Automated tractor saddle, vehicle and control method

Abstract

The application relates to an automatic tractor saddle, a vehicle and a control method, which comprises a saddle body comprising a saddle plate, a traction pin guide-in groove is formed in the saddle plate, a locking hook for locking or unlocking the traction pin is rotationally connected to the inner wall of the saddle plate, and an inclined wedge for locking or unlocking the locking hook is slidingly connected to the inner wall of the saddle plate; a driving mechanism comprising a motor fixed to the inner wall of the saddle plate, a worm gear and a worm connected to the output shaft of the motor and rotationally connected to the inner wall of the saddle plate, and a swing arm provided on the worm gear and used for pushing the inclined wedge to reciprocatingly slide. The driving mechanism of the application is automatically controlled in the whole process when the inclined wedge unlocks or locks the locking hook, the number of times that the driver gets on and off the vehicle is reduced, and time is saved. The worm and the worm gear are meshed and have a self-locking function, the inclined wedge is prevented from being accidentally unlocked from the locking hook, and the safety and reliability of the saddle locking are improved.

Description

Technical Field

[0001] This application relates to the field of tractor saddle technology, and particularly to automated tractor saddles, vehicles, and control methods. Background Technology

[0002] A saddle is a specialized component for various tractor units. It is installed on the tractor's frame according to requirements to achieve coupling and decoupling between the tractor and trailer. Saddles can be divided into manually operated saddles and semi-automatic saddles.

[0003] The saddle is manually operated by moving the lever outward. The movement of the lever causes the linkage wedge to move laterally, and the spring generates tension due to deformation, which drives the locking hook to rotate around the pin seat. At the same time, the opening of the locking hook turns outward, realizing the disengagement of the towing pin and completing the separation of the tractor and trailer.

[0004] Repeat the above steps to turn the hook opening outward. When the tractor aligns the hook opening with the towing pin, the tractor moves backward until the trailer towing pin collides with the hook. The hook rotates to the starting position under the push of the trailer towing pin. At this time, release the lever and the wedge will automatically return to its original position. The safety pin will also return to its initial position at the same time, realizing the self-locking of the hook and achieving a smooth connection.

[0005] The semi-automatic saddle is operated by a remote control in the cab, which drives a cylinder on the saddle to push a lever. The lever moves the wedge, enabling the towing seat to be automatically detached and unattached. The handle mechanism is retained, so the towing seat can still be operated manually in case the automatic mechanism fails. However, the handle mechanism is connected to the saddle mechanism, and the operation method is the same as manually operating the saddle, requiring sufficient operating space.

[0006] However, the current locking mechanism of the saddle is mechanically fixed, and the handle needs to be pulled out manually when unloading or detaching the trailer. This results in problems such as jamming of the locking mechanism, bending and deformation of the handle causing interference, and poor fit of the trailer towing pin. As a result, the handle often cannot be pulled out properly or return to its original position, making it difficult to unload or detach the trailer and causing user complaints.

[0007] The exposed control handle, due to the height matching limitations between the semi-trailer and the tractor, interferes with the mudguard cover. When attaching or detaching, the handle needs to be pulled out. To avoid interference between the handle and the mudguard cover, users usually remove the mudguard cover first and then pull out the handle, which is cumbersome and affects efficiency.

[0008] The traction saddle cannot be operated safely and without error in situations where a safe operating space (such as narrow passages or dangerous areas) or adverse environmental conditions (night or severe weather) cannot be ensured.

[0009] Currently, to automate the saddle control handle, the cylinder-assisted unlocking mechanism of the saddle is generally equipped on the saddle. This requires an additional auxiliary air source from the vehicle. However, for electric vehicles without an air source device, the towing seat is still operated manually.

[0010] The connection status between the saddle locking mechanism and the towing pin cannot be monitored in real time. In particular, if the locking mechanism fails during vehicle operation, detachment could lead to serious safety accidents. Wear on the trailer towing pin, saddle opening end cap (wear ring), and saddle lock hook cannot be detected in a timely manner, posing safety hazards. Summary of the Invention

[0011] This application provides an automated tractor saddle, vehicle, and control method to address the issue in related technologies where the cylinder-assisted unlocking saddle locking mechanism on the saddle requires an additional auxiliary air source from the entire vehicle, thus posing a problem for electric vehicles that lack an air source device and still rely on manual operation of the tractor seat.

