Traction mechanism and vehicle

Abstract

The utility model provides a traction mechanism and a vehicle. The traction mechanism comprises a first traction piece, a second traction piece and an angle detection module. The first traction piece is used for being fixedly connected with a first transportation tool, the second traction piece is used for being fixedly connected with a second transportation tool, and the second traction piece is rotationally connected with the first traction piece. The angle detection module is arranged on the first traction piece and the second traction piece and used for detecting the relative rotation angle of the second traction piece and the first traction piece when the first traction piece and the second traction piece rotate relatively. Therefore, the relative rotation angle of the second transportation tool and the first transportation tool is detected.

Description

Technical Field

[0001] The present application relates to the technical field of tractor vehicles, and in particular to a traction mechanism and a vehicle. Background Art

[0002] Tractors and towed vehicles are widely used in the field of transportation, such as factory material transfer, postal transportation, railway transportation, and airport baggage transfer. They can effectively improve production efficiency and meet the needs of various transportation and distribution systems.

[0003] When the existing tractor is towing the towed vehicle, it cannot monitor the following status of the towed vehicle, resulting in the driver or the background system being unable to know the specific status of the towed vehicle when following the tractor, which is not conducive to controlling the movement of the towed vehicle. Utility Model Content

[0004] In order to solve the above technical problems, the present application provides a towing mechanism and a vehicle, which can detect the rotation angle of the towed vehicle relative to the tractor during the process of the tractor towing the towed vehicle, so as to know the specific state of the towed vehicle when following the vehicle, which is conducive to controlling the movement of the towed vehicle.

[0005] In a first aspect, the present application provides a traction mechanism, which includes a first traction member, a second traction member, and an angle detection module. The first traction member is used to be fixedly connected to a first transport tool, the second traction member is used to be fixedly connected to a second transport tool, and the second traction member is rotatably connected to the first traction member. The angle detection module is arranged on the first traction member and the second traction member, and the angle detection module is used to detect the relative rotation angle of the second traction member and the first traction member when the first traction member and the second traction member rotate relative to each other, so as to detect the relative rotation angle of the second transport tool and the first transport tool.

[0006] A second aspect of the present application provides a vehicle, which includes a transport vehicle and the aforementioned traction mechanism.

[0007] The traction mechanism and vehicle provided by the present application are configured to be fixedly connected with the first transport tool by setting the first traction member to be fixedly connected with the second transport tool, so that when the first transport tool and the second transport tool rotate relative to each other, the first traction member and the second traction member rotate relative to each other, and the angle of relative rotation between the second traction member and the first traction member is detected by the angle detection module, and the angle of relative rotation between the second transport tool and the first transport tool can be obtained. In addition, when the first transport tool tows the second transport tool or the second transport tool tows the first transport tool, the driving state of the towed transport tool can be obtained, which is conducive to controlling the movement of the towed transport tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0009] Figure 1 A schematic diagram of the structure of a traction mechanism provided in one embodiment of the present application.

[0010] Figure 2 for Figure 1 Schematic diagram of the exploded structure of the traction mechanism shown.

[0011] Figure 3 for Figure 1 A schematic structural diagram of the first traction member is shown.

[0012] Figure 4 for Figure 1 Schematic diagram of the structure of the latch shown.

[0013] Figure 5 It is a schematic diagram of the state of the traction mechanism when the first transport vehicle is moving straight.

[0014] Figure 6 for Figure 5 The schematic diagram of the state of the traction mechanism shown is after the first transport vehicle turns left.

[0015] Figure 7 It is a schematic diagram of the driving status of the first transportation tool and the second transportation tool in an example.

[0016] Figure 8 It is a schematic diagram of the driving status of the first transportation means and the second transportation means in another example.

[0017] Fig. 9This is a schematic diagram of the driving status of the first transportation tool and the second transportation tool in another example.

[0018] Fig.10 for Figure 1 A schematic structural diagram of the second traction member is shown.

[0019] Fig.11 for Figure 1 The structural schematic diagram of the angle detection module is shown.

[0020] Fig.12 A schematic diagram of the structure of a first means of transport provided in one embodiment of the present application.

[0021] Fig.13 for Figure 2 The diagram shows a connection diagram of the traction mechanism and the first transport vehicle.

[0022] Fig.14 A structural block diagram of a vehicle provided in accordance with an embodiment of the present application.

[0023] Description of reference numerals:

[0024] 100-traction mechanism; 10-first traction member; 20-second traction member; 30-angle detection module; 31-first submodule; 32-second submodule; 40a-connecting member; 11-first mounting portion; 11a-first mounting hole; 40-latch; 41-latch shaft; 200-first transport tool; 300-second transport tool; 42-first connecting portion; 21-connecting hole; 22-second connecting portion; 42a-convex portion; 22a-groove; 11b- Avoidance groove; 43-limiting part; 41a-first area; 12-second mounting part; 12a-second mounting hole; 41b-second area; 41c-connecting rod; 311-main body; 321-rotating shaft part; 321a-connecting groove; 311a-fixing part; 50-fastener; 13-protective part; 13a-third mounting hole; 14-mounting seat; 14a-fourth mounting hole; 60-bolt; 23-fifth mounting hole; 400-transportation tool; 500-vehicle. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only 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 creative work are within the scope of protection of this application.

