Fully automatic robotic arm hitch deployment and release device, unmanned towing vehicle and control method therefor

Abstract

Disclosed is a fully automatic robotic arm hitch deployment and release device, comprising a first mount (2), a robotic arm extension assembly, a lifting and elevating mechanism, an imaging mechanism (27), a distance measurement sensor (28), and a control system. The imaging mechanism is arranged on the lifting and elevating mechanism and is configured to obtain a live image on the side of the lifting and elevating mechanism; the distance measurement sensor is arranged on the lifting and elevating mechanism and is configured to acquire the distance between the distance measurement sensor and a trailer frame (26); and the control system is in communication connection with all the above-mentioned components and is configured to receive and process data from each component and send a corresponding adjustment instruction. By combining the control system, the imaging mechanism, the distance measurement sensor, and the robotic arm extension assembly, precise adjustments to the position of the lifting and elevating mechanism are made. Further disclosed are an unmanned towing vehicle and a control method. By providing the fully automatic robotic arm hitch deployment and release device, seamless docking between the trailer frame and an electric hitch (7) can be achieved within a certain range of height differences, eliminating the need for human intervention. The fully automatic robotic arm hitch deployment and release device offers a convenient operation, improves the docking efficiency, and prevents collision accidents caused by manual operations, and is worth promoting.

Description

Fully automatic mechanical arm extension and unhooking device, unmanned tractor and control method thereof Technical Field

[0001] The present invention belongs to the field of unmanned tractor transportation, and in particular relates to a fully automatic mechanical arm extension and release hook device, an unmanned tractor, and a control method for the unmanned tractor. Background Art

[0002] In applications requiring towing and hauling, such as airports and docks, the current practice of manually hooking the trailer to the tractor is largely manual. This involves inserting the trailer's tow bar into the tow hitch at the rear of the tractor and locking it. The tractor then pulls the trailer off-site to the designated location. With increasing business volume and the pressure to reduce staff and increase efficiency, many companies are urgently seeking to automate the towing and hauling process.

[0003] The development of autonomous driving technology, coupled with the availability of electric hitches, has led users to expect a step closer to automated, unmanned towing processes. However, in real-world applications, towing often encounters issues with the tractor's electric hitch. These include: the trailer tripod height not matching the tractor's hitch height; the trailer tripod contacting the ground; the trailer tripod drooping in front of the trailer and releasing the trailer brakes when raised. Currently, resolving these issues requires manual manipulation to raise the tripod to accommodate the tractor's hitch height, negating the value and purpose of the automatic hitch in the absence of a tow truck.

[0004] Summary of the Invention

[0005] The present invention provides a fully automatic mechanical arm extension unhooking device, an unmanned tractor and a control method thereof, so as to solve the problems in the prior art such as the mismatch between the trailer tripod and the electric hook height, the inability to achieve fully automatic unhooking action and the need for additional manual operation.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] Fully automatic mechanical arm extension and unhooking device, including:

[0008] a first mounting seat;

[0009] a robotic arm extension assembly, the robotic arm extension assembly having a free end and a fixed end, the fixed end of the robotic arm extension assembly being movably disposed on the first mounting seat;

[0010] A lifting mechanism, wherein the lifting mechanism is movably provided at the free end of the mechanical arm extension assembly, and the position of the lifting mechanism is adjusted by adjusting the position of the free end of the mechanical arm extension assembly;

[0011] An imaging mechanism is provided on the lifting mechanism, and is used to obtain a live image of one side of the lifting mechanism so as to move the lifting mechanism to a preset position;

[0012] a distance measuring sensor, the distance measuring sensor being provided on the lifting mechanism and being used to obtain the distance between the distance measuring sensor and the trailer frame, so as to confirm that the trailer frame has been lifted to a preset height;

[0013] A control system is provided, wherein the control system is connected to the robotic arm extension assembly, the lifting mechanism, the imaging mechanism and the ranging sensor in a single or two-way digital communication manner, and the control system is used to receive data, process data and send corresponding control and adjustment instructions.

[0014] In some embodiments, the robotic arm extension assembly includes a first driving member, a first transmission shaft, and a first swing arm. The first transmission shaft is rotatably disposed on the first mounting seat, the first driving member is disposed on the first mounting seat, one end of the first swing arm is fixedly connected to one end of the first transmission shaft, and the other end of the first transmission shaft is connected to the output end of the first driving member.

[0015] In some embodiments, the robotic arm extension assembly also includes a second driving member, a second transmission shaft and a second swing arm. The second transmission shaft is rotatably arranged at one end of the first swing arm away from the first driving member. The second transmission shaft is arranged parallel to the first transmission shaft. One end of the second swing arm is fixedly arranged on the second transmission shaft, and the lifting mechanism is movably arranged at the other end of the second swing arm.

