Automatic locking and unlocking device

Abstract

This disclosure relates to an automatic locking and unlocking device. [Solution] The towing vehicle comprises a base assembled on a towing vehicle, a trailer coupling plate, a power output assembly, a controller, and an interlocking assembly, the power output assembly comprising a rectangular fixed column, a mounting plate, a rotating shaft, a first pulley, a winding reel, a reduction motor, a coupling belt, a lifting block, and a towing pin, the towing pin being used to lock the trailer coupling plate, and the interlocking assembly comprising a first rack, a first gear, a second gear, a second rack, and a side guide plate, the side guide plate being connected to the side of the trailer coupling plate. The present disclosure guides the trailer coupling plate to enter and align with the towing pin through the interlocking action of the side guide plates on both sides and the towing pin, thereby enabling the trailer to be locked in place by the trailer coupling plate and improving the efficiency of the locking positioning.

Description

Technical Field

[0001] The present disclosure relates to the technical field of a hitch connection and disconnection control system for a tractor, and particularly to an automatic hitch connection and disconnection device.

Background Art

[0002] Conventional tractors usually realize the connection and disconnection functions between the tractor and the trailer by manually inserting and removing a hitch pin. In the use of driverless tractors, usually, full-process unmanned operation is required, so it is necessary to change the operation of this part to realize automation during use. The current automatic hitch connection and disconnection device realizes automatic connection and disconnection of the trailer by installing proximity sensors, actuators and locking hooks, reducing the workload by hand and improving the degree of automation. However, the designs of trailers from each manufacturer are different, and how to adapt one type of hitch connection and disconnection to multiple types of trailers is also one of the design difficulties. Therefore, a design that accurately guides automatic hitch connection and disconnection according to vehicle types is a necessary need in the trend of unmanned operation. For the above reasons, the present disclosure provides an accurate and rapid automatic hitch connection and disconnection device that adapts to different vehicle types.

Summary of the Invention

Problems to be Solved by the Invention

[0003] The present disclosure aims to propose an accurate and rapid automatic hitch connection and disconnection device that adapts to different vehicle types in view of the problems existing in the background art.

Means for Solving the Problems

[0004] An automatic hitch connection and disconnection device comprising a base assembled on a tractor and a trailer connecting plate, further comprising a power output assembly, a controller and an interlocking assembly, wherein the base and the controller are respectively attached to two opposite side surfaces of the power output assembly, The power output assembly includes a rectangular fixed column, a mounting plate, a rotating shaft, a first pulley, a winding reel, a reduction motor, a connecting belt, a lifting block, and a towing pin, wherein the rectangular fixed column is attached to the side of the base, one side of the rectangular fixed column is connected to the mounting plate, the rotating shaft, the winding reel, and the lifting block are provided in the internal cavity of the rectangular fixed column, one end of the rotating shaft protrudes from the rectangular fixed column and is connected to the first pulley through the mounting plate, the other end of the rotating shaft is connected to the winding reel, one side of the first pulley is connected to the reduction motor, the connecting belt is wound around the winding reel, the lifting block penetrates the rectangular fixed column, one end of the lifting block is connected to the bottom of the connecting belt, the other end of the lifting block is connected to the towing pin, and the towing pin is used to lock the trailer connecting plate. The interlocking assembly includes a first rack, a first gear, a second gear, a second rack, and a side guide plate, wherein the first gear meshes with the side of the first rack, the front of the second gear is coaxial with the front of the first gear, the second rack meshes with the side of the second gear, the front of the second rack is connected to the side guide plate, and the side guide plate is connected to the side of the trailer connecting plate. [Effects of the Invention]

[0005] This disclosure offers the following beneficial technical effects. Through the interlocking action of the side guide plates on both sides and the towing pin, this disclosure guides the trailer coupling plate to enter and align with the towing pin, enabling the trailer to be secured by the trailer coupling plate and improving the efficiency of the securing positioning. Furthermore, after the towing pin of the towing vehicle drops, the rising of the side guide plates does not interfere with the trailer's steering angle, thus preventing a reduction in the towing vehicle's turning radius. While requiring human intervention, it can accurately and quickly achieve automatic securing and unsecuring for different vehicle types, and can perform fully automated towing operations in conjunction with unmanned towing vehicles. [Brief explanation of the drawing]