[0012] The first aspect of this application provides an automated tractor saddle, including:

[0013] The saddle body includes a saddle plate, a traction pin guide groove is provided on the saddle plate, a locking hook for locking or unlocking the traction pin is rotatably connected to the inner wall of the saddle plate, and a wedge for locking or unlocking the locking hook is slidably connected to the inner wall of the saddle plate.

[0014] The drive mechanism includes a motor fixed to the inner wall of the saddle plate, and a worm gear and a worm shaft rotatably connected to the inner wall of the saddle plate. The worm shaft is connected to the output shaft of the motor, and the worm gear is provided with a swing arm that pushes the wedge to reciprocate.

[0015] In some embodiments: the worm gear has a fan-shaped toothed plate structure, one end of the swing arm is fixedly connected to the worm gear, the end of the swing arm near the worm gear is rotatably connected to the saddle plate through a first rotating shaft, and the end of the swing arm away from the worm gear is rotatably connected to the wedge through a second rotating shaft.

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

[0017] In some embodiments, the system further includes a first sensor for detecting the rotational position of the worm gear or swing arm, a second sensor for detecting the connection status between the traction pin and the saddle body on the inner wall of the saddle plate, a controller for controlling the operation of the motor, and both the first and second sensors are connected to the controller, which has an external communication interface.

[0018] In some embodiments: the lock hook is provided with a lock hook groove for locking the traction pin, the lock hook is rotatably connected to the saddle plate through a third rotating shaft, and a rotating shaft hole connected to the third rotating shaft is provided at one end of the lock hook opposite to the lock hook groove opening.

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

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

[0021] The non-circular shaft head is adapted to a handle tool for driving the worm gear to rotate. The handle tool includes a shaft, one end of which is provided with a handle perpendicularly connected thereto, and the other end of which is provided with a sleeve that is plugged into and detached from the non-circular shaft head.

[0022] A second aspect of this application provides a vehicle, including:

[0023] The tractor unit includes a vehicle chassis, which includes frame longitudinal beams and a connecting plate that spans the top of the two frame longitudinal beams. The top of the connecting plate is symmetrically connected to two supports at intervals.

[0024] The two supports are rotatably connected by pins to the saddle of the automated tractor as described in any of the above embodiments.

[0025] The cab control instrument is connected to an external communication interface of the controller on the saddle of the automated tractor via a CAN bus.

[0026] The trailer is equipped with a towing pin that connects to the saddle of an automated tractor.

[0027] A third aspect of this application provides a vehicle control method, the method using the vehicle described in the above embodiments, the method including a disengagement step and a coupling step:

[0028] The detachment and separation step includes:

[0029] When the tractor and trailer are in a parked 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 initiate the disengagement process.

[0030] After receiving the control signal to initiate the disengagement and separation, the cab control instrument displays a flashing start icon for disengagement and separation.

[0031] Unlock the disengagement control switch on the cab control instrument panel. The controller receives the disengagement control signal and processes it into an execution command to start the motor.

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

[0033] After the wedge completes the unlocking action, the controller receives the wedge unlocking completion signal sent by the first sensor, controls the motor to stop, and outputs a movement disengagement control signal to the cab control instrument.

[0034] After receiving the moving disengagement control signal, the cab control instrument displays a flashing icon indicating that the moving disengagement is in progress.

[0035] After the trailer's towing pin disengages from the locking hook, the controller receives the locking hook unlocking signal sent by the second sensor and outputs a control signal indicating that the disengagement is complete to the control instrument in the cab.

[0036] After receiving the control signal indicating that the disengagement and separation is complete, the cab control instrument displays a flashing icon indicating that the disengagement and separation is complete, thus completing the disengagement and separation process.

[0037] The connection and splicing steps include:

[0038] Unlock the cab control instrument panel and connect the control switch. After receiving the connect control signal, the controller controls the first and second sensors to perform self-tests.

[0039] When the first sensor detects that the wedge is in the unlocked hook state and the second sensor detects that the hook is in the unlocked traction pin state, a control signal is sent to the controller to start the hook connection.

[0040] After receiving a control signal indicating that the connection can be initiated, the cab control instrument displays a flashing icon indicating that the connection can be initiated.

[0041] When the tractor moves forward and backward, the second sensor detects that the trailer's towing pin has moved into the locking hook. After the controller receives the locking hook signal sent by the second sensor to lock the towing pin, it starts the motor.

[0042] The motor drives the worm gear, worm wheel, swing arm and wedge to move in the second direction so that the wedge locks the hook. After receiving the wedge locking completion signal sent by the first sensor, the controller controls the motor to stop.