[0026] In the description of the present application, the terms "first", "second", "third", "fourth", "fifth", etc. are used to distinguish different objects rather than to describe a specific order. The terms "upper", "lower", "inner", "outer", etc. indicate directions or positional relationships, which are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0027] In the description of this application, unless otherwise clearly specified and limited, the term "connection" 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 direct connection, an indirect connection through an intermediate medium, or the internal connection of two components; it can be a communication connection; it can be an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] See also Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of a traction mechanism 100 provided in an embodiment of the present application. Figure 2 for Figure 1 The schematic diagram of the exploded structure of the traction mechanism 100 is shown in FIG. Figure 1 and Figure 2 As shown, the traction mechanism 100 includes a first traction member 10, a second traction member 20 and an angle detection module 30. The first traction member 10 is used to be fixedly connected to a first transport tool, the second traction member 20 is used to be fixedly connected to a second transport tool, and the second traction member 20 is rotatably connected to the first traction member 10, that is, the second traction member 20 is rotatable relative to the first traction member 10. The angle detection module 30 is arranged on the first traction member 10 and the second traction member 20. The angle detection module 30 is used to detect the relative rotation angle of the second traction member 20 and the first traction member 10 when the first traction member 10 and the second traction member 20 rotate relative to each other, so as to detect the relative rotation angle of the second transport tool and the first transport tool.

[0029] The traction mechanism 100 provided in the present application is configured to be fixedly connected to the first transport by setting the first traction member 10 and the second traction member 20 to be fixedly connected to the second transport, so that when the first transport and the second transport rotate relative to each other, the first traction member 10 and the second traction member 20 rotate relative to each other, thereby using the angle detection module 30 to detect the angle of relative rotation between the second traction member 20 and the first traction member 10, and the angle of relative rotation between the second transport and the first transport can be obtained. According to the angle of relative rotation between the second transport and the first transport, the driving state of the second transport or the first transport can be obtained. Therefore, in the process of the first transport towing the second transport or the second transport towing the first transport, the driving state of the towed transport can be obtained, which is conducive to controlling the movement of the towed transport.

[0030] The first transport means may tow the second transport means or be towed by the second transport means.

[0031] In some embodiments, the first transport tool is one of a tractor and a towed vehicle, and the second transport tool is the other of the tractor and the towed vehicle. For example, the first transport tool is a tractor, the second transport tool is a feeder, and the first transport tool tows the second transport tool; or the second transport tool is a tractor, the first transport tool is a feeder, and the second transport tool tows the first transport tool.

[0032] In other embodiments, the first transport tool and the second transport tool may both be towed vehicles, and the tractor tows one of the first transport tool and the second transport tool to the other, so that one of the first transport tool and the second transport tool can tow the other under the traction of the tractor. For example, the tractor is connected to multiple material carts, the first transport tool and the second transport tool are two adjacent material carts, and the second transport tool is connected to the tractor via the first transport tool, and the first transport tool tows the second transport tool under the traction of the tractor.

[0033] The first traction member 10 is fixedly connected to the first transportation vehicle, and the second traction member 20 is fixedly connected to the second transportation vehicle, which may be detachably connected or non-detachably connected.

[0034] In some embodiments, the angle detection module 30 includes a first submodule 31 and a second submodule 32, wherein the first submodule 31 is fixedly connected to the first traction member 10, and the second submodule 32 is fixedly connected to the second traction member 20. When the first traction member 10 and the second traction member 20 rotate relative to each other, the first submodule 31 and the second submodule 32 rotate relative to each other, and the angle detection module 30 detects the relative rotation angle of the second traction member 20 and the first traction member 10 according to the relative rotation angle of the first submodule 31 and the second submodule 32, thereby detecting the relative rotation angle of the second transport tool and the first transport tool.

[0035] By setting the first traction member 10 to be fixedly connected with the first submodule 31, and the second traction member 20 to be fixedly connected with the second submodule 32, when the first traction member 10 and the second traction member 20 rotate relative to each other, the first submodule 31 and the second submodule 32 rotate relative to each other, and then the relative rotation angle of the second traction member 20 and the first traction member 10 can be detected according to the relative rotation angle of the first submodule 31 and the second submodule 32, thereby obtaining the relative rotation angle of the second transport tool and the first transport tool.

[0036] The fixed connection between the first submodule 31 and the first traction member 10 and the fixed connection between the second submodule 32 and the second traction member 20 may be detachably fixed or non-detachably fixed.

[0037] When the first traction member 10 and the second traction member 20 rotate relative to each other, the first traction member 10 , the first transportation tool and the first submodule 31 are relatively stationary, and the second traction member 20 , the second transportation tool and the second submodule 32 are relatively stationary.

[0038] In some embodiments, Figure 1 As shown, the traction mechanism 100 further includes a connecting member 40a, and the second traction member 20 is rotatably connected to the first traction member 10 via the connecting member 40a.

[0039] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 , Figure 3 for Figure 1 The structural schematic diagram of the first traction member 10 is shown in FIG. Figure 4 for Figure 1 Schematic diagram of the structure of the latch 40. In some embodiments, Figure 2 and Figure 3As shown, the first traction member 10 includes a first mounting portion 11, and the first mounting portion 11 is provided with a first mounting hole 11a. Figure 1 , Figure 2 and Figure 4 As shown, the connecting member 40a includes a pin 40, which is inserted into the first mounting portion 11 and the second traction member 20, and the pin 40 is fixedly connected to the second traction member 20 and rotatably connected to the first mounting portion 11, so that the second traction member 20 is rotatably connected to the first traction member 10.

[0040] By arranging the latch 40 to pass through the first traction member 10 and the second traction member 20 to connect the second traction member 20 to the first traction member 10 , the assembly process of the first traction member 10 , the second traction member 20 and the latch 40 can be very simple.

[0041] The latch 40 is fixedly connected to the second submodule 32 , so that the second traction member 20 is fixedly connected to the second submodule 32 .

[0042] In some embodiments, the first mounting hole 11a is a through hole, and the latch 40 passes through the first mounting hole 11a and the first mounting portion 11. In other embodiments, the first mounting hole 11a is a blind hole, and the latch 40 is inserted into the first mounting hole 11a and penetrates into the first mounting portion 11.

