Automatic tractor saddle, vehicle and control method

Abstract

The invention relates to an automatic tractor saddle, a vehicle and a control method, the automatic tractor saddle comprises a saddle body, the saddle body comprises a saddle plate, a traction pin guide-in groove is formed in the saddle plate, a lock hook for locking or unlocking a traction pin is rotatably connected to the inner wall of the saddle plate, and an inclined wedge for locking or unlocking the lock hook is slidably connected to the inner wall of the saddle plate; the driving mechanism comprises a motor fixed on the inner wall of the saddle plate, a worm gear and a worm, the worm gear and the worm are rotationally connected to the inner wall of the saddle plate, the worm is connected with an output shaft of the motor, and a swing arm for pushing the inclined wedge to slide in a reciprocating mode is arranged on the worm gear. When the driving mechanism controls the inclined wedge to unlock or lock the lock hook, the whole process is electrically controlled to automatically act, the number of times for a driver to get on or off the vehicle is reduced, and time is saved. The worm and the worm gear are meshed to achieve a self-locking function, the inclined wedge is prevented from accidentally unlocking the lock hook, and the safety and reliability of saddle locking are improved.

Description

Technical Field

[0001] The present application relates to the technical field of tractor saddles, and in particular to an automated tractor saddle, a vehicle and a control method. Background Art

[0002] The saddle is a special part of various tractors. It is installed on the frame of the tractor according to the needs to achieve the coupling and separation of the tractor and the trailer. The saddle can be divided into a manual saddle and a semi-automatic saddle.

[0003] The manually operated saddle manually moves the drawbar outward. The movement of the drawbar causes the wedge to move laterally. At the same time, the spring generates tension due to deformation, driving the lock hook to rotate around the pin seat. At the same time, the opening of the lock hook turns to the outside to unhook the towing pin and separate the tractor from the trailer.

[0004] Repeat the above steps to turn the opening of the lock hook to the outside. When the tractor makes the opening of the lock hook opposite to the towing pin, the tractor moves backward until the towing pin of the trailer collides with the lock hook. The lock hook rotates to the starting position under the push of the towing pin of the trailer. At this time, release the pull rod and the wedge block automatically returns to its original position. At the same time, the safety pin also returns to the initial position, realizing self-locking of the lock hook and achieving smooth connection.

[0005] The semi-automatic saddle is operated by the remote control in the cab. The cylinder equipped on the saddle pushes the pull rod, which drives the wedge to move, and the towing seat is automatically unhooked. The handle mechanism is retained, and the towing seat can still be manually operated in the event of automatic failure. However, the handle mechanism is connected to the saddle device, and the operation method is the same as manually operating the saddle, which requires sufficient operating space.

[0006] However, the current locking mechanism of the saddle is fixed mechanically, and the handle needs to be pulled out manually when removing the hook. There are problems such as the locking mechanism getting stuck, the handle bending and deformation interference, and the poor cooperation of the trailer towing pin. The handle often cannot be pulled out and returned to its position normally, making it difficult to remove the hook, causing complaints from users.

[0007] The operating handle is exposed. Due to the height matching limitation between the semi-trailer and the towing vehicle, the operating handle interferes with the upper cover of the fender. The handle needs to be pulled out when unhooking. To avoid the interference between the handle and the upper cover of the fender, users usually remove the upper cover of the fender first and then pull out the handle, which is troublesome to operate and affects efficiency.

[0008] The towing saddle cannot be operated safely and correctly if a safe operating space cannot be ensured (such as narrow passages or hazardous areas) or in adverse environmental conditions (at night or in bad weather).

[0009] Currently, in order to realize the automation of the saddle operating handle, the saddle is generally equipped with a cylinder to assist in unlocking the saddle locking mechanism. The entire vehicle needs to provide an additional auxiliary air source. In order to cope with the electric vehicle without an air source device, the traction seat is still manually operated.

[0010] The connection status between the saddle locking mechanism and the towing pin cannot be monitored in real time, especially when the locking mechanism fails during the vehicle's driving, and the vehicle is unhooked, which may cause serious safety accidents. The wear of the trailer towing pin, the wear of the saddle opening end cover (wear ring), and the wear of the saddle lock hook cannot be detected in time, which poses a safety hazard. Summary of the invention

[0011] The embodiments of the present application provide an automated tractor saddle, vehicle and control method to solve the problem in the related art that the cylinder equipped on the saddle assists in unlocking the saddle locking mechanism, which requires the entire vehicle to provide an additional auxiliary air source, and to cope with the problem that the electric vehicle has no air source device and still needs to manually operate the traction seat.

[0012] The present application provides an automated tractor saddle in a first aspect, comprising:

[0013] A saddle body, the saddle body comprising a saddle plate, a traction pin introduction groove is provided on the saddle plate, a lock hook for locking or unlocking the traction pin is rotatably connected to the inner wall of the saddle plate, and an oblique wedge for locking or unlocking the lock hook is slidably connected to the inner wall of the saddle plate;

[0014] The driving mechanism comprises a motor fixed on the inner wall of the saddle plate, and a worm wheel and a worm screw rotatably connected to the inner wall of the saddle plate, the worm screw is connected to the motor output shaft, and the worm wheel is provided with a swing arm for driving the bevel to slide back and forth.