[0043] The controller outputs a control signal indicating that the connection is complete to the control instrument in the cab. The control instrument in the cab then displays a flashing icon indicating that the connection is complete.

[0044] A fourth aspect of this application provides a vehicle control method, the method using the vehicle described in the above embodiments, the method including a status monitoring step and a maintenance reminder step:

[0045] The status monitoring steps include:

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

[0047] When the first sensor detects that the wedge is in the locked hook state and the second sensor detects that the hook is in the locked traction pin state, it sends a hook connection signal to the controller.

[0048] After receiving the connection signal from the controller, the cab control instrument displays the connection icon, and the vehicle can be driven normally.

[0049] When the first sensor detects that the wedge is in the unlocked state and the second sensor detects that the lock is in the locked state, the wedge unlock signal is sent to the controller.

[0050] After receiving the wedge unlocking signal from the controller, the cab control instrument displays the wedge unlocking icon and reminds the driver to check the saddle.

[0051] When the first sensor detects that the wedge is in the locked state and the second sensor detects that the hook is in the unlocked state, it sends a hook unlocking signal to the controller.

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

[0053] When the first sensor detects that the wedge is in the unlocked hook state and the second sensor detects that the hook is in the unlocked traction pin state, it sends a hook unlocking signal to the controller.

[0054] After receiving the wedge unlocking signal and the hook unlocking signal from the controller, the cab control instrument displays the wedge unlocking icon and the hook unlocking icon, and reminds the driver to check the saddle.

[0055] The maintenance reminder steps include:

[0056] During vehicle operation, the controller sends self-test signals to the first and second sensors;

[0057] When the first sensor detects that the wedge is in the locked hook state and the second sensor detects that the hook is in the locked traction pin state, it sends a hook connection signal to the controller.

[0058] After receiving the connection signal from the controller, the cab control instrument displays the connection icon, and the vehicle can be driven normally.

[0059] When the first sensor detects that the wedge is in the locked state and the second sensor detects that the lock is in the unlocked state, 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 an icon indicating that the saddle needs maintenance and replacement, and reminds the driver to check the saddle and towing pin.

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

[0062] This application provides an automated tractor saddle, vehicle, and control method. The automated tractor saddle of this application includes a saddle body comprising a saddle plate with a traction pin guide groove. A locking hook for locking or unlocking the traction pin is rotatably connected to the inner wall of the saddle plate, and a wedge for locking or unlocking the locking hook is slidably connected to the inner wall of the saddle plate. A drive mechanism includes a motor fixed to the inner wall of the saddle plate, and a worm gear and worm rotatably connected to the inner wall of the saddle plate. The worm is connected to the motor output shaft, and the worm gear has a swing arm that pushes the wedge to reciprocate.

[0063] Therefore, the automated tractor saddle of this application is equipped with a drive mechanism on the saddle body for automatically controlling the unlocking or locking of the wedge. When the drive mechanism needs to use the wedge to lock the hook, the motor drives the worm gear to rotate forward, the worm gear meshes 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 wedge to slide towards the hook, and after it comes into contact with the hook, it locks the hook to the saddle plate to restrict its rotation.

[0064] When the drive mechanism needs to unlock the locking hook using the wedge, the motor drives the worm gear to reverse. The worm gear meshes with the worm wheel, causing the worm wheel to reverse as well. The worm wheel then drives the swing arm to reverse and pushes the wedge away from the locking hook, releasing it from its engaged state to its disengaged state. The locking hook can then rotate freely on the saddle plate, thus unlocking the traction pin. The drive mechanism of this application operates fully automatically when controlling the unlocking or locking of the wedge, reducing the number of times the driver needs to get in and out of the vehicle and saving time. The worm gear and worm wheel meshing has a self-locking function, preventing the wedge from accidentally unlocking the locking hook and improving the safety and reliability of the saddle locking. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is a structural schematic diagram of the automated tractor saddle and handle tool detached from an embodiment of this application.

[0067] Figure 2 This is a front structural diagram of the automated tractor saddle and handle tool connected in an embodiment of this application;

[0068] Figure 3 This is a schematic diagram of the rear structure of the automated tractor saddle and the handle tool in the connected state according to an embodiment of this application.

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

[0070] Figure 5 This is a perspective view of the rear structure of the automated tractor saddle in the locked state according to an embodiment of this application.