[0016] In some embodiments, the lifting and lowering mechanism includes a third driving member, a second mounting seat, and a mechanical claw arranged on the second mounting seat. The third driving member is arranged on the second swing arm, and the second mounting seat is rotatably arranged at one end of the second swing arm away from the second driving member. The output end of the third driving member is connected to the second mounting seat through a synchronous transmission mechanism. The synchronous transmission mechanism includes a first synchronous pulley arranged at the output end of the third driving member, a second synchronous pulley coaxially arranged with the second mounting seat, and a first synchronous belt for connecting the first synchronous pulley and the second synchronous pulley.

[0017] In some embodiments, the lifting mechanism further includes a lifting module, a third mounting seat, a fourth driving member, a first clamp and a second clamp, the fixed end of the lifting module is arranged on the second mounting seat, the third mounting seat is fixedly arranged on the free end of the lifting module, the first clamp and the second clamp are coaxially arranged, the fourth driving member is arranged on the third mounting seat, and the fourth driving member can drive the first clamp and the second clamp to move relative to each other.

[0018] In some embodiments, the second mounting seat is further provided with a support wheel, and the support wheel can be lifted and lowered relative to the second mounting seat.

[0019] In some embodiments, a first electromagnetic clutch is provided between the first driving member and the first transmission shaft, a second electromagnetic clutch is provided between the second driving member and the second transmission shaft, and a third electromagnetic clutch is provided between the third driving member and the second mounting seat.

[0020] In some embodiments, the present invention further provides an unmanned tractor, comprising:

[0021] Tractor body;

[0022] An electric hook is provided on the tractor body;

[0023] A laser radar is horizontally arranged on the tractor body and on the same side as the electric hook, and is used to obtain the coordinates of the tractor body and the relative coordinates of the trailer frame;

[0024] In the fully automatic mechanical arm extension and detachment hook device described in each of the above embodiments, the first mounting seat is installed on the tractor body, and the control system is communicatively connected with the electric hook and the laser radar.

[0025] In some embodiments, a guide groove is further provided on the tractor body, and the guide groove is located below the electric hook, and the guide groove is used to guide the trailer frame to the electric hook.

[0026] The present invention also provides a control method for an unmanned tractor, the control method comprising the following steps:

[0027] S1. Based on the relative coordinate data of the trailer frame measured by the LiDAR, the control system derives a path, and the unmanned tractor automatically drives to the docking location.

[0028] S2. Determine whether the height difference between the trailer frame and the electric hook matches the preset spacing. If so, the unmanned tractor directly reverses, allowing the trailer frame to enter the electric hook lock position through the guide groove. After the electric hook is detected as in position, it automatically locks and the unmanned tractor drives away. If not, execute S3.

[0029] S3. The control system issues a control command. Under the guidance of the imaging mechanism, the first and second swing arms extend toward the trailer frame to the appropriate lifting position. The mechanical claw then descends to the bottom of the trailer frame and lifts the trailer frame to a preset height.

[0030] S4. The first and second swing arms stop swinging, the support wheels drop to the ground, and the control system issues a reverse command. The unmanned tractor reverses, and the first, second, and third drive members reverse and adaptively adjust the torque within a preset range until the trailer frame passes through the guide slot and enters the electric hitch locking position. After detecting that the trailer frame is in place, the electric hitch automatically locks.

[0031] S5. The first swing arm, the second swing arm and the mechanical claw retract and return to their initial state. At the same time, the tractor drives away.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] By incorporating a fully automatic mechanical arm-reach unhooking device, the system can adapt to tripods of varying heights above the ground. The mechanical claw can also adapt to the tripod dimensions of different trailers, increasing the flexibility of the vehicle system and enabling truly unmanned, fully automatic unhooking, reducing labor costs. Furthermore, the automatic connection and disconnection of the hook saves manual operation time and improves the efficiency of hook docking. Furthermore, fully automated operation eliminates the risk of human error, reducing potential accidents and risks associated with manual operation, and effectively minimizing the probability of collisions and damage between equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG1 is a schematic diagram of the fully automatic mechanical arm unfolding and unhooking device of the present invention in the storage position;

[0035] FIG2 is a schematic diagram of the fully automatic mechanical arm extension and unhooking device of the present invention in a working position;

[0036] FIG3 is a schematic diagram of the fully automatic mechanical arm unfolding and unhooking device of the present invention at another angle in the working position.

[0037] FIG4 is a block diagram of a control system of the fully automatic mechanical arm unfolding and unhooking device of the present invention. DETAILED DESCRIPTION

[0038] The present application is further described in detail below with reference to the accompanying drawings. In the description of this embodiment, unless otherwise specified, the terms "left" and "right" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the product structure referred to in this application must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0039] As shown in Figures 1-3, a fully automatic robotic arm extension and detachment hook device provided by the present invention includes a first mounting seat 2, a robotic arm extension assembly, a lifting and lifting mechanism, an imaging mechanism 27, a distance sensor 28, and a control system. The first mounting seat 2 is provided with a mounting support for installing the robotic arm extension assembly. The robotic arm extension assembly has a free end and a fixed end, wherein the fixed end of the robotic arm extension assembly is movably provided on the first mounting seat 2. In this embodiment, the fixed end of the robotic arm extension assembly is fixed to the first mounting seat 2 by a hinged manner; the lifting and lifting