[0015] In some embodiments: the worm wheel is in a fan-shaped toothed plate structure, one end of the swing arm is fixedly connected to the worm wheel, the end of the swing arm close to the worm wheel is rotatably connected to the saddle plate via a first rotating shaft, and the end of the swing arm away from the worm wheel is rotatably connected to the bevel via a second rotating shaft.

[0016] In some embodiments: a through hole for inserting the first rotating shaft is formed at one end of the swing arm close to the worm gear, and the first rotating shaft is fixedly connected to the inner wall of the saddle plate; an elongated hole for inserting the second rotating shaft is formed at one end of the swing arm away from the worm gear, and the second rotating shaft is fixedly connected to one end of the bevel.

[0017] In some embodiments: it also includes a first sensor for detecting the rotation position of the worm gear or the swing arm, a second sensor for detecting the connection status between the traction pin and the saddle body is provided on the inner wall of the saddle plate, the motor is connected to a controller for controlling its operation, the first sensor and the second sensor are both connected to the controller, and the controller is provided with an external communication interface.

[0018] In some embodiments: a locking hook groove for locking the traction pin is provided on the locking hook, the locking hook is rotatably connected to the saddle plate via a third rotating shaft, and a rotating shaft hole connected to the third rotating shaft is provided on the end of the locking hook away from the notch of the locking hook groove.

[0019] In some embodiments: a lock hook spring is connected to one end of the lock hook away from the rotating shaft hole, and the other end of the lock hook spring is connected to the saddle plate. When the bevel unlocks the lock hook, the lock hook spring drives the lock hook to rotate around the third rotating shaft and makes the lock hook slot of the lock hook face the traction pin guide slot.

[0020] In some embodiments: a lug for rotatably connecting the worm is provided on the inner wall of the saddle plate, the lug is rotatably connected to the end of the worm, one end of the worm is connected to the motor through a coupling, and one end of the worm is provided with a non-circular shaft head for adapting to a rotating tool;

[0021] The non-circular shaft head is adapted to be equipped with a handle tool for driving the worm to rotate. The handle tool comprises a shaft rod, one end of which is provided with a handle vertically connected thereto, and the other end of which is provided with a sleeve pluggably connected to the non-circular shaft head.

[0022] A second aspect of an embodiment of the present application provides a vehicle, including:

[0023] A tractor, the tractor comprising a vehicle chassis, the vehicle chassis comprising a frame longitudinal beam, and a connecting plate spanning the tops of two frame longitudinal beams, the top of the connecting plate being symmetrically connected to two supports;

[0024] The two supports are rotatably connected to the automated tractor saddle described in any of the above embodiments via a pin shaft;

[0025] A cab control instrument, the cab control instrument being connected to an external communication interface connected to a controller on a saddle of the automated tractor via a CAN bus;

[0026] A trailer is provided with a traction pin connected to a saddle of an automated tractor.

[0027] A third aspect of the embodiments of the present application provides a vehicle control method, the method using the vehicle described in the above embodiment, the method comprising a disconnection step and a connection step:

[0028] The detaching and separating step comprises:

[0029] The tractor and trailer are placed in parking state. The controller receives the parking signal from the tractor and trailer and sends a control signal to the control instrument in the cab to start the separation.

[0030] After receiving the control signal for starting the disconnection and separation, the control instrument in the cab displays the flashing start icon for disconnection and separation;

[0031] Unlock the disconnection control switch of the cab control instrument, the controller receives the disconnection control signal, and processes the control signal into an execution command to start the motor;

[0032] After receiving the control signal, the motor starts to drive the worm, the worm wheel, the swing arm and the bevel latch to move in the first direction, so that the bevel latch unlocks the lock hook;

[0033] When the bevel hook completes the action of unlocking the lock hook, the controller controls the motor to stop after receiving the bevel hook unlocking completion signal sent by the first sensor, and outputs a mobile unhooking separation control signal to the cab control instrument;

[0034] After receiving the mobile detachment control signal, the control instrument in the cab displays a flashing icon for mobile detachment;

[0035] The tractor is moved forward and backward, and after the traction pin of the trailer is disengaged from the lock hook, the controller receives the lock hook unlocking traction pin signal sent by the second sensor and outputs a control signal of the completion of the disconnection and separation to the control instrument in the cab;

[0036] After receiving the control signal of the completion of the separation, the control instrument in the cab displays a flashing icon indicating that the separation is completed.

[0037] The connecting step comprises:

[0038] Unlock the cab control instrument hook-up control switch, and after the controller receives the hook-up control signal, the controller controls the first sensor and the second sensor to perform self-check processing;

[0039] When the first sensor detects that the bevel is in the state of unlocking the lock hook, and the second sensor detects that the lock hook is in the state of unlocking the traction pin, a control signal for starting the hook connection is sent to the controller;

[0040] After the cab control instrument receives the control signal that can start the hook-up connection, it displays a flashing icon that can start the hook-up control;

[0041] The tractor is moved forward and backward, and after the second sensor detects that the traction pin of the trailer moves into the lock hook, the controller starts the motor after receiving the signal from the second sensor that the lock hook locks the traction pin;

[0042] The motor drives the worm, the worm wheel, the swing arm and the bevel latch to move in the second direction so that the bevel latch locks the lock hook, and the controller controls the motor to stop after receiving the bevel latch locking completion signal sent by the first sensor;

[0043] The controller outputs a control signal indicating that the hook-up is completed to the cab control instrument, and the cab control instrument displays a flashing icon indicating that the hook-up is completed, thus completing the hook-up.