[0043] In some embodiments, Figure 4 As shown, the latch 40 includes a latch shaft 41 and a first connecting portion 42 disposed on the latch shaft 41. Figure 2 As shown, the second traction member 20 is provided with a connection hole 21, and the connection hole 21 is provided with a second connection portion 22. Figure 1 As shown, the latch shaft 41 is inserted into the first mounting portion 11 and the connecting hole 21, and the first connecting portion 42 is fixedly connected to the second connecting portion 22, so that the latch shaft 41 is fixedly connected to the second traction member 20, and the fixed connection can be a detachable fixed connection or a non-detachable fixed connection.

[0044] Among them, the latch shaft 41 is penetrated by the first mounting hole 11a and the connecting hole 21, and the latch shaft 41 is rotatably connected to the first mounting portion 11, that is, the latch shaft 41 is rotatable relative to the first mounting portion 11, so that the second traction member 20 is rotatable relative to the first traction member 10, and the latch shaft 41 is also fixedly connected to the second submodule 32, so that the second traction member 20 is fixedly connected to the second submodule 32.

[0045] When the first traction member 10 and the second traction member 20 rotate relative to each other, the first traction member 10 and the first submodule 31 are relatively stationary, the latch shaft 41 and the second traction member 20 and the second submodule 32 are relatively stationary, and the entirety formed by the latch shaft 41, the second traction member 20 and the second submodule 32 rotates relative to the entirety formed by the first traction member 10 and the first submodule 31. The angle of relative rotation of the second submodule 32 and the first submodule 31 is the angle of relative rotation of the second traction member 20 and the first traction member 10, that is, the angle of relative rotation of the second transport tool and the first transport tool.

[0046] In some other embodiments, the connecting member 40a may include a hinge, the hinge includes a first hinge portion and a second hinge portion that are rotatably connected, the first hinge portion is fixedly connected to the first traction member 10, the second hinge portion is fixedly connected to the second traction member 20, and the first traction member 10 and the second traction member 20 are rotatably connected through the hinge. In addition, the first mounting portion 11 is fixedly connected to the first submodule 31, the second hinge portion is rotatably connected to the second submodule 32, so that the second traction member 20 is rotatably connected to the second submodule 32, so that the second traction member 20 can be obtained according to the relative rotation angle of the first submodule 31 and the second submodule 32. The relative rotation angle with the first traction member 10.

[0047] In some embodiments, the first transport tool tows the second transport tool. When the first traction member 10 rotates relative to the second traction member 20, for example, when the first transport tool turns, the latch 40, the second traction member 20 and the second submodule 32 rotate relative to the first traction member 10 and the first submodule 31.

[0048] See also Figure 5 and Figure 6 , Figure 5 is a schematic diagram of the state of the traction mechanism 100 when the first transport vehicle is moving straight, Figure 6 for Figure 5 The traction mechanism 100 is shown as a schematic diagram of the state after the first transport vehicle turns left. Figure 5 and Figure 6 The motion principle of the traction mechanism 100 is shown schematically. Figure 5 and Figure 6 As shown, when the first transport vehicle turns left, the first traction member 10 moves left (as shown in FIG. Figure 5 The first submodule 31 rotates counterclockwise (as shown in the direction A in FIG. 1 ) following the first traction member 10. Figure 5During the rotation of the first traction member 10 to the left, the first mounting portion 11 applies a radial force along the radial direction of the latch shaft 41 and to the left to the second traction member 20 through the latch shaft 41, so that the second traction member 20 rotates to the left (as shown in FIG. Figure 5 When the second traction member 20 rotates to the left, it exerts a clockwise rotation (such as in the B direction) on the latch shaft 41. Figure 5 The rotation force of the first transport means (in the D direction) causes the latch shaft 41 to rotate clockwise, and the second submodule 32 rotates clockwise following the latch shaft 41. The angle between the left turn direction and the straight travel direction of the first transport means may be greater than 0° and less than or equal to 90°.

[0049] See also Figures 7 to 9 , Figure 7 is a schematic diagram of the driving status of the first transport tool 200 and the second transport tool 300 in an example, Figure 8 is a schematic diagram of the driving state of the first transport tool 200 and the second transport tool 300 in another example, Fig. 9 FIG. 2 is a schematic diagram of the driving state of the first transport tool 200 and the second transport tool 300 in another example. In some embodiments, the angle detected by the angle detection module 30 may be Figures 7 to 9 In the γ, the angle detected by the angle detection module 30 in the straight state can be Figure 7 γ in the figure is 90°. The angle detected by the angle detection module 30 in the left turn state can be Figure 8 In the γ in the left turn state, γ is greater than or equal to 0° and less than 90°, and the angle detected by the angle detection module 30 in the right turn state can be Fig. 9 In the right turn state, γ is greater than 90° and less than or equal to 180°.

[0050] The angle detected by the angle detection module 30 may be different if different reference bases are selected, as long as the same reference base is used for each detection. For example, in some other embodiments, the angle detected by the angle detection module 30 in the straight driving state may be 0°, and the angle detected by the angle detection module 30 in the left turning state may be Figure 8 In the left-turn state, θ is greater than 0° and less than or equal to 90°. In the right-turn state, the angle detected by the angle detection module 30 may be Fig. 9 In the right turn state, θ is less than 0° and greater than or equal to -90°.