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

[0072] Figure 7 This is a perspective view of the rear structure of the automated tractor saddle in the unlocked state according to an embodiment of this application.

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

[0074] Figure 9 This is a schematic diagram of the worm gear structure according to an embodiment of this application;

[0075] Figure 10 This is a schematic diagram of the handle tool according to an embodiment of this application;

[0076] Figure 11 This is a schematic diagram of the structure of the tractor vehicle according to an embodiment of this application.

[0077] Figure label:

[0078] 10. Saddle body; 11. Saddle plate; 12. Traction pin guide groove; 13. Locking hook; 14. Wedge; 15. Third pivot; 16. Locking hook spring; 17. Support; 18. Connecting plate;

[0079] 20. Drive mechanism; 21. Motor; 22. Worm gear; 23. Worm wheel; 24. Swing arm; 25. First rotating shaft; 26. Second rotating shaft; 27. Through hole; 28. Elongated hole; 29. ​​Non-circular shaft end;

[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 Implementation

[0082] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0083] This application provides an automated tractor saddle, vehicle, and control method, which solves the problem in related technologies where the cylinder-assisted unlocking saddle locking mechanism on the saddle requires an additional auxiliary air source from the vehicle. This addresses the issue of electric vehicles lacking an air source device and still relying on manual operation of the tractor seat.

[0084] See Figures 1 to 7 As shown, the first aspect of this application provides an automated tractor saddle, including:

[0085] The saddle body 10 includes a saddle plate 11. A traction pin guide groove 12 is provided on the saddle plate 11 for guiding the traction pin. A locking hook 13 for locking or unlocking the traction pin is rotatably connected to the inner wall of the saddle plate 11 (i.e., the back side of the saddle plate 11). A wedge 14 for locking or unlocking the locking hook 13 is slidably connected to the inner wall of the saddle plate 11.

[0086] The drive mechanism 20 includes a motor 21 fixed to the inner wall of the saddle plate 11. The motor 21 is preferably, but not limited to, an electric motor, and more preferably a stepper motor or a servo motor. It also includes a worm gear 23 and a worm 22 rotatably connected to the inner wall of the saddle plate 11. The worm 22 is connected to the output shaft of the motor 21. The worm gear 23 has a swing arm 24 that pushes the wedge 14 to reciprocate on the saddle plate 11.

[0087] The automated tractor saddle of this embodiment has a drive mechanism 20 on the saddle body 10 that automatically controls the wedge 14 to unlock or lock the hook 13. When the drive mechanism 20 needs to use the wedge 14 to lock the hook 13, the motor 21 drives the worm 22 to rotate clockwise. The worm 22 meshes with the worm wheel 23 to drive the worm wheel 23 to rotate clockwise. The worm wheel 23 drives the swing arm 24 to rotate clockwise and pushes the wedge 14 to slide towards the hook 13. After it comes into contact with the hook 13, it locks the hook 13 on the saddle plate 11 to restrict its rotation.

[0088] When the drive mechanism 20 needs to use the wedge 14 to unlock the hook 13, the motor 21 drives the worm 22 to reverse. The worm 22 meshes 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 pushes the wedge 14 to slide away from the hook 13. After the wedge 14 changes from a contact state to a disengaged state, the hook 13 is unlocked. The hook 13 can then rotate freely on the saddle plate 11 and can then unlock the traction pin.

[0089] The drive mechanism 20 of this embodiment operates automatically throughout the process of controlling the wedge 14 to unlock or lock the hook 13, reducing the number of times the driver needs to get in and out of the vehicle and saving time. The worm gear 22 and worm wheel 23 have a self-locking function when meshed, preventing the wedge 14 from accidentally unlocking the hook 13 and improving the safety and reliability of the saddle lock.

[0090] In some alternative embodiments: see Figures 1 to 8 As shown in the embodiment of this application, an automated tractor saddle is provided. The worm gear 23 of the automated tractor saddle has a fan-shaped toothed plate structure. One end of the swing arm 24 is fixedly connected to the worm gear 23. The end of the swing arm 24 near the worm gear 23 is rotatably connected to the saddle plate 11 through the first rotating shaft 25. The end of the swing arm 24 away from the worm gear 23 is rotatably connected to the wedge 14 through the second rotating shaft 26.

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

[0092] In some alternative embodiments: see Figures 4 to 7As shown, this application embodiment provides an automated tractor saddle, which also includes a first sensor 41 for detecting the rotational position of the worm gear 23 or the swing arm 24. A second sensor 42 for detecting the connection status 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. Both the first sensor 41 and the second sensor 42 are connected to the controller 43. The controller 43 is provided with an external communication interface 44.