[0044] A fourth aspect of the present application provides a vehicle control method, the method using the vehicle described in the above embodiment, the method comprising a state monitoring step and a maintenance reminder step:

[0045] The status monitoring step comprises:

[0046] The tractor is in the ON position, and the controller sends a self-test signal to the first sensor and the second sensor after being powered on;

[0047] When the first sensor detects that the bevel is in a state of locking the lock hook, and the second sensor detects that the lock hook is in a state of locking the traction pin, a hook connection signal is sent to the controller;

[0048] The cab control instrument displays the hook-up icon after receiving the hook-up signal from the controller, and the vehicle can drive normally;

[0049] When the first sensor detects that the bevel is in the state of unlocking the lock hook, and the second sensor detects that the lock hook is in the state of locking the traction pin, a bevel unlocking signal is sent to the controller;

[0050] After receiving the bevel unlock signal from the controller, the cab control instrument displays the bevel unlock icon and reminds the driver to check the saddle;

[0051] When the first sensor detects that the bevel is in a state of locking the lock hook, and the second sensor detects that the lock hook is in a state of unlocking the traction pin, a lock hook unlocking signal is sent to the controller;

[0052] After receiving the hook unlocking signal from the controller, the cab control instrument displays the hook unlocking icon and reminds the driver to check the saddle;

[0053] When the first sensor detects that the bevel is in the state of unlocking the lock hook, and the second sensor detects that the lock hook is in the state of unlocking the traction pin, a lock hook unlocking signal is sent to the controller;

[0054] After receiving the bevel unlocking signal and the lock hook unlocking signal sent by the controller, the control instrument in the cab displays the bevel unlocking icon and the lock hook unlocking icon, and reminds the driver to check the saddle;

[0055] The maintenance reminder step includes:

[0056] During the driving of the vehicle, the controller sends a self-test signal to the first sensor and the second sensor;

[0057] When the first sensor detects that the bevel is in a state of locking the lock hook, and the second sensor detects that the lock hook is in a state of locking the traction pin, a hook connection signal is sent to the controller;

[0058] The cab control instrument displays the hook-up icon after receiving the hook-up signal from the controller, and the vehicle can drive normally;

[0059] When the first sensor detects that the bevel is in a state of locking the lock hook, and the second sensor detects that the lock hook is in a state of unlocking the traction pin, a maintenance and replacement signal is sent to the controller;

[0060] After receiving the maintenance and replacement signal from the controller, the cab control instrument displays the saddle maintenance and replacement icon and reminds the driver to check the saddle and traction pin.

[0061] The beneficial effects of the technical solution provided by this application include:

[0062] The embodiment of the present application provides an automated tractor saddle, a vehicle and a control method. The automated tractor saddle of the present application is provided with a saddle body, which includes a saddle plate, a traction pin introduction groove is opened on the saddle plate, a lock hook is rotatably connected to the inner wall of the saddle plate for locking or unlocking the traction pin, and an inclined wedge is slidably connected to the inner wall of the saddle plate for locking or unlocking the lock hook; a driving mechanism, which includes a motor fixed to the inner wall of the saddle plate, and a worm wheel and a worm rotatably connected to the inner wall of the saddle plate, the worm is connected to the motor output shaft, and the worm wheel is provided with a swing arm for pushing the inclined wedge to slide back and forth.

[0063] Therefore, the automated tractor saddle of the present application is provided with a driving mechanism on the saddle body for automatically controlling the bevel latch to unlock or lock the lock hook. When the driving mechanism needs to use the bevel latch to lock the lock hook, the motor drives the worm to rotate forward, the worm engages with the worm wheel to drive the worm wheel to rotate forward, the worm wheel drives the swing arm to rotate forward and pushes the bevel latch to slide in the direction close to the lock hook, and after the bevel latch and the lock hook are attached to each other, the lock hook is locked on the saddle plate to limit its rotation.

[0064] When the driving mechanism needs to use the bevel wedge to unlock the lock hook, the motor drives the worm to reverse, the worm engages with the worm wheel to drive the worm wheel to reverse, the worm wheel drives the swing arm to reverse and push the bevel wedge to slide away from the lock hook, and unlocks the lock hook after changing from a fitted state to a disengaged state with the lock hook, and the lock hook can then rotate freely on the saddle plate, and the lock hook can then unlock the traction pin. The driving mechanism of the present application is fully automated when controlling the bevel wedge to unlock or lock the lock hook, reducing the number of times the driver gets on and off the vehicle and saving time. The meshing of the worm and the worm wheel has a self-locking function, which prevents the bevel wedge from accidentally unlocking the lock hook and improves the safety and reliability of the saddle lock. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0066] Figure 1 This is a structural schematic diagram of the automated tractor saddle and handle tool being disengaged from each other in an embodiment of the present application;

[0067] Figure 2 This is a front structural schematic diagram of the connection state between the saddle of the automated tractor and the handle tool according to an embodiment of the present application;

[0068] Figure 3 This is a schematic diagram of the back structure of the automated tractor saddle and the handle tool in the connection state according to an embodiment of the present application;