[0051] In some other embodiments, the second transport tool pulls the first transport tool. When the second traction member 20 rotates relative to the first traction member 10, for example, when the second transport tool turns, the first traction member 10 and the first submodule 31 rotate relative to the latch 40, the second traction member 20 and the second submodule 32. Specifically, when the second transport tool turns right, the second traction member 20 rotates rightward, which can be referred to as Figure 5 In the B direction, the latch shaft 41 rotates clockwise following the second traction member 20, which can be referred to Figure 5 In the D direction, the second traction member 20 applies a radial force along the radial direction of the latch shaft 41 and to the right to the first mounting portion 11 of the first traction member 10 through the latch shaft 41, so that the first traction member 10 rotates to the right, which can be referred to Figure 5 In the A direction, the first submodule 31 rotates counterclockwise following the first traction member 10, which can be referred to Figure 5 Thus, when the second transport vehicle turns right, the first traction member 10 and the first submodule 31 and the latch 40, the second traction member 20 and the second submodule 32 will rotate relative to each other, and the relative rotation angle of the second traction member 20 and the first traction member 10 can be detected by detecting the relative rotation angle of the first submodule 31 and the second submodule 32.

[0052] See also Figure 1 , Figure 2 , Figure 4 and Fig.10 , Fig.10 for Figure 1 Schematic diagram of the structure of the second traction member 20. In some embodiments, Figure 1 , Figure 2 , Figure 4 and Fig.10 As shown, the first connecting portion 42 includes a convex portion 42a provided on the latch shaft 41, and the second connecting portion 22 includes a groove 22a provided on the hole wall of the connecting hole 21 and adapted to the convex portion 42a. When the latch shaft 41 is inserted into the connecting hole 21, at least a portion of the convex portion 42a is inserted into the groove 22a and abuts against the groove 22a, and is fixedly connected to the groove 22a, thereby fixing the latch shaft 41 to the second traction member 20.

[0053] In some embodiments, Fig.10 As shown, part of the hole wall of the connecting hole 21 is recessed along the radial direction of the connecting hole 21 to form the groove 22 a.

[0054] By providing the groove 22a in the hole wall of the connecting hole 21 and providing the convex portion 42a on the latch shaft 41, when the convex portion 42a is inserted into the groove 22a, the circumferential movement of the latch shaft 41 along the connecting hole 21 can be restricted, and the latch shaft 41 and the second traction member 20 are relatively fixed, so that the latch shaft 41 and the second traction member 20 will remain relatively stationary.

[0055] The protrusion 42a is arranged on the side of the first mounting portion 11 close to the second traction member 20, that is, the protrusion 42a is located on the side of the first mounting hole 11a close to the second traction member 20 to prevent the latch shaft 41 from getting stuck when rotating relative to the first traction member 10.

[0056] The number of the protrusions 42 a is equal to the number of the grooves 22 a , and each protrusion 42 a corresponds to a groove 22 a , and each protrusion 42 a is inserted into the corresponding groove 22 a .

[0057] There may be at least two protrusions 42a, and the at least two protrusions 42a are distributed on the outer peripheral side of the latch shaft 41 along the circumference of the latch shaft 41. Figure 4 As shown, the latch 40 includes two protrusions 42a, and the two protrusions 42a are arranged opposite to each other. The number of the grooves 22a can be at least two, and the at least two grooves 22a are distributed along the circumference of the connecting hole 21, for example, Fig.10 As shown, the second traction member 20 includes two oppositely disposed grooves 22a. The at least two protrusions 42a may be symmetrically disposed along the circumference of the latch shaft 41, and the at least two grooves 22a may be symmetrically disposed along the circumference of the connecting hole 21. Alternatively, the arrangement of the at least two protrusions 42a and the at least two grooves 22a may be set according to actual needs.

[0058] In other embodiments, the number of the protrusion 42 a may be one, and the number of the concave groove 22 a may be one.

[0059] The outer contour of the convex portion 42a may be arc-shaped, polygonal, etc., for example, Figure 4 The shape of the groove 22a can be arc-shaped, polygonal, etc., for example, Fig.10 As shown, it is square.

[0060] In other embodiments, the first connecting portion 42 includes a groove provided on the latch shaft 41, and the second connecting portion 22 includes a convex portion provided on the hole wall of the connecting hole 21 and adapted to the groove, and the convex portion is inserted into at least a portion of the groove and abuts against the groove, and is fixedly connected to the groove, thereby fixing the latch shaft 41 and the second traction member 20.

[0061] In some embodiments, the outer wall of the latch shaft 41 is recessed inward to form the groove.

[0062] In some other embodiments, the first connection portion 42 may be an external threaded portion, the second connection portion 22 may be an internal threaded portion matching the external threaded portion, and the latch shaft 41 is fixedly connected to the second traction member 20 via threads.

[0063] In some other embodiments, the latch shaft 41 may be fixedly connected with the connecting hole 21 by interference fit.

[0064] In some other embodiments, the latch shaft 41 is inserted into the connecting hole 21, and a threaded hole is provided on the side wall of the second traction member 20 along the radial direction of the connecting hole 21, and the threaded hole is communicated with the connecting hole 21. By screwing a bolt into the threaded hole and making the bolt abut against the latch shaft 41, the latch shaft 41 is fixedly connected to the second traction member 20.

[0065] In some embodiments, Figure 1 , Figure 2 and Figure 3 As shown, the first connection portion 42 includes a convex portion 42a provided on the latch shaft 41, and the second connection portion 22 includes a groove 22a provided on the hole wall of the connection hole 21 and adapted to the convex portion 42a. The latch shaft 41 passes through the first mounting hole 11a and the connection hole 21 in sequence and is inserted into the first mounting portion 11 and the second traction member 20. The hole wall of the first mounting hole 11a is provided with an avoidance groove 11b, and the avoidance groove 11b is used to allow the convex portion 42a to pass when the latch shaft 41 passes through the first mounting hole 11a, so as to prevent the convex portion 42a from being stuck in the first mounting hole 11a.

[0066] Part of the hole wall of the first mounting hole 11 a is recessed along the radial direction of the first mounting hole 11 a to form the avoidance groove 11 b.

[0067] The number of the avoidance grooves 11 b is equal to the number of the protrusions 42 a , and each avoidance groove 11 b corresponds to a protrusion 42 a to allow the corresponding protrusion 42 a to pass through.