[0006] [Figure 1] A schematic diagram of the front structure of this disclosure is shown. [Figure 2] Figure 1 is a schematic diagram of the power output assembly structure. [Figure 3] Figure 2 is a schematic diagram of another structure of the power output assembly. [Figure 4] This is a schematic diagram showing the state after the suspension of this disclosure has been completed. [Figure 5] Figure 4 is a schematic diagram of the structure from a different perspective. [Modes for carrying out the invention]

[0007] The technical invention of this disclosure will be clearly and completely described below in conjunction with the drawings, and it should be noted that the embodiments described are not all embodiments, but rather some embodiments of this disclosure.

[0008] Typically, the assemblies of embodiments of this disclosure shown in the drawings herein can be designed and arranged in a variety of different configurations. Accordingly, the detailed descriptions of embodiments of this disclosure relating to the drawings below are not intended to limit the scope of the disclosure for which protection is sought, but rather represent only selected embodiments of the disclosure.

[0009] According to the embodiments in this disclosure, all other embodiments obtained by a person skilled in the art without performing any creative work fall within the scope of protection of this disclosure.

[0010] Furthermore, in the description of this disclosure, directions or positional relationships indicated by terms such as "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" are based on the directions or positional relationships shown in the drawings and are merely for the purpose of facilitating and simplifying the explanation of this disclosure. They do not indicate or imply that the device or element being referred to necessarily has a specific direction or must be constructed and operated in a specific direction, and therefore should not be understood as limiting this disclosure. In addition, terms such as "first," "second," and "third" are merely for explanatory purposes and should not be understood as indicating or implying relative importance.

[0011] In this disclosure, unless otherwise specifically defined and limited, the terms “attachment,” “connection,” and “linking” should be interpreted broadly, for example, including fixed connections, detachable connections, integrally molded connections, mechanical connections, electrical connections, direct connections, indirect connections via an intermediate medium, and internal communication between two elements. Those skilled in the art will be able to understand the specific meaning of these terms in this disclosure on a case-by-case basis.

[0012] The automatic locking and unlocking device according to this disclosure is connected between the towing vehicle and the trailer, and the automatic locking and unlocking device is connected to the towing vehicle via a base and to the trailer via a trailer connecting plate. [Examples]

[0013] As shown in Figures 1 to 5, the automatic locking and unlocking device according to the present disclosure comprises a base 1 assembled on a towing vehicle and a trailer coupling plate 6, and further comprises a power output assembly 2, a controller 3, and an interlocking assembly 4, the base 1 and the controller 3 being attached to two opposing sides of the power output assembly 2, respectively.

[0014] The power output assembly 2 includes a rectangular fixed column 20, a mounting plate 22, a rotating shaft 23, a first pulley 25, a winding reel 24, a reduction motor 29, a connecting belt 210, a lifting block 211, and a traction pin 215, wherein the rectangular fixed column 20 is attached to the side of the base 1, one side of the rectangular fixed column 20 is connected to the mounting plate 22, the rotating shaft 23, the winding reel 24, and the lifting block 211 are provided in the internal cavity (not shown) of the rectangular fixed column 20, one end of the rotating shaft 23 protrudes from the rectangular fixed column 20, and the mounting plate 2 The rotating shaft 23 is inserted through the first pulley 25 and connected to it, the other end of the rotating shaft 23 is connected to the winding reel 24, one side of the first pulley 25 is connected to the reduction motor 29, the connecting belt 210 is wound around the winding reel 24, the lifting block 211 passes through the rectangular fixed column 20, one end of the lifting block 211 is connected to the bottom of the connecting belt 210, the other end of the lifting block 211 is connected to the towing pin 215, and the towing pin 215 is used to lock the trailer connecting plate 6.