[0069] Figure 4 This is a schematic diagram of the back structure of the automated tractor saddle in a locked state according to an embodiment of the present application;

[0070] Figure 5 A back structural stereogram of the automated tractor saddle in a locked state according to an embodiment of the present application;

[0071] Figure 6 This is a schematic diagram of the back structure of the automated tractor saddle in an unlocked state according to an embodiment of the present application;

[0072] Figure 7 A back structural stereogram of the automated tractor saddle in an unlocked state according to an embodiment of the present application;

[0073] Figure 8 This is a schematic diagram of the structure of the worm gear and the swing arm of an embodiment of the present application;

[0074] Fig. 9 A schematic diagram of the structure of a worm gear according to an embodiment of the present application;

[0075] Fig.10 This is a schematic diagram of the structure of a handle tool according to an embodiment of the present application;

[0076] Fig.11 This is a schematic diagram of the structure of a tractor according to an embodiment of the present application.

[0077] Reference numerals:

[0078] 10. Saddle body; 11. Saddle plate; 12. Draw pin guide groove; 13. Lock hook; 14. Oblique wedge; 15. Third rotating shaft; 16. Lock hook spring; 17. Support; 18. Connecting plate;

[0079] 20. driving mechanism; 21. motor; 22. worm; 23. worm wheel; 24. swing arm; 25. first rotating shaft; 26. second rotating shaft; 27. through hole; 28. elongated hole; 29. ​​non-circular shaft head;

[0080] 30. Handle tool; 31. Shaft; 32. Handle; 33. Sleeve; 41. First sensor; 42. Second sensor; 43. Controller; 44. External communication interface;

[0081] 50. Tractor; 51. Vehicle chassis. DETAILED DESCRIPTION

[0082] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0083] The embodiments of the present application provide an automated tractor saddle, vehicle and control method, which can solve the problem in the related art that the cylinder equipped on the saddle assists in unlocking the saddle locking mechanism, requiring the entire vehicle to provide an additional auxiliary air source, and cope with the problem that electric vehicles have no air source device and still have to manually operate the traction seat.

[0084] See also Figures 1 to 7 As shown, the first aspect of the embodiment of the present application provides an automated tractor saddle, comprising:

[0085] The saddle body 10 includes a saddle plate 11, a traction pin introduction groove 12 for introducing the traction pin is opened on the saddle plate 11, a lock hook 13 for locking or unlocking the traction pin is rotatably connected on the inner wall of the saddle plate 11 (i.e., the back side of the saddle plate 11), and a bevel 14 for locking or unlocking the lock hook 13 is slidably connected on the inner wall of the saddle plate 11.

[0086] The driving mechanism 20 includes a motor 21 fixed on the inner wall of the saddle plate 11, the motor 21 is preferably but not limited to an electric motor, and more preferably a stepping motor or a servo motor. A worm wheel 23 and a worm 22 are rotatably connected to the inner wall of the saddle plate 11, the worm 22 is connected to the output shaft of the motor 21, and a swing arm 24 is provided on the worm wheel 23 to push the bevel 14 to slide back and forth on the saddle plate 11.

[0087] The automated tractor saddle of the embodiment of the present application is provided with a driving mechanism 20 on the saddle body 10 for automatically controlling the bevel wedge 14 to unlock or lock the lock hook 13. When the driving mechanism 20 needs to use the bevel wedge 14 to lock the lock hook 13, the motor 21 drives the worm 22 to rotate forward, the worm 22 meshes with the worm wheel 23 to drive the worm wheel 23 to rotate forward, the worm wheel 23 drives the swing arm 24 to rotate forward and push the bevel wedge 14 to slide in the direction close to the lock hook 13, and after being mutually attached to the lock hook 13, the lock hook 13 is locked on the saddle plate 11 to limit its rotation.

[0088] When the driving mechanism 20 needs to use the bevel wedge 14 to unlock the lock hook 13, the motor 21 drives the worm 22 to reverse, the worm 22 engages with the worm wheel 23 to drive the worm wheel 23 to reverse, the worm wheel 23 drives the swing arm 24 to reverse and push the bevel wedge 14 to slide in the direction away from the lock hook 13, and unlocks the lock hook 13 after converting the lock hook 13 from a fitted state to a disengaged state, and the lock hook 13 can then rotate freely on the saddle plate 11, and the lock hook 13 can then unlock the traction pin.

[0089] The driving mechanism 20 of the embodiment of the present application is fully automated when controlling the bevel 14 to unlock or lock the lock hook 13, which reduces the number of times the driver gets on and off the vehicle and saves time. The meshing of the worm 22 and the worm wheel 23 has a self-locking function, which prevents the bevel 14 from accidentally unlocking the lock hook 13, thereby improving the safety and reliability of the saddle lock.

[0090] In some alternative embodiments: See Figures 1 to 8 As shown, an embodiment of the present application provides an automated tractor saddle, wherein the worm gear 23 of the automated tractor saddle is a fan-shaped toothed plate structure, one end of a swing arm 24 is fixedly connected to the worm gear 23, the end of the swing arm 24 close to the worm gear 23 is rotatably connected to the saddle plate 11 via a first rotating shaft 25, and the end of the swing arm 24 away from the worm gear 23 is rotatably connected to the bevel 14 via a second rotating shaft 26.