[0093] The first sensor 41 determines whether the wedge 14 is locked or unlocked by detecting the rotational position of the worm gear 23 or the swing arm 24. The second sensor 42 determines whether the hook 13 is locked or unlocked by detecting whether there is a traction pin inside the saddle body 10. Both the first sensor 41 and the second sensor 42 send their detected signals to the controller 43, which can then feed back the status information of the automated tractor saddle to the control instruments in the cab.

[0094] In some alternative embodiments: see Figures 4 to 7 As shown, this application embodiment provides an automated tractor saddle. The locking hook 13 of the automated tractor saddle has a locking hook groove for locking the traction pin. The locking hook 13 is rotatably connected to the saddle plate 11 through a third rotating shaft 15. The end of the locking hook 13 opposite to the opening of the locking hook groove has a rotating shaft hole connected to the third rotating shaft 15.

[0095] A hook spring 16 is connected to one end of the hook 13 away from the pivot hole. The other end of the hook spring 16 is connected to the saddle plate 11. When the wedge 14 unlocks the hook 13, the hook spring 16 drives the hook 13 to rotate around the third pivot 15 and makes the hook groove of the hook 13 face the traction pin guide groove 12. At this time, the traction pin can enter or disengage from the hook 13.

[0096] In some alternative embodiments: see Figures 1 to 7 , Figure 9 , Figure 10 As shown, this application embodiment provides an automated tractor saddle. The inner wall of the saddle plate 11 of the automated tractor saddle is provided with a lug for rotatably connecting the worm gear 22. The lug is rotatably connected to the end of the worm gear 22. One end of the worm gear 22 is connected to the motor 21 through a coupling. The other end of the worm gear 22 is provided with a non-circular shaft head 29 for adapting to rotating tools.

[0097] The non-circular shaft head 29 is adapted to a handle tool 30 for driving the worm gear 22 to rotate. The handle tool 30 includes a shaft 31, one end of which has a handle 32 perpendicularly connected to it, and the other end of which has a sleeve 33 that is plugged into and detached from the non-circular shaft head 29. The non-circular shaft head 29 is preferably a hexagonal head, and the sleeve 33 is preferably an internal hexagonal sleeve. When the motor 21 loses power or is damaged, after connecting the handle tool 30 to the non-circular shaft head 29, the handle tool 30 manually rotates the non-circular shaft head 29 to drive the worm gear 22 to rotate, thereby achieving manual unlocking or locking.

[0098] See Figures 1 to 7 and Figure 11 As shown, a second aspect of this application provides a vehicle, including:

[0099] The tractor unit 50 includes a vehicle chassis 51, which includes frame longitudinal beams and connecting plates 18 spanning the tops of the two frame longitudinal beams. Two supports 17 are symmetrically connected at intervals on the top of the connecting plates 18. The automated tractor saddles described in any of the above embodiments are rotatably connected to the two supports 17 via pins.

[0100] The cab control instrument (not shown) is connected to an external communication interface 44 via a CAN bus to the controller 43 on the automated tractor's saddle. The trailer (not shown) has a towing pin (not shown) that connects to the automated tractor's saddle.

[0101] See Figures 1 to 7 and Figure 11 As shown, a third aspect of this application provides a vehicle control method, the method using the vehicle described in the above embodiments, the method including a disengagement / separation step S10 and a coupling / connection step S20:

[0102] The detachment and separation step S10 includes:

[0103] S11. The tractor 50 and trailer are in a parking state. The controller 43 receives the parking signal of the tractor 50 and trailer and sends a control signal to the cab control instrument to start the disengagement.

[0104] S12. After receiving the control signal to start the disengagement and separation, the cab control instrument displays a flashing start icon for disengagement and separation.

[0105] S13. Unlock the cab control instrument disengagement control switch. The controller 43 receives the disengagement 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, worm wheel 23, swing arm 24 and wedge 14 to move in the first direction so that the wedge 14 unlocks the locking hook 13;

[0107] S15. After the inclined wedge 14 completes the unlocking action of the locking hook 13, the controller 43 receives the signal from the first sensor 41 that the inclined wedge 14 has completed unlocking and controls the motor 21 to stop, and outputs a movement disengagement control signal to the cab control instrument.