[0015] The interlocking assembly 4 includes a first rack 42, a first gear 44, a second gear 45, a second rack 46, and a side guide plate 5. The first gear 44 meshes with the side of the first rack 42, the front of the second gear 45 is coaxial with the front of the first gear 44, the second rack 46 meshes with the side of the second gear 45, the front of the second rack 46 is connected to the side guide plate 5, and the side guide plate 5 is connected to the side of the trailer connecting plate 6.

[0016] Referring to Figure 5, the automatic locking and unlocking device further comprises a bottom plate 12, the bottom plate 12 is connected to the side of the base 1, a first hole is provided in the bottom plate 12, the diameter of the first hole is larger than the towing pin 215, the side of the base 1 is located below the side guide plate 5, and the side guide plate 5 and the bottom plate 12 form a bell mouth-shaped connecting groove. This disclosure guides the trailer connecting plate to enter and align with the towing pin through the interlocking action of the side guide plates on both sides and the towing pin, thereby enabling the trailer to be locked and improving the efficiency of the locking positioning. Furthermore, after the towing pin of the towing vehicle falls, the rising of the side guide plates does not interfere with the steering angle of the trailer and reduce the turning radius of the towing vehicle.

[0017] The automatic locking and unlocking device further comprises a lifting seat 212, a mounting frame 213, and a first fixing plate 214. An opening 21 is provided on one side of the internal cavity of the rectangular fixing column 20. The lifting block 211 passes through the opening 21 and slides while being positioned in relation to the inner wall of the opening 21. The lifting block 211 is a "T" shaped block and is used to slide up and down in accordance with the opening 21. The other end of the lifting block 211 is also connected to the lifting seat 212. The mounting frame 213 is attached to the side of the lifting seat 212. The inner wall of the mounting frame 213 is connected to the first fixing plate 214. The towing pin 215 is connected to the bottom of the first fixing plate 214 and passes through the bottom of the mounting frame 213. The trailer connecting plate 6 is locked by the towing pin 215, thereby connecting to the trailer via the trailer connecting plate 6.

[0018] The power output assembly 2 further includes an output connecting shaft 28, a second pulley 26, and a transmission belt 27. The reduction motor 29 is connected to one side of the mounting plate 22. The output connecting shaft 28 penetrates through the mounting plate 22. The output connecting shaft 28 is connected to the output end of the reduction motor 29. The second pulley 26 is fitted on the outer ring of the output connecting shaft 28. The transmission belt 27 is respectively fitted on the first pulley 25 and the second pulley 26. The transmission belt 27 is used to synchronously link the first pulley 25 and the second pulley 26, and the sizes of the first pulley 25 and the second pulley 26 are the same.

[0019] The automatic latching and unlatching device further includes an interlocking plate 41 and a connecting shaft 43. The interlocking plates 41 are respectively mounted on both sides of the mounting frame 213. The first rack 42 is mounted on one side of the interlocking plate 41. The connecting shaft 43 penetrates between the first gear 44 and the second gear 45. One end of the connecting shaft 43 is rotatably connected to the side wall of the base 1. The diameter of the first gear 44 is smaller than the diameter of the second gear 45. By installing the first gear 44 and the second gear 45, the first rack 42 and the second rack 46 are made to perform a lifting and meshing movement toward the opposite sides. In the first gear and the second gear that mesh with each other, the first rack that meshes with the first gear, and the second rack that meshes with the second gear in the present disclosure, although the sizes of the first gear and the second gear are different, the weight ratios on both sides of the first gear and the second gear are close, so that motion conversion and amplification are realized by the meshing of the gear and the rack, and the driving energy consumption is reduced by weight balance.

[0020] The automatic latching and unlatching device further includes a second fixing plate 47, a slide guide block 48, and a slide guide rail 11. The front surface of the second rack 46 is connected to the second fixing plate 47. The slide guide block 48 is mounted on the back surface of the second fixing plate 47. The slide guide rail 11 is mounted on the side surface of the base 1 along its height direction. The slide guide block 48 is located in the slide guide rail 11 and slides up and down, thereby ensuring the stable up and down operation of the slide guide block 48.