[0068] There may be at least two avoidance grooves 11b, and the at least two avoidance grooves 11b are distributed along the circumference of the first mounting hole 11a. Figure 3 As shown, the first mounting portion 11 includes two avoidance grooves 11b, and the two avoidance grooves 11b are arranged opposite to each other. In other embodiments, the number of the avoidance groove 11b can be one.

[0069] In some embodiments, Figure 1 , Figure 2 and Figure 4 As shown, the latch 40 also includes a limiting portion 43 provided at one end of the latch shaft 41, the limiting portion 43 is located on the side of the first mounting portion 11 away from the second traction member 20, the outer contour size of the limiting portion 43 is larger than the aperture of the first mounting hole 11a, and the orthographic projection of the limiting portion 43 on the first mounting portion 11 covers at least a portion of the first mounting hole 11a and at least a portion of the first mounting portion 11, so as to limit the movement of the latch shaft 41 in the direction close to the second traction member 20 to avoid falling off.

[0070] The limiting portion 43 contacts a surface of the first mounting portion 11 that is away from the second pulling member 20 , and the first mounting portion 11 can provide support for the latch 40 .

[0071] In some embodiments, the traction mechanism 100 also includes a first bearing (not shown in the figure), the first bearing includes an inner ring, an outer ring and a ball, the outer ring surrounds the inner ring, the ball is arranged between the inner ring and the outer ring, the latch shaft 41 passes through and is fixed to the inner ring of the first bearing, the outer ring of the first bearing is fixed to the hole wall of the first mounting hole 11a, the inner ring of the first bearing is rotatable relative to the outer ring, so that the latch shaft 41 is rotatable relative to the first mounting part 11, that is, the latch 40 is rotatable relative to the first traction member 10.

[0072] The latch shaft 41 is rotatably connected to the first mounting portion 11 via the first bearing, which can reduce friction when the latch shaft 41 and the first mounting portion 11 rotate relative to each other.

[0073] In some embodiments, Figure 4 As shown, the latch shaft 41 includes a first area 41a located between the protrusion 42a and the limiting portion 43, and the first bearing can be sleeved in the first area 41a, so that when the latch 40 is inserted into the first mounting portion 11 and the second traction member 20, the protrusion 42a can smoothly pass through the avoidance groove 11b, and the outer ring of the first bearing can be fixed to the hole wall of the first mounting hole 11a.

[0074] In other embodiments, the diameter of the first mounting hole 11a may be slightly larger than the outer diameter of the latch shaft 41 , so that the latch shaft 41 can not only rotate relative to the first mounting portion 11 , but also apply force to the first traction member 10 and be subject to force applied by the first traction member 10 .

[0075] In some embodiments, the second submodule 32 includes one of a rotating shaft portion and a main body, and the first submodule 31 includes the other of a rotating shaft portion and a main body. The main body is sleeved on the rotating shaft portion, and the rotating shaft portion is rotatable relative to the main body. When the first traction member 10 and the second traction member 20 rotate relative to each other, the main body and the rotating shaft portion rotate relative to each other, and the angle detection module 30 detects the relative rotation angle of the second traction member 20 and the first traction member 10 according to the relative rotation angle of the main body and the rotating shaft portion.

[0076] The angle detection module 30 may include an angle sensor, and the angle sensor may include an encoder, such as a photoelectric encoder, a magnetoelectric encoder, a brush encoder, etc.

[0077] When the angle detection module 30 is a photoelectric encoder, the shaft portion includes a fixedly connected shaft and a code disk, the code disk includes light-transmitting areas and opaque areas arranged alternately, and the body includes a relatively fixed light source and a photosensitive portion, the light source is used to emit light to illuminate the code disk, and the photosensitive portion is used to receive light signals. The shaft and the code disk are fixedly connected to one of the latch shaft 41 and the first traction member 10, and the light source and the photosensitive portion are fixedly connected to the other of the latch shaft 41 and the first traction member 10. When the shaft portion and the body rotate relative to each other, that is, when the code disk and the light source and the photosensitive portion rotate relative to each other, the light emitted by the light source will illuminate different positions on the code disk, and the photosensitive portion will receive light signals of different intensities. Based on these light signals, the relative rotation angle of the code disk and the light source and the photosensitive portion can be obtained, so that the relative rotation angle of the second traction member 20 and the first traction member 10 can be obtained.

[0078] When the angle detection module 30 is a magnetoelectric encoder, the shaft portion includes a fixedly connected shaft and a magnetic turntable, the magnetic turntable includes a plurality of magnetic regions, the plurality of magnetic regions are alternating N poles and S poles or regions with different magnetic induction strengths, and the body includes an induction coil for sensing magnetic field strength. The shaft and the magnetic turntable are fixedly connected to one of the latch shaft 41 and the first traction member 10, and the induction coil is fixedly connected to the other of the latch shaft 41 and the first traction member 10. When the shaft portion and the body rotate relative to each other, that is, when the magnetic turntable and the induction coil rotate relative to each other, different magnetic regions of the magnetic turntable will pass through the induction coil, and the induction coil will receive magnetic field signals of different strengths. Based on these magnetic field signals, the angle of relative rotation of the magnetic turntable and the induction coil can be obtained, thereby obtaining the angle of relative rotation of the second traction member 20 and the first traction member 10.

[0079] When the angle detection module 30 is a brush-type encoder, the shaft portion includes a brush, and the body includes a conductive ring and an electric signal detector connected to each other. The brush is fixedly connected to one of the latch shaft 41 and the first traction member 10, and the conductive ring and the electric signal receiver are fixedly connected to the other of the latch shaft 41 and the first traction member 10. When the shaft portion and the body rotate relative to each other, that is, when the brush and the conductive ring rotate relative to each other, the brush will slide on the conductive ring, and the resistance or capacitance value in the circuit will change during the sliding process of the brush, so that the electric signal detector detects different voltage signals or current signals. Based on these electrical signals, the angle of relative rotation of the brush and the conductive ring can be obtained, and thus the angle of relative rotation of the second traction member 20 and the first traction member 10 can be obtained.