[0108] S16. After receiving the moving disengagement control signal, the cab control instrument displays a flashing icon indicating that the moving disengagement is in progress.

[0109] S17. After the trailer's traction pin disengages from the locking hook 13, the controller 43 receives the locking hook release signal sent by the second sensor 42 and outputs a control signal indicating that the disengagement is complete to the control instrument in the cab.

[0110] S18. After receiving the control signal indicating that the disengagement and separation is complete, the cab control instrument displays a flashing icon indicating that the disengagement and separation is complete, thus completing the disengagement and separation.

[0111] The connection step S20 includes:

[0112] S21. Unlock the cab control instrument connection control switch. After receiving the connection control signal, the controller 43 controls the first sensor 41 and the second sensor 42 to perform self-test.

[0113] S22. When the first sensor 41 detects that the wedge 14 is in the unlocked state of the locking hook 13, and the second sensor 42 detects that the locking hook 13 is in the unlocked state of the traction pin, a control signal is sent to the controller 43 to start the connection.

[0114] S23. After receiving a control signal indicating that the connection can be initiated, the cab control instrument displays a flashing icon indicating that the connection can be initiated.

[0115] S24. The tractor 50 moves forward and backward. After the second sensor 42 detects that the trailer's towing pin has moved into the locking hook 13, the controller 43 receives the signal from the second sensor 42 that the locking hook 13 locks the towing pin and then starts the motor 21.

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

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

[0118] See Figures 1 to 7 and Figure 11 As shown, a fourth aspect of this application provides a vehicle control method, the method using the vehicle described in the above embodiments, the method including a status monitoring step S30 and a maintenance reminder step S40:

[0119] The status monitoring step S30 includes:

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

[0121] S32. When the first sensor 41 detects that the wedge 14 is in the state of locking the hook 13, and the second sensor 42 detects that the hook 13 is in the state of locking the traction pin, it sends a hook-up signal to the controller 43.

[0122] S33. After receiving the connection signal from the controller 43, the cab control instrument displays the connection icon, and the vehicle can drive normally.

[0123] S34. When the first sensor 41 detects that the wedge 14 is in the unlocked state and the second sensor 42 detects that the hook 13 is in the locked state, the wedge 14 is sent to the controller 43 to unlock the controller.

[0124] S35. After receiving the unlock signal of the inclined wedge 14 from the controller 43, the cab control instrument displays the unlock icon of the inclined wedge 14 and reminds the driver to check the saddle.

[0125] S36. When the first sensor 41 detects that the wedge 14 is in the state of locking the hook 13, and the second sensor 42 detects that the hook 13 is in the state of unlocking the traction pin, it sends a hook 13 unlocking signal to the controller 43.

[0126] S37. After receiving the unlock signal of the lock hook 13 from the controller, the cab control instrument displays the lock hook 13 unlock icon and reminds the driver to check the saddle.

[0127] S38. When the first sensor 41 detects that the wedge 14 is in the state of unlocking the hook 13, and the second sensor 42 detects that the hook 13 is in the state of unlocking the traction pin, the first sensor 41 sends the wedge 14 unlocking signal and the hook 13 unlocking signal to the controller 43.

[0128] S39. After receiving the unlocking signals of the wedge 14 and the lock hook 13 from the controller 43, the cab control instrument displays the unlocking icons of the wedge 14 and the lock hook 13, and reminds the driver to check the saddle.

[0129] The maintenance reminder step S40 includes:

[0130] S41. During vehicle operation, controller 43 sends self-test signals to first sensor 41 and second sensor 42.

[0131] S42. When the first sensor 41 detects that the wedge 14 is in the state of locking the hook 13, and the second sensor 42 detects that the hook 13 is in the state of locking the traction pin, it sends a hook-up signal to the controller 43.

[0132] S43. After receiving the connection signal from the controller 43, the cab control instrument displays the connection icon, and the vehicle can drive normally.

[0133] S44. When the first sensor 41 detects that the wedge 14 is in the state of locking the hook 13, and the second sensor 42 detects that the hook 13 is in the 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 an icon indicating that the saddle needs maintenance and replacement, and reminds the driver to check the saddle and towing pin to prevent excessive wear of the locking hook 13, towing pin and saddle plate 11, which may lead to loosening or breakage.