[0091] A through hole 27 for inserting the first rotating shaft 25 is formed at one end of the swing arm 24 close to the worm gear 23, and the first rotating shaft 25 is fixedly connected to the inner wall of the saddle plate 11. An elongated hole 28 for inserting the second rotating shaft 26 is formed at one end of the swing arm 24 away from the worm gear 23, and the second rotating shaft 26 is fixedly connected to one end of the bevel 14.

[0092] In some alternative embodiments: See Figures 4 to 7As shown, an embodiment of the present application provides an automated tractor saddle, which also includes a first sensor 41 for detecting the rotation position of the worm gear 23 or the swing arm 24, a second sensor 42 for detecting the connection state between the traction pin and the saddle body 10 is provided on the inner wall of the saddle plate 11, the motor 21 is connected to a controller 43 for controlling its operation, the first sensor 41 and the second sensor 42 are both connected to the controller 43, and the controller 43 is provided with an external communication interface 44.

[0093] The first sensor 41 determines whether the bevel 14 is in a locked state or an unlocked state with respect to the lock hook 13 by detecting the rotation position of the worm gear 23 or the swing arm 24, and the second sensor 42 determines whether the lock hook 13 is in a locked state or an unlocked state with respect to the traction pin by detecting whether there is a traction pin in the saddle body 10. The first sensor 41 and the second sensor 42 both send their detected signals to the controller 43, and the controller 43 can feed back the status information of the automated tractor saddle to the cab control instrument.

[0094] In some alternative embodiments: See Figures 4 to 7 As shown, an embodiment of the present application provides an automated tractor saddle, a locking hook groove for locking a traction pin is provided on a locking hook 13 of the automated tractor saddle, the locking hook 13 is rotatably connected to the saddle plate 11 via a third rotating shaft 15, and a rotating shaft hole connected to the third rotating shaft 15 is provided on one end of the locking hook 13 that is away from the notch of the locking hook groove.

[0095] A lock hook spring 16 is connected to one end of the lock hook 13 away from the rotating shaft hole, and the other end of the lock hook spring 16 is connected to the saddle plate 11. When the bevel 14 unlocks the lock hook 13, the lock hook spring 16 drives the lock hook 13 to rotate around the third rotating shaft 15, and makes the lock hook slot of the lock hook 13 face the traction pin introduction slot 12, at this time, the traction pin can enter or leave the lock hook 13.

[0096] In some alternative embodiments: See Figures 1 to 7 , Fig. 9 , Fig.10 As shown, an embodiment of the present application provides an automated tractor saddle, wherein a lug for rotationally connecting a worm 22 is provided on the inner wall of a saddle plate 11 of the automated tractor saddle, the lug is rotationally connected to the end of the worm 22, one end of the worm 22 is connected to a motor 21 via a coupling, and the other end of the worm 22 is provided with a non-circular shaft head 29 for adapting to a rotating tool.

[0097] The non-circular shaft head 29 is adapted to be equipped with a handle tool 30 for driving the worm 22 to rotate. The handle tool 30 includes a shaft 31. One end of the shaft 31 is provided with a handle 32 vertically connected thereto, and the other end of the shaft 31 is provided with a sleeve 33 pluggably connected to the non-circular shaft head 29. The non-circular shaft head 29 is preferably a hexagonal head, and the sleeve 33 is preferably a hexagon socket. When the motor 21 loses power or is damaged, the handle tool 30 is connected to the non-circular shaft head 29, and the handle tool 30 drives the worm 22 to rotate by manually rotating the non-circular shaft head 29, thereby realizing a manual unlocking or locking action.

[0098] See also Figures 1 to 7 and Fig.11 As shown, a second aspect of an embodiment of the present application provides a vehicle, including:

[0099] The tractor 50 includes a vehicle chassis 51, which includes a frame longitudinal beam and a connecting plate 18 spanning the top of two frame longitudinal beams, and two supports 17 are symmetrically connected to the top of the connecting plate 18. The two supports 17 are rotatably connected to the automated tractor saddle described in any of the above embodiments through a pin shaft.

[0100] The cab control instrument (not shown) is connected to the external communication interface 44 connected to the controller 43 on the saddle of the automated tractor through the CAN bus. The trailer (not shown) is provided with a traction pin (not shown) connected to the saddle of the automated tractor.

[0101] See also Figures 1 to 7 and Fig.11 As shown, the third aspect of the embodiment of the present application provides a vehicle control method, the method uses the vehicle described in the above embodiment, and the method includes a disconnection step S10 and a connection step S20:

[0102] The detaching and separating step S10 comprises:

[0103] S11, control the tractor 50 and the trailer to be in a parking state, the controller 43 receives the parking signal of the tractor 50 and the trailer, and sends a control signal to the control instrument in the cab to start the disconnection;

[0104] S12, after receiving the control signal for starting the disconnection and separation, the control instrument in the cab displays a flashing start icon for disconnection and separation;

[0105] S13, unlocking the disconnection and separation control switch of the cab control instrument, the controller 43 receives the disconnection and separation control signal, and processes the control signal into an execution command to start the motor 21;

[0106] S14, after receiving the control signal, the motor 21 starts to drive the worm 22, the worm wheel 23, the swing arm 24 and the bevel latch 14 to move in the first direction, so that the bevel latch 14 unlocks the lock hook 13;