[0080] The angle detection module 30 may also be other types of encoders. Alternatively, the angle detection module 30 may be a rotary transformer, the shaft portion may include a stator, and the body may include a rotor.

[0081] In some other embodiments, the first submodule 31 may include a magnetic induction sensor, which is fixed on the first traction member 10, and the second submodule 32 may include a magnetic member, which is fixedly connected to the second traction member 20, for example, sleeved on the outer peripheral side of the second traction member 20. When the first traction member 10 and the second traction member 20 rotate relative to each other, the magnetic induction sensor and the magnetic member rotate relative to each other, and the magnetic induction sensor determines the relative rotation angle of the first traction member 10 and the second traction member 20 according to the detected magnetic field strength and magnetic field direction.

[0082] In some embodiments, Figure 1 , Figure 2 and Figure 3 As shown, the first traction member 10 further includes a second mounting portion 12 spaced apart from the first mounting portion 11. Figure 1 As shown, at least a portion of the second traction member 20 is located between the first mounting portion 11 and the second mounting portion 12, the latch 40 is sequentially inserted into the first mounting portion 11, the second traction member 20 and the second mounting portion 12, and the latch 40 extends out of the second mounting portion 12 and is fixedly connected to the second submodule 32, and the latch 40 is rotatably connected to the second mounting portion 12.

[0083] Among them, the latch shaft 41 of the latch 40 is sequentially penetrated through the first mounting portion 11, the portion of the second traction member 20 located between the first mounting portion 11 and the second mounting portion 12, and the second mounting portion 12, and the latch shaft 41 extends out of the second mounting portion 12 and is fixedly connected to the second submodule 32.

[0084] like Figure 2 and Figure 3 As shown, the second mounting portion 12 is provided with a second mounting hole 12a, and the latch shaft 41 is inserted into the second mounting hole 12a. The second mounting hole 12a may have a common central axis with the first mounting hole 11a, that is, the first mounting hole 11a and the second mounting hole 12a are concentrically arranged, and the latch shaft 41 may be vertically inserted into the first mounting hole 11a and the second mounting hole 12a, which is convenient for assembly, and is conducive to uniform force on the latch shaft 41, improving structural stability, and reducing wear on the latch shaft 41.

[0085] The protrusion 42a may be disposed on a side of the second mounting portion 12 close to the second pulling member 20 to avoid affecting the relative rotation of the latch shaft 41 and the second mounting hole 12a.

[0086] When the first transport tool tows the second transport tool, the second mounting portion 12 of the first traction member 10 applies a radial force to the second traction member 20 through the latch shaft 41, so that the second traction member 20 rotates. When the second traction member 20 rotates, it applies a circumferential rotational force to the latch shaft 41. The movement principle can refer to the aforementioned movement principle of the first mounting portion 11, the latch shaft 41 and the second traction member 20 when the first transport tool tows the second transport tool.

[0087] When the second transport tool tows the first transport tool, the second traction member 20 applies a radial force to the second mounting portion 12 through the latch shaft 41, so that the first traction member 10 rotates. The movement principle can refer to the movement principle of the first mounting portion 11, the latch shaft 41 and the second traction member 20 when the second transport tool tows the first transport tool.

[0088] The second mounting portion 12 can provide support for the latch 40 and increase the contact area between the latch shaft 41 and the first traction member 10, which is beneficial for the first traction member 10 to apply a force to the latch shaft 41, thereby facilitating the rotation of the latch 40 and the second traction member 20 under the traction of the first traction member 10, or facilitating the latch shaft 41 to apply a force to the first traction member 10, thereby facilitating the rotation of the first traction member 10 under the traction of the latch 40 and the second traction member 20.

[0089] In some embodiments, the traction mechanism 100 further includes a second bearing (not shown in the figure), the second bearing includes an inner ring, an outer ring and a ball, the outer ring surrounds the inner ring, the ball is arranged between the inner ring and the outer ring, when the latch shaft 41 is inserted into the second mounting hole 12a, the latch shaft 41 is inserted into and fixed to the inner ring of the second bearing, the outer ring of the second bearing is fixed to the hole wall of the second mounting hole 12a, the inner ring of the second bearing is rotatable relative to the outer ring, so that the latch shaft 41 is rotatable relative to the second mounting portion 12, and the latch 40 is rotatable relative to the first traction member 10. The latch shaft 41 passes through the second bearing and is fixedly connected to the second submodule 32.

[0090] The latch shaft 41 and the second mounting portion 12 are rotatably connected via the second bearing, which can reduce the friction force when the latch shaft 41 and the second mounting portion 12 rotate relative to each other.

[0091] In some embodiments, Figure 4 As shown, the latch shaft 41 includes a second area 41b, which is located on the side of the convex portion 42a away from the limiting portion 43. When the latch shaft 41 is passed through and fixed to the inner ring of the second bearing, the inner ring of the second bearing is fixed to the second area 41b to prevent the convex portion 42a from getting stuck with the second bearing. The outer ring of the second bearing can be fixed in the second mounting hole 12a first, and then the latch shaft 41 can be inserted into the inner ring of the second bearing.

[0092] In other embodiments, the aperture of the second mounting hole 12a may be slightly larger than the outer diameter of the latch shaft 41 , so that the latch shaft 41 can not only rotate relative to the second mounting portion 12 , but also apply force to the first traction member 10 and be subject to force applied by the first traction member 10 .

