the side guide plate 5 and the bottom plate 12, the reduction motor 29 drives its output end to rotate in the opposite direction, thereby unwinding the connecting belt 210 and achieving the descending of the traction pin 215. When the traction pin 215 descends, the second rack 46 is driven in the opposite direction to increase the height, thereby pulling the side guide plate 5 up to Figure 4 The state shown, so that when the traction pin 215 corresponds to the hooking operation, the upward lifting of the side guide plate 5 will not affect the steering of the trailer connecting plate 6, thereby completing the hooking operation;

[0049] Combination Figure 6 and Figure 7 The operating system of the present invention has an automatic monitoring function, referring to Figure 6 As shown in the hooking process, whether the hooking is successful is detected multiple times until the hooking operation is completed. Of course, the present invention also involves the use of posture control, radar detection and other methods to realize data monitoring of the tractor trailer, and no further details are given in the details.

[0050] The above specific embodiment is only an optional embodiment of the present invention. Based on the technical solution of the present invention and the relevant inspiration of the above embodiment, those skilled in the art can make various alternative improvements and combinations to the above specific embodiment.

Claims

1. An automatic unhooking device, comprising a base (1) assembled with a tractor and a connecting plate (6) of a trailer to be towed, characterized in that: Also includes: A power output assembly (2) is arranged on a side of the base (1), and a controller (3) for controlling the operation of various components of the entire unhooking device is installed on a side of the power output assembly (2) away from the base (1); The power output assembly (2) comprises a rectangular fixed column (20) connected to the side of the base (1) by bolts, a mounting plate (22) is connected to the top of one side of the rectangular fixed column (20) by bolts, a cavity is arranged in the rectangular fixed column (20), a rotating shaft (23) is rotatably arranged in the cavity, two ends of the rotating shaft (23) are respectively fixedly sleeved and connected with a first pulley (25) and a winding wheel (24), one side of the first pulley (25) is provided with a reduction motor (29) for driving the first pulley in linkage, a connecting belt (210) is wound and rolled on the winding wheel (24), a lifting block (211) penetrating the cavity of the rectangular fixed column (20) is connected to the bottom end of the connecting belt (210), and a traction pin (215) for clamping and traction of the trailer connecting plate (6) is fixedly connected to one side of the lifting block (211); A linkage assembly (4) is also provided on both sides of the power output assembly (2), and the linkage assembly (4) includes a first rack (42) and a first gear (44) meshed with one side of the first rack (42), a second gear (45) is coaxially provided on the front side of the first gear (44), a second rack (46) is meshed with one side of the second gear (45), and the front side of the second rack (46) is connected to a side guide plate (5) for guiding the trailer connecting plate (6).

2. The automatic unhooking device according to claim 1, characterized in that: The side surface of the base (1) is located below the side guide plate (5) and is also fixedly connected to a bottom plate (12), and a first hole larger than the diameter of the traction pin (215) is provided on the bottom plate (12).

3. The automatic unhooking device according to claim 1, characterized in that: A lifting opening (21) penetrating the rectangular fixed column (20) is provided on one side of the cavity, the lifting block (211) penetrates the lifting opening (21) and is arranged to slide with the inner wall of the lifting opening (21) in a limited position, and a lifting seat (212) is bolted to the side surface of one end of the lifting block (211) away from the connecting belt (210); A mounting frame (213) is installed on one side of the lifting seat (212); the inner wall of the mounting frame (213) is connected to a fixing plate (214) by bolts; and the traction pin (215) is fixedly connected to the bottom of the fixing plate (214) and passes through the bottom plate of the mounting frame (213).

4. The automatic unhooking device according to claim 1, characterized in that: The reduction motor (29) is bolted to one side of the mounting plate (22), and the output end of the reduction motor (29) is fixedly connected to an output connecting shaft (28) penetrating the mounting plate (22), the outer ring of the output connecting shaft (28) is sleeved with a second pulley (26), and a transmission belt (27) for synchronous linkage between the first pulley (25) and the second pulley (26) is arranged between the first pulley (25) and the second pulley (26).

5. The automatic unhooking device according to claim 3, characterized in that: Linkage plates (41) are respectively assembled on both sides of the mounting frame (213), and the first rack (42) is fixedly connected to one side of the linkage plate (41); A connecting shaft (43) is connected between the first gear (44) and the second gear (45), one end of the connecting shaft (43) is rotatably mounted on the side wall of the base (1) via a bearing, and the diameter of the first gear (44) is smaller than the diameter of the second gear (45).

6. The automatic unhooking device according to claim 1, characterized in that: The front side of the second rack (46) is connected to a fixed plate (47), the back side of the fixed plate (47) is assembled with a sliding guide block (48), the side of the base (1) is installed with a sliding guide rail (11) along its height direction, and the sliding guide block (48) is arranged to be lifted and slidable in the sliding guide rail (11).

7. The automatic unhooking device according to claim 3, characterized in that: The side guide plate (5) is provided with an opening for the lifting and lowering movement of the traction pin (215); the bottom of the mounting frame (213) is provided with a mounting base plate (216) assembled with the side of the base (1); a buffer frame (7) is provided below the mounting base plate (216); and sensor components (8) are installed on both sides of the buffer frame (7) and in the base plate (12).

8. An automatic unhooking device according to any one of claims 1 to 7, characterized in that: It also includes an operating system for controlling its automatic hooking and automatic unhooking, and the operating system is used to control the cloud, vehicle and unhooking devices, and monitor and drive their operating process.

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