[0107] S15, when the bevel lever 14 completes the action of unlocking the lock hook 13, the controller 43 controls the motor 21 to stop after receiving the unlocking completion signal of the bevel lever 14 sent by the first sensor 41, and outputs a moving detaching and separation control signal to the control instrument in the cab;

[0108] S16, after receiving the mobile detaching and separation control signal, the control instrument in the cab displays a flashing icon for mobile detaching and separation;

[0109] S17, after the tractor 50 is moved forward and backward and the traction pin of the trailer is disengaged from the lock hook 13, the controller 43 receives the lock hook release traction pin signal sent by the second sensor 42 and outputs a control signal of the completion of the detachment to the control instrument in the cab;

[0110] S18. After receiving the control signal of the completion of the detachment, the control instrument in the cab displays a flashing icon indicating that the detachment is completed, and the detachment is completed.

[0111] The connecting step S20 includes:

[0112] S21, unlocking the cab control instrument hook-up control switch, after the controller 43 receives the hook-up control signal, the controller 43 controls the first sensor 41 and the second sensor 42 to perform self-checking processing;

[0113] S22, when the first sensor 41 detects that the bevel wedge 14 is in a state of unlocking the lock hook 13, and the second sensor 42 detects that the lock hook 13 is in a state of unlocking the traction pin, a control signal for starting the hook connection is sent to the controller 43;

[0114] S23, after receiving the control signal for starting the hook-up, the control instrument in the cab displays a flashing icon indicating that the hook-up control can be performed;

[0115] S24, moving the tractor 50 forward and backward, after the second sensor 42 detects that the traction pin of the trailer moves into the lock hook 13, the controller 43 starts the motor 21 after receiving the signal sent by the second sensor 42 indicating that the lock hook 13 locks the traction pin;

[0116] S25, the motor 21 drives the worm 22, the worm wheel 23, the swing arm 24 and the bevel latch 14 to move along the second direction, so that the bevel latch 14 locks the lock hook 13, and the controller 43 controls the motor 21 to stop after receiving the bevel latch 14 locking completion signal sent by the first sensor 41;

[0117] S26. The controller 43 outputs a control signal indicating that the connection is completed to the cab control instrument. The cab control instrument displays a flashing icon indicating that the connection is completed, and the connection is completed.

[0118] See also Figures 1 to 7 and Fig.11 As shown, a fourth aspect of the embodiment of the present application provides a vehicle control method, the method uses the vehicle described in the above embodiment, and the method includes a state monitoring step S30 and a maintenance reminder step S40:

[0119] The state monitoring step S30 includes:

[0120] S31, the tractor 50 is in the ON position, and the controller 43 sends a self-test signal to the first sensor 41 and the second sensor 42 after being powered on;

[0121] S32, when the first sensor 41 detects that the bevel wedge 14 is in a state of locking the lock hook 13, and the second sensor 42 detects that the lock hook 13 is in a state of locking the traction pin, a hook connection signal is sent to the controller 43;

[0122] S33, the cab control instrument receives the hook-up signal sent by the controller 43 and displays the hook-up icon, and the vehicle can drive normally;

[0123] S34, when the first sensor 41 detects that the bevel latch 14 is in a state of unlocking the lock hook, and the second sensor 42 detects that the lock hook 13 is in a state of locking the traction pin, a bevel latch 14 unlocking signal is sent to the controller 43;

[0124] S35, the cab control instrument receives the tilting lever 14 unlocking signal sent by the controller 43, displays the tilting lever 14 unlocking icon, and reminds the driver to check the saddle;

[0125] S36, when the first sensor 41 detects that the bevel wedge 14 is in a state of locking the lock hook 13, and the second sensor 42 detects that the lock hook 13 is in a state of unlocking the traction pin, a signal for unlocking the lock hook 13 is sent to the controller 43;

[0126] S37, after receiving the lock hook 13 unlocking signal sent by the controller, the control instrument in the cab displays the lock hook 13 unlocking icon and reminds the driver to check the saddle;

[0127] S38, when the first sensor 41 detects that the bevel latch 14 is in a state of unlocking the lock hook 13, and the second sensor 42 detects that the lock hook 13 is in a state of unlocking the traction pin, the controller 43 is sent an unlocking signal of the bevel latch 14 and an unlocking signal of the lock hook 13;

[0128] S39, after receiving the bevel latch 14 unlocking signal and the lock hook 13 unlocking signal sent by the controller 43, the cab control instrument displays the bevel latch 14 unlocking icon and the lock hook 13 unlocking icon, and reminds the driver to check the saddle.

[0129] The maintenance reminder step S40 includes:

[0130] S41, during the vehicle driving process, the controller 43 sends a self-test signal to the first sensor 41 and the second sensor 42;

[0131] S42, when the first sensor 41 detects that the bevel wedge 14 is in a state of locking the lock hook 13, and the second sensor 42 detects that the lock hook 13 is in a state of locking the traction pin, a hook connection signal is sent to the controller 43;

[0132] S43, the cab control instrument receives the hook-up signal sent by the controller 43 and displays the hook-up icon, and the vehicle can drive normally;

[0133] S44, when the first sensor 41 detects that the bevel wedge 14 is in a state of locking the lock hook 13, and the second sensor 42 detects that the lock hook 13 is in a state of unlocking the traction pin, a maintenance and replacement signal is sent to the controller 43;

[0134] S44, after receiving the maintenance and replacement signal from the controller 43, the cab control instrument displays the saddle maintenance and replacement icon, and reminds the driver to check the saddle and the traction pin to prevent the lock hook 13, the traction pin and the saddle plate 11 from excessive wear, looseness or breakage.