[0135] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this 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 used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0137] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An automated tractor saddle characterized in that, The saddle body (10) includes a saddle plate (11) with a traction pin guide-in groove (12) formed therein, an inner wall of the saddle plate (11) is rotationally connected with a lock hook (13) for locking or unlocking the traction pin, and an inner wall of the saddle plate (11) is slidingly connected with an inclined wedge (14) for locking or unlocking the lock hook (13); The driving mechanism (20) includes a motor (21) fixed to the inner wall of the saddle plate (11), a worm gear (23) and a worm (22) rotationally connected to the inner wall of the saddle plate (11), the worm (22) is connected with an output shaft of the motor (21), and the worm gear (23) is provided with a swing arm (24) for pushing the inclined wedge (14) to reciprocally slide; The worm gear (23) is in a fan-shaped tooth plate structure, one end of the swing arm (24) is fixedly connected with the worm gear (23), the end of the swing arm (24) close to the worm gear (23) is rotationally connected with the saddle plate (11) through a first rotating shaft (25), and the end of the swing arm (24) away from the worm gear (23) is rotationally connected with the inclined wedge (14) through a second rotating shaft (26); The end of the swing arm (24) close to the worm gear (23) is formed with a through hole (27) for penetrating the first rotating shaft (25), the first rotating shaft (25) is fixedly connected with the inner wall of the saddle plate (11), the end of the swing arm (24) away from the worm gear (23) is formed with an elongated hole (28) for penetrating the second rotating shaft (26), and the second rotating shaft (26) is fixedly connected with one end of the inclined wedge (14); The first sensor (41) for detecting the rotating position of the worm gear (23) or the swing arm (24) is further included, the inner wall of the saddle plate (11) is provided with the second sensor (42) for detecting the connection state of the traction pin and the saddle body (10), the motor (21) is connected with the controller (43) for controlling the operation thereof, the first sensor (41) and the second sensor (42) are connected with the controller (43), and the controller (43) is provided with an external communication interface (44); When the vehicle is running, the controller (43) sends a self-checking signal to the first sensor (41) and the second sensor (42); When the first sensor (41) detects that the inclined wedge (14) is in the state of locking the lock hook (13) and the second sensor (42) detects that the lock hook (13) is in the state of locking the traction pin, a hitch connection signal is sent to the controller (43); After the cab control instrument receives the hitch connection signal sent by the controller (43), a hitch connection icon is displayed, and the vehicle can normally run; When the first sensor (41) detects that the inclined wedge (14) is in the state of locking the lock hook (13) and the second sensor (42) detects that the lock hook (13) is in the state of unlocking the traction pin, a maintenance replacement signal is sent to the controller (43); After the cab control instrument receives the maintenance replacement signal sent by the controller (43), a saddle maintenance replacement icon is displayed, and the driver is reminded to check the saddle and the traction pin. ​ 2. The automatic tractor saddle of claim 1, characterized in that: the locking hook (13) is provided with a locking hook groove for locking the towing pin, the locking hook (13) is rotatably connected to the saddle plate (11) through a third rotating shaft (15), and an end of the locking hook (13) away from the locking hook groove is provided with a rotating shaft hole connected to the third rotating shaft (15).

3. The automatic tractor saddle of claim 2, characterized in that: an end of the locking hook (13) away from the rotating shaft hole is connected with a locking hook spring (16), the other end of the locking hook spring (16) is connected with the saddle plate (11), when the locking hook (13) is unlocked by the bevel (14), the locking hook spring (16) drives the locking hook (13) to rotate around the third rotating shaft (15), and the locking hook groove of the locking hook (13) is directed to the towing pin guide groove (12).

4. The automatic tractor saddle of claim 1, characterized in that: an inner wall of the saddle plate (11) is provided with an ear for rotatably connecting the worm (22), the ear is rotatably connected to an end of the worm (22), one end of the worm (22) is connected to the motor (21) through a shaft 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 a handle tool (30) for driving the worm (22) to rotate, the handle tool (30) includes a shaft rod (31), one end of the shaft rod (31) is provided with a handle (32) connected thereto perpendicularly, and the other end of the shaft rod (31) is provided with a sleeve (33) plug-connected to the non-circular shaft head (29).

5. A vehicle characterized by comprising: including: a tractor (50) including a vehicle chassis (51) including a frame longitudinal beam, and a connecting plate (18) spanning the top of the two frame longitudinal beams, the top of the connecting plate (18) is symmetrically connected with two supports (17) at intervals; the two supports (17) are rotatably connected with the automatic tractor saddle of any one of claims 1 to 4 through a pin shaft; a cab control instrument connected with an external communication interface (44) of the controller (43) on the automatic tractor saddle through a CAN bus; a trailer provided with a towing pin connected with the automatic tractor saddle.