[0021] Referring to FIGS. 2 and 5, the automatic latching and unlatching device further includes a mounting base plate 216, a buffer frame 7, and a sensor assembly 8. There is an opening in the side guide plate 5, that is, the above-mentioned bellows-shaped connecting groove. The towing pin 215 passes through the opening and moves up and down. The mounting base plate 216 is located at the bottom of the mounting frame 213. The mounting base plate 216 is attached to the side surface of the base 1. The buffer frame 7 is located below the mounting base plate 216. The buffer frame 7 is used to achieve buffering during the downward movement of the mounting frame 213 and the towing pin 215, and to avoid bottoming damage caused by excessive downward movement of the towing pin 215. The sensor assembly 8 is respectively attached on both sides of the buffer frame 7 and inside the bottom plate 12. Here, the sensor assembly 8 includes, but is not limited to, four groups of sensors. These four groups of sensors are respectively a latching completion sensor, an unlatching completion sensor, an initial zero position sensor, and a towing plate position arrival sensor. Among them, the towing plate position sensor is attached inside the bottom plate 12.

[0022] The controller 3 is electrically or communicatively connected to each component in the automatic latching and unlatching device, and is used to realize the automatic latching and unlatching of the tractor and the trailer by controlling the operation of each component. The controller 3 is equipped with a Precision Navigation System (PNS) autonomous navigation common system, but is not limited thereto. The PNS autonomous navigation common system adopts a multi-source fusion navigation method, uses a multi-line laser radar for environmental perception and obstacle detection, recognizes roads and signs with a vision camera, realizes accurate positioning and attitude measurement through a Real-Time Kinematic (RTK) and an inertial navigation device, and is also combined with data of various sensors to monitor and adjust the running states of the tractor and the trailer in real time, including but not limited to realizing autonomous navigation.

[0023] The process of performing the locking operation on the towing vehicle and trailer using the automatic locking and unlocking device is as follows: The controller 3 starts the reduction motor 29, which rotates the second pulley 26 and the first pulley 25, the first pulley 25 rotates the winding reel 24 to wind up the connecting belt 210, and furthermore, the lifting block 211 steadily lifts the lifting seat 212, mounting frame 213, first fixing plate 214 and towing pin 215 along the guide of the lifting opening 21, the lifting seat 212 and mounting frame 213 are pulled, and the first rack 42 engages with the first gear 44 and rotates, and at the same time the second gear 45 rotates in follow, the counterclockwise rotation of the second gear 45 pushes the second rack 46 downward along the guide of the slide guide block 48 and slide guide rail 11, and the side guide plate 5 As the trailer coupling plate 6 is pushed downwards, the side guide plate 5 and the bottom plate 12 form a bell-mouth groove, providing guidance for the entry and coupling of the trailer coupling plate 6 and ensuring accurate positioning. After the trailer coupling plate 6 enters the opening (i.e., the bell-mouth groove) formed by the side guide plate 5 and the bottom plate 12, the reduction motor 29 is driven to rotate its output end in the reverse direction, unwinding the coupling belt 210 and causing the towing pin 215 to descend. As the towing pin 215 descends, the second rack 46 is driven in the reverse direction and rises, pulling the side guide plate 5 up to the state shown in Figure 4. After the towing pin 215 is engaged, the rise of the side guide plate 5 does not affect the steering of the trailer coupling plate 6, and thus the engaging operation is completed.

[0024] The PNS Autonomous Navigation Common System is used to control the cloud, the vehicle (i.e., the towing vehicle), and the automatic locking and unlocking device, and the automatic locking process includes the following:

[0025] S1. The cloud generates a command to navigate to the stop point. S2.Cloud distributes commands to the vehicle to navigate to the locking point. S3. The vehicle drives according to the navigation system. S4. The vehicle reaches the automatic locking point. S5. The vehicle sends a notification to the cloud when it reaches the locking point (i.e., the automatic locking point). S6. Cloud confirms that the vehicle has reached the locking point. S7.Cloud generates a command to initiate the shutdown. S8. In response to the command to initiate locking, the vehicle performs tow bar alignment. S9. The vehicle detects the position and attitude of the towbar head. S10. The vehicle controls itself to move backward and align itself based on its position and orientation. S11. The automatic locking and unlocking device detects whether the towbar head has reached the desired position. If the towbar head has reached the desired position, the process proceeds to S12. If the towbar head has not reached the desired position, the process proceeds to S15. S12. The tow pin falls off. S13. The automatic locking and unlocking device detects whether the traction pin has reached the desired position. If the traction pin has reached the desired position, the process proceeds to S18. If the traction pin has not reached the desired position, the process proceeds to S14. S14. The tow pin lifts up. S15. The connection fails. S16. Determine whether the concatenation was retried three times. If the concatenation was not retried three times, proceed to S1. If the concatenation was retried three times, proceed to S17. S17. The automatic locking process ends. S18. Connection successful.