[0135] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application 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 on the present application. 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 an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0136] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0137] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. An automated tractor saddle, characterized in that: include: A saddle body (10), the saddle body (10) comprising a saddle plate (11), a traction pin introduction groove (12) being provided on the saddle plate (11), a lock hook (13) being rotatably connected to the inner wall of the saddle plate (11) for locking or unlocking the traction pin, and a bevel (14) being slidably connected to the inner wall of the saddle plate (11) for locking or unlocking the lock hook (13); A driving mechanism (20) includes a motor (21) fixed on the inner wall of the saddle plate (11), and a worm wheel (23) and a worm (22) rotatably connected to the inner wall of the saddle plate (11), wherein the worm (22) is connected to the output shaft of the motor (21), and a swing arm (24) is provided on the worm wheel (23) for driving the bevel (14) to slide back and forth.

2. The automated tractor saddle according to claim 1, characterized in that: The worm wheel (23) is in the form of a fan-shaped toothed plate structure; one end of the swing arm (24) is fixedly connected to the worm wheel (23); the end of the swing arm (24) close to the worm wheel (23) is rotationally connected to the saddle plate (11) via a first rotating shaft (25); and the end of the swing arm (24) away from the worm wheel (23) is rotationally connected to the bevel (14) via a second rotating shaft (26).

3. The automated tractor saddle according to claim 2, characterized in that: A through hole (27) for inserting the first rotating shaft (25) is formed at one end of the swing arm (24) close to the worm gear (23), and the first rotating shaft (25) is fixedly connected to the inner wall of the saddle plate (11). An elongated hole (28) for inserting the second rotating shaft (26) is formed at one end of the swing arm (24) away from the worm gear (23), and the second rotating shaft (26) is fixedly connected to one end of the bevel (14).

4. The automated tractor saddle according to any one of claims 1 to 3, characterized in that: The invention also comprises a first sensor (41) for detecting the rotation position of the worm gear (23) or the swing arm (24); a second sensor (42) for detecting the connection state between the traction pin and the saddle body (10) is provided on the inner wall of the saddle plate (11); the motor (21) is connected to a controller (43) for controlling its operation; the first sensor (41) and the second sensor (42) are both connected to the controller (43); and the controller (43) is provided with an external communication interface (44).

5. The automated tractor saddle according to claim 1, characterized in that: The lock hook (13) is provided with a lock hook groove for locking the traction pin. The lock hook (13) is rotatably connected to the saddle plate (11) via a third rotating shaft (15). An end of the lock hook (13) away from the notch of the lock hook groove is provided with a rotating shaft hole connected to the third rotating shaft (15).

6. The automated tractor saddle according to claim 5, characterized in that: A lock hook spring (16) is connected to one end of the lock hook (13) away from the rotating shaft hole, and the other end of the lock hook spring (16) is connected to the saddle plate (11). When the bevel (14) unlocks the lock hook (13), the lock hook spring (16) drives the lock hook (13) to rotate around the third rotating shaft (15) and makes the lock hook slot of the lock hook (13) face the traction pin introduction slot (12).

7. The automated tractor saddle according to claim 1, characterized in that: The inner wall of the saddle plate (11) is provided with a lug for rotatably connecting the worm (22), the lug is rotatably connected to the end of the worm (22), one end of the worm (22) is connected to the motor (21) via a coupling, and the other end of the worm (22) is provided with a non-circular shaft head (29) for adapting to a rotating tool; The non-circular shaft head (29) is adapted to be equipped with a handle tool (30) for driving the worm (22) to rotate, wherein the handle tool (30) comprises a shaft rod (31), one end of the shaft rod (31) is provided with a handle (32) vertically connected thereto, and the other end of the shaft rod (31) is provided with a sleeve (33) pluggably connected to the non-circular shaft head (29).

8. A vehicle, characterized in that: include: A tractor (50), the tractor (50) comprising a vehicle chassis (51), the vehicle chassis (51) comprising a frame longitudinal beam, and a connecting plate (18) spanning the tops of two frame longitudinal beams, the top of the connecting plate (18) being symmetrically connected to two supports (17); The two supports (17) are rotatably connected to the automated tractor saddle according to any one of claims 1 to 7 via a pin shaft; A cab control instrument, the cab control instrument being connected to an external communication interface (44) connected to a controller (43) on a saddle of the automated tractor via a CAN bus; A trailer is provided with a traction pin connected to a saddle of an automated tractor.