[0093] In some embodiments, Figure 4 As shown, the latch shaft 41 may include a connecting rod 41 c. When the latch shaft 41 is inserted into the second mounting portion 12 , the connecting rod 41 c extends out of the second mounting hole 12 a and is fixedly connected to the second submodule 32 .

[0094] See also Figure 1 , Figure 2 and Fig.11 , Fig.11 for Figure 1 Schematic diagram of the structure of the angle detection module 30. In some embodiments, Figure 1 , Figure 2 and Fig.11As shown, the first submodule 31 includes a main body 311, and the main body 311 is fixed to the side of the second mounting portion 12 facing away from the first mounting portion 11, and / or the second submodule 32 includes a shaft portion 321, and the shaft portion 321 is fixedly connected to the portion of the latch shaft 41 extending out of the second mounting portion 12, that is, the shaft portion 321 is fixedly connected to the connecting rod 41c of the latch shaft 41.

[0095] In some embodiments, the shaft portion 321 is provided with a connecting groove 321a, and the latch 40 is inserted into the connecting groove 321a and fixedly connected to the connecting groove 321a. Fig.11 As shown, the latch shaft 41 is inserted into the connecting groove 321a and fixedly connected to the connecting groove 321a.

[0096] In some embodiments, Figure 1 and Figure 2 As shown, the traction mechanism 100 further includes a fastener 50 , which passes through the groove wall of the connecting groove 321 a and abuts against the latch shaft 41 to fasten the latch shaft 41 and the rotating shaft portion 321 , thereby further improving the connection stability between the latch shaft 41 and the rotating shaft portion 321 .

[0097] In other embodiments, the latch shaft 41 is provided with a connection groove, the shaft portion 321 is inserted into the connection groove and fixedly connected to the connection groove. The fastener 50 passes through the groove wall of the connection groove 321a and abuts against the shaft portion 321 to fasten the latch shaft 41 and the shaft portion 321.

[0098] In some embodiments, Figure 1 , Figure 2 and Fig.11 As shown, the body 311 includes a fixing portion 311 a , and the fixing portion 311 a is fixedly connected to the second mounting portion 12 by screws.

[0099] In some other embodiments, the first submodule 31 includes the shaft portion, which is fixed to the first traction member 10, and the second submodule 32 includes a body, wherein the latch shaft 41 extends out of the second traction member 20 and is fixedly connected to the body when it is inserted into the first mounting hole 11a and the second traction member 20. The latch shaft 41 can be fixedly connected to the body by bolt connection, clamping, riveting, etc. The shaft portion can be fixedly connected to the second mounting portion 12.

[0100] In some embodiments, Figure 1 , Figure 2 and Figure 3As shown, the first traction member 10 may further include a protection member 13, which is disposed on a side of the angle detection module 30 away from the second mounting portion 12 to protect the angle detection module 30 and prevent the angle detection module 30 from colliding with other objects.

[0101] In some embodiments, the protective member 13 is provided with a third mounting hole 13 a, and the third mounting hole 13 a is used for providing the wires of the angle detection module 30 to guide the wires.

[0102] In some embodiments, Figure 1 , Figure 2 and Figure 3 As shown, the first traction member 10 may further include a mounting seat 14, the first mounting portion 11, the second mounting portion 12 and the protective member 13 are fixed on the mounting seat 14, and the mounting seat 14 is used to be fixedly connected to the first transportation tool. For example, the mounting seat 14 may be provided with a fourth mounting hole 14a, which can be used as shown in FIG. Figure 1 The bolt 60 shown fixes the fourth mounting hole 14 a and the first transport tool, thereby fixing the first traction member 10 and the first transport tool.

[0103] In some embodiments, the first mounting portion 11 , the second mounting portion 12 and the protection member 13 are all plate-shaped and arranged in parallel.

[0104] In some embodiments, Figure 1 , Figure 2 and Fig.10 As shown, the second traction member 20 is provided with a fifth mounting hole 23 for mounting and fixing the second transportation tool 300 .

[0105] See also Fig.12 and Fig.13 , Fig.12 This is a schematic diagram of the structure of a first transport tool 200 provided in an embodiment of the present application. Fig.13 for Figure 2 The diagram of the connection between the traction mechanism 100 and the first transport tool 200 is shown. The fourth mounting hole 14a and the first transport tool 200 can be fixed by the bolt 60.

[0106] In some embodiments, the second traction member 20 may include an insertion portion (not shown), which is inserted into the connection groove 321a of the rotating shaft portion 321 and fixedly connected to the rotating shaft portion 321, so that the second traction member 20 is directly fixedly connected to the rotating shaft portion 321. The body 311 is fixed to the first traction member 10. The latch shaft 41 is inserted into the first mounting portion 11 and the second traction member 20, and the latch shaft 41 is fixedly connected to the second traction member 20 and can rotate relative to the first traction member 10. When the first traction member 10 and the second traction member 20 rotate relative to each other, the body 311 and the first traction member 10 are relatively stationary, and the rotating shaft portion 321 and the second traction member 20 are relatively stationary. By detecting the relative rotation angle between the rotating shaft portion 321 and the body 311, the relative rotation angle between the second traction member 20 and the first traction member 10 can be detected.

[0107] In some embodiments, the first traction member 10 and the second traction member 20 may be connected by other connection methods, so that the second traction member 20 and the first traction member can rotate relative to each other. For example, they may be connected by hinges; or, the first traction member 10 may be provided with a hanging ring or a ball connector, and the second traction member 20 may be provided with a hook, and the hook is hung on the hanging ring or the ball connector, so that the second traction member 20 is connected to the first traction member 10, and the hook and the hanging ring or the ball connector can rotate relative to each other.

[0108] See also Fig.14 , is a structural block diagram of a vehicle 500 provided in an embodiment of the present application. Fig.14 As shown, the vehicle 500 includes a transport tool 400 and the traction mechanism 100 described in any of the aforementioned embodiments. The transport tool is the aforementioned first transport tool and / or the second transport tool.