6. A control method of a vehicle characterized by comprising: The method uses the vehicle of claim 5, and the method includes a detachment step and a connection step: the detachment step includes: controlling the tractor (50) and the trailer to be in a parking state, the controller (43) receives a parking signal of the tractor (50) and the trailer, and sends a control signal to the cab control instrument that the detachment can be started; after the cab control instrument receives the control signal to start the detachment, a flashing start icon for performing the detachment is displayed; unlocking the detachment control switch of the cab control instrument, the controller (43) receives the detachment control signal and processes the control signal into an execution command to start the motor (21). The motor (21) receives the control signal, starts to drive the worm (22), the worm gear (23), the swing arm (24) and the bevel gear (14) to move in the first direction, so that the bevel gear (14) unlocks the hook (13); When the bevel gear (14) completes the unlocking of the hook (13), the controller (43) receives the unlocking completion signal sent by the first sensor (41), controls the motor (21) to stop, and outputs the moving and uncoupling separation control signal to the cab control instrument; The cab control instrument receives the moving and uncoupling separation control signal, displays a flashing icon for moving and uncoupling separation; The tractor (50) moves forward and backward, the towing pin of the trailer is unlocked from the hook (13), the controller (43) receives the unlocking signal of the hook (13) sent by the second sensor (42), and outputs the uncoupling completion control signal to the cab control instrument; The cab control instrument receives the uncoupling completion control signal, displays a flashing icon for moving and uncoupling separation, and completes the uncoupling separation; The connecting step includes: Unlocking the cab control instrument connection control switch, the controller (43) receives the connection control signal, and 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 gear (14) is in the state of unlocking the hook (13), and the second sensor (42) detects that the hook (13) is in the state of unlocking the towing pin, a control signal for starting the connection is sent to the controller (43); The cab control instrument receives the control signal for starting the connection, and displays a flashing icon for controlling the connection; The tractor (50) moves forward and backward, the second sensor (42) detects that the towing pin of the trailer moves into the hook (13), the controller (43) receives the locking signal of the hook (13) sent by the second sensor (42), and starts the motor (21); The motor (21) drives the worm (22), the worm gear (23), the swing arm (24) and the bevel gear (14) to move in the second direction, so that the bevel gear (14) locks the hook (13), and the controller (43) receives the locking completion signal sent by the first sensor (41) and controls the motor (21) to stop; The controller (43) outputs the connection completion control signal to the cab control instrument, the cab control instrument displays a flashing icon for connection completion, and the connection is completed.

7. A control method of a vehicle characterized by comprising: The method uses the vehicle of claim 5, and the method comprises a state monitoring step, The state monitoring step includes: The tractor (50) is in the ON gear, the controller (43) is powered on, and sends a self-checking signal to the first sensor (41) and the second sensor (42); When the first sensor (41) detects that the bevel gear (14) is in the state of locking the hook (13), and the second sensor (42) detects that the hook (13) is in the state of locking the towing pin, a connection signal is sent to the controller (43); The cab control instrument displays a hitch connection icon after receiving the hitch connection signal from the controller, and the vehicle can be driven normally; The controller sends a skid (14) unlocking signal when the first sensor (41) detects that the skid (14) is in an unlocked state of the lock hook (13) and the second sensor (42) detects that the lock hook (13) is in a locked state of the towing pin; The cab control instrument displays a skid (14) unlocking icon and reminds the driver to check the saddle after receiving the skid (14) unlocking signal from the controller (43); The controller (43) sends a lock hook (13) unlocking signal when the first sensor (41) detects that the lock hook (13) is in an unlocked state of the skid (14) and the second sensor (42) detects that the lock hook (13) is in an unlocked state of the towing pin; The cab control instrument displays a lock hook (13) unlocking icon and reminds the driver to check the saddle after receiving the lock hook (13) unlocking signal from the controller (43); The controller (43) sends a skid (14) unlocking signal and a lock hook (13) unlocking signal when the first sensor (41) detects that the skid (14) is in an unlocked state of the lock hook (13) and the second sensor (42) detects that the lock hook (13) is in an unlocked state of the towing pin; The cab control instrument displays a skid (14) unlocking icon and a lock hook (13) unlocking icon and reminds the driver to check the saddle after receiving the skid (14) unlocking signal and the lock hook (13) unlocking signal from the controller (43).

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