9. A vehicle control method, characterized in that: The method uses the vehicle according to claim 8, and the method includes a disconnection step and a hooking and connecting step: The detaching and separating step comprises: The tractor (50) and the trailer are controlled to be in a parking state, and the controller (43) receives parking signals of the tractor (50) and the trailer, and sends a control signal to the control instrument in the cab to start the disconnection and separation; After receiving the control signal for starting the disconnection and separation, the control instrument in the cab displays the flashing start icon for disconnection and separation; Unlocking the disconnection and separation control switch of the cab control instrument, the controller (43) receives the disconnection and separation control signal, and processes the control signal into an execution command for starting the motor (21); After receiving the control signal, the motor (21) starts to drive the worm (22), the worm wheel (23), the swing arm (24) and the bevel key (14) to move in a first direction, so that the bevel key (14) unlocks the lock hook (13); When the bevel latch (14) completes the action of unlocking the lock hook (13), the controller (43) controls the motor (21) to stop after receiving the unlocking completion signal of the bevel latch (14) sent by the first sensor (41), and outputs a moving detaching and separation control signal to the control instrument in the cab; After receiving the mobile detachment control signal, the control instrument in the cab displays a flashing icon for mobile detachment; The tractor (50) is moved forward and backward, and after the traction pin of the trailer is disengaged from the lock hook (13), the controller (43) receives a signal from the second sensor (42) that the lock hook (13) has unlocked the traction pin and outputs a control signal indicating that the detachment is completed to a control instrument in the cab; After receiving the control signal of the completion of the separation, the control instrument in the cab displays a flashing icon indicating that the separation is completed. The connecting step comprises: The control switch of the cab control instrument is unlocked, and after the controller (43) receives the hook-up control signal, the controller (43) controls the first sensor (41) and the second sensor (42) to perform self-checking processing; When the first sensor (41) detects that the bevel wedge (14) is in a state of unlocking the lock hook (13), and the second sensor (42) detects that the lock hook (13) is in a state of unlocking the traction pin, a control signal for starting the hook connection is sent to the controller (43); After the cab control instrument receives the control signal that can start the hook-up connection, it displays a flashing icon that can start the hook-up control; The tractor (50) is moved forward and backward, and after the second sensor (42) detects that the traction pin of the trailer moves into the locking hook (13), the controller (43) starts the motor (21) after receiving the signal sent by the second sensor (42) that the locking hook (13) locks the traction pin; The motor (21) drives the worm (22), the worm wheel (23), the swing arm (24) and the bevel latch (14) to move in a second direction so that the bevel latch (14) locks the lock hook (13), and the controller (43) controls the motor (21) to stop after receiving a bevel latch (14) locking completion signal sent by the first sensor (41); The controller (43) outputs a control signal indicating that the hook-up is completed to the control instrument in the cab, and the control instrument in the cab displays a flashing icon indicating that the hook-up is completed, thus completing the hook-up.

10. A vehicle control method, characterized in that: The method uses the vehicle of claim 8, and the method includes a state monitoring step and a maintenance reminder step: The status monitoring step comprises: The tractor (50) is in the ON position, and the controller (43) sends a self-test signal to the first sensor (41) and the second sensor (42) after being powered on; When the first sensor (41) detects that the bevel wedge (14) is in a state of locking the lock hook (13), and the second sensor (42) detects that the lock hook (13) is in a state of locking the traction pin, a hook connection signal is sent to the controller (43); The cab control instrument displays the hook-up icon after receiving the hook-up signal from the controller, and the vehicle can drive normally; When the first sensor (41) detects that the beveled key (14) is in a state of unlocking the lock hook (13), and the second sensor (42) detects that the lock hook (13) is in a state of locking the traction pin, a beveled key (14) unlocking signal is sent to the controller; After receiving the bevel unlocking signal sent by the controller (43), the control instrument in the cab displays the bevel unlocking icon (14) and reminds the driver to check the saddle; When the first sensor (41) detects that the bevel wedge (14) is in a state of locking the lock hook, and the second sensor (42) detects that the lock hook (13) is in a state of unlocking the traction pin, a lock hook (13) unlocking signal is sent to the controller (43); After receiving the lock hook (13) unlocking signal sent by the controller (43), the control instrument in the cab displays the lock hook (13) unlocking icon and reminds the driver to check the saddle; When the first sensor (41) detects that the beveled key (14) is in a state of unlocking the lock hook (13), and the second sensor (42) detects that the lock hook (13) is in a state of unlocking the traction pin, a beveled key (14) unlocking signal and a lock hook (13) unlocking signal are sent to the controller (43); After receiving the bevel detent (14) unlocking signal and the lock hook (13) unlocking signal sent by the controller (43), the control instrument in the cab displays the bevel detent (14) unlocking icon and the lock hook (13) unlocking icon, and reminds the driver to check the saddle; The maintenance reminder step includes: During the driving of the vehicle, the controller (43) sends a self-test signal to the first sensor (41) and the second sensor (42); When the first sensor (41) detects that the bevel wedge (14) is in a state of locking the lock hook (13), and the second sensor (42) detects that the lock hook (13) is in a state of locking the traction pin, a hook connection signal is sent to the controller (43); After receiving the hook-up signal sent by the controller (43), the control instrument in the cab displays a hook-up icon, and the vehicle can travel normally; When the first sensor (41) detects that the bevel wedge (14) is in a state of locking the lock hook (13), and the second sensor (42) detects that the lock hook (13) is in a state of unlocking the traction pin, a maintenance and replacement signal is sent to the controller (43); After receiving the maintenance and replacement signal sent by the controller (43), the control instrument in the cab displays an icon indicating that the saddle needs maintenance and replacement, and reminds the driver to check the saddle and the traction pin.

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