[0026] The automatic disconnection process includes the following: S1. The cloud generates a command to navigate to the disconnection point. S2.Cloud distributes commands to the vehicle to navigate to the disengagement point. S3. The vehicle drives according to the navigation system. S4. The vehicle side reaches the automatic disengagement point. S5. The vehicle sends a notification to the cloud when it reaches the disengagement point. S6. Cloud confirms that the vehicle has reached the disengagement point. S7.Cloud generates a command to initiate the disconnection process. S8.Cloud distributes a command to the vehicle to initiate the disengagement process. S9. In response to the command to initiate the disengagement, the vehicle lifts the towing pin. S10. The automatic locking and unlocking device lifts the traction pin. S11. The automatic locking and unlocking device detects whether the traction pin has reached the desired position. If the traction pin has reached the desired position, the process proceeds to S12. If the traction pin has not reached the desired position, the process proceeds to S17. S12. The vehicle moves forward. S13. The vehicle will be parked for inspection. S14. The automatic locking and unlocking device detects whether the towbar head has detached. If the towbar head has detached, the process proceeds to S15. If the towbar head has not detached, the process proceeds to S17. S15. Successfully removed the hook. S16. The automatic lock-on / lock-off process is complete. S17. Failed to remove the hook. S18. Determine whether the unhooking / disconnecting operation was retried three times. If it was not retried three times, proceed to S7. If it was retried three times, proceed to S16.

[0027] Furthermore, the PNS Autonomous Navigation Common System has an automatic monitoring function, and of course, this disclosure also relates to achieving data monitoring of the towed trailer by methods such as position and attitude control and radar detection, but a detailed explanation is omitted.

[0028] The above-described specific embodiments are merely one preferred embodiment of the present disclosure, and based on the technical proposals of the present disclosure and the relevant implications of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above-described embodiments. [Explanation of symbols]

[0029] 1 Base 11 Slide guide rail 12 Bottom plate 2 Power output assembly 20 Rectangular fixed column 21 Entrance / Exit 22 Mounting plate 23 Rotation axis 24 Reel 25 First Pulley 26. Second Pulley 27 Power transmission belt 28 Output coupling shaft 29. Reducer motor 210 Connecting belt 211 Elevating Block 212 Lifting Seat 213 Mounting frame 214 1st fixed plate 215 Towing pin 216 Mounting base plate 3 Controllers 4. Interlocking Assembly 41 Interlocking board 42. Rack 1 43 Connecting shaft 44 First gear 45 Second gear 46. ​​Rack 2 47 Second fixing plate 48 Slide guide block 5. Side information board 6 Trailer coupling plate 7. Cushioning Frame 8 Sensor Assembly