[0109] The vehicle 500 may be a towing AGV (Automated Guided Vehicle), or may be a semi-trailer tractor, a full-trailer tractor, or other types of tractors.

[0110] The fixed connection in the embodiment of the present application may be a detachable fixed connection or a non-detachable fixed connection.

[0111] The above is an implementation method of the embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the embodiment of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A traction mechanism, characterized in that: The traction mechanism comprises: A first traction member, used for fixedly connecting with a first transport vehicle; A second traction member, used for fixedly connecting to a second transport vehicle, the second traction member being rotatably connected to the first traction member; The angle detection module is arranged on the first traction member and the second traction member. The angle detection module is used to detect the relative rotation angle of the second traction member and the first traction member when the first traction member and the second traction member rotate relative to each other, thereby detecting the relative rotation angle of the second transportation tool and the first transportation tool.

2. The traction mechanism according to claim 1, characterized in that: The angle detection module includes a first submodule and a second submodule, the first submodule is fixedly connected to the first traction member, and the second submodule is fixedly connected to the second traction member. When the first traction member and the second traction member rotate relative to each other, the first submodule and the second submodule rotate relative to each other, and the angle detection module detects the relative rotation angle of the second traction member and the first traction member based on the relative rotation angle of the first submodule and the second submodule.

3. The traction mechanism according to claim 2, characterized in that: The traction mechanism further includes a connecting member, and the second traction member is rotatably connected to the first traction member through the connecting member.

4. The traction mechanism according to claim 3, characterized in that: The first traction member includes a first mounting portion, and the connecting member includes a latch, which is inserted into the first mounting portion and the second traction member, and the latch is fixedly connected to the second traction member and rotatably connected to the first mounting portion, so that the second traction member is rotatably connected to the first traction member.

5. The traction mechanism according to claim 4, characterized in that: The latch is fixedly connected to the second submodule, so that the second traction member is fixedly connected to the second submodule.

6. The traction mechanism according to claim 4, characterized in that: The latch includes a latch shaft and a first connecting portion arranged on the latch shaft, the second traction member is provided with a connecting hole, the connecting hole is provided with a second connecting portion, the latch shaft is passed through the first mounting portion and the connecting hole, the first connecting portion is fixedly connected to the second connecting portion, so that the latch shaft is fixedly connected to the second traction member.

7. The traction mechanism according to claim 6, characterized in that: The first connecting portion includes a convex portion provided on the latch shaft, and the second connecting portion includes a groove provided on the hole wall of the connecting hole and matched with the convex portion, and at least a portion of the convex portion is inserted into the groove and abuts against the groove; or, the first connecting portion includes a groove provided on the latch shaft, and the second connecting portion includes a convex portion provided on the hole wall of the connecting hole and matched with the groove, and the convex portion is inserted into at least a portion of the groove and abuts against the groove.

8. The traction mechanism according to claim 6, characterized in that: The first mounting portion is provided with a first mounting hole, the latch shaft is passed through the first mounting hole and the connecting hole, and the latch shaft is rotatably connected to the first mounting portion.

9. The traction mechanism according to claim 8, characterized in that: The latch shaft passes through the first mounting hole and the connecting hole in sequence and is inserted into the first mounting portion and the second traction member. The first connecting portion includes a convex portion provided on the latch shaft, and the second connecting portion includes a groove provided on the hole wall of the connecting hole and matched with the convex portion. The hole wall of the first mounting hole is provided with an avoidance groove, and the avoidance groove is used for allowing the convex portion to pass when the latch shaft passes through the first mounting hole.

10. The traction mechanism according to claim 8, characterized in that: The latch also includes a limiting portion provided at one end of the latch shaft, the limiting portion is located on a side of the first mounting portion away from the second traction member, and an orthographic projection of the limiting portion on the first mounting portion covers at least a portion of the first mounting hole and at least a portion of the first mounting portion.

11. The traction mechanism according to claim 4, characterized in that: The second submodule includes one of a rotating shaft portion and a main body, and the first submodule includes the other of a rotating shaft portion and a main body. The main body is sleeved on the rotating shaft portion. When the first traction member, the latch and the second traction member rotate relative to each other, the main body and the rotating shaft portion rotate relative to each other. The angle detection module detects the relative rotation angle of the second traction member and the first traction member according to the relative rotation angle of the main body and the rotating shaft portion.

12. The traction mechanism according to claim 11, characterized in that: The first traction member also includes a second mounting portion spaced apart from the first mounting portion, at least a portion of the second traction member is located between the first mounting portion and the second mounting portion, the latch is sequentially inserted into the first mounting portion, the second traction member and the second mounting portion, and the latch extends out of the second mounting portion and is fixedly connected to the second submodule, and the latch is rotatably connected to the second mounting portion.

13. The traction mechanism according to claim 12, characterized in that: The first submodule includes a body, which is fixed to a side of the second mounting portion away from the first mounting portion, and / or the second submodule includes a shaft portion, which is fixedly connected to a portion of the latch extending out of the second mounting portion.

14. The traction mechanism according to claim 12 or 13, characterized in that: The shaft portion is provided with a connection groove, the latch is inserted into the connection groove and fixedly connected to the connection groove; or the latch is provided with a connection groove, the shaft portion is inserted into the connection groove and fixedly connected to the connection groove.

15. The traction mechanism according to claim 8, characterized in that: The traction mechanism further includes a first bearing, the latch shaft passes through and is fixed to the inner ring of the first bearing, and the outer ring of the first bearing is fixed to the hole wall of the first mounting hole.

16. A vehicle, characterized in that: The vehicle comprises a transport tool and a traction mechanism as claimed in any one of claims 1 to 15.

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