Claims

1. An automatic latching and unhatching device comprising a base (1) assembled on a towing vehicle and a trailer coupling plate (6), The system further comprises a power output assembly (2), a controller (3), and an interlocking assembly (4), wherein the base (1) and the controller (3) are attached to two opposing sides of the power output assembly (2), The power output assembly (2) includes a rectangular fixed column (20), a mounting plate (22), a rotating shaft (23), a first pulley (25), a winding reel (24), a reduction motor (29), a connecting belt (210), a lifting block (211), and a traction pin (215), wherein the rectangular fixed column (20) is attached to the side of the base (1), one side of the rectangular fixed column (20) is connected to the mounting plate (22), the rotating shaft (23), the winding reel (24), and the lifting block (211) are provided in the internal cavity of the rectangular fixed column (20), one end of the rotating shaft (23) protrudes from the rectangular fixed column (20), and the mounting plate (22) is inserted through and connected to the first pulley (25), the other end of the rotating shaft (23) is connected to the winding reel (24), one side of the first pulley (25) is connected to the reduction motor (29), the connecting belt (210) is wound around the winding reel (24), the lifting block (211) passes through the rectangular fixing column (20), one end of the lifting block (211) is connected to the bottom of the connecting belt (210), the other end of the lifting block (211) is connected to the towing pin (215), the towing pin (215) is used to lock the trailer connecting plate (6), The interlocking assembly (4) includes a first rack (42), a first gear (44), a second gear (45), a second rack (46), and a side guide plate (5), wherein the first gear (44) is mounted coaxially with the front of the first gear (44), the second rack (46) meshes with the side of the second gear (45), the front of the second rack (46) is connected to the side guide plate (5), and the side guide plate (5) is connected to the side of the trailer connecting plate (6). An automatic latching and un latching device characterized by the above.

2. The base further comprises a bottom plate (12), the bottom plate (12) being connected to the side surface of the base (1), a first hole being formed in the bottom plate (12), the diameter of the first hole being larger than that of the traction pin (215), the side surface of the base (1) being located below the side guide plate (5), and the side guide plate (5) and the bottom plate (12) forming a bell-mouth connecting groove. The automatic latching and un latching device according to feature 1.

3. The structure further comprises a lifting seat (212), a mounting frame (213), and a first fixing plate (214), wherein an opening (21) is provided on one side of the internal cavity of the rectangular fixing column (20), the lifting block (211) passes through the opening (21) and slides while being positioned in relation to the inner wall of the opening (21), the other end of the lifting block (211) is also connected to the lifting seat (212), the mounting frame (213) is attached to the side of the lifting seat (212), the inner wall of the mounting frame (213) is connected to the first fixing plate (214), and the traction pin (215) is connected to the bottom of the first fixing plate (214) and passes through the bottom of the mounting frame (213). The automatic latching and un latching device according to feature 1.

4. The power output assembly (2) further includes an output connecting shaft (28), a second pulley (26), and a transmission belt (27), wherein the reduction motor (29) is connected to one side of the mounting plate (22), the output connecting shaft (28) penetrates the mounting plate (22), the output connecting shaft (28) is connected to the output end of the reduction motor (29), the second pulley (26) is fitted onto the outer ring of the output connecting shaft (28), the transmission belt (27) is fitted onto the first pulley (25) and the second pulley (26), respectively, and the transmission belt (27) is used to synchronize the first pulley (25) and the second pulley (26). The automatic latching and un latching device according to feature 1.

5. The system further comprises an interlocking plate (41) and a connecting shaft (43), the interlocking plates (41) being attached to both sides of the mounting frame (213), the first rack (42) being attached to one side of the interlocking plate (41), the connecting shaft (43) passing through the space between the first gear (44) and the second gear (45), one end of the connecting shaft (43) being pivotally connected to the side wall of the base (1), and the diameter of the first gear (44) being smaller than the diameter of the second gear (45). The automatic latching and un latching device according to feature 3.

6. The second rack (46) further comprises a second fixing plate (47), a slide guide block (48), and a slide guide rail (11), wherein the front of the second rack (46) is connected to the second fixing plate (47), the slide guide block (48) is attached to the back of the second fixing plate (47), the slide guide rail (11) is attached to the side of the base (1) along its height direction, and the slide guide block (48) is positioned within the slide guide rail (11) and slides up and down. The automatic latching and un latching device according to feature 1.

7. The system further comprises a mounting base plate (216), a buffer frame (7), and a sensor assembly (8), wherein the side guide plate (5) has an opening, the traction pin (215) passes through the opening and moves up and down, the mounting base plate (216) is located at the bottom of the mounting frame (213), the mounting base plate (216) is attached to the side of the base (1), the buffer frame (7) is located below the mounting base plate (216), and the sensor assembly (8) is attached to both sides of the buffer frame (7) and inside the base plate (12), respectively. The automatic latching and un latching device according to feature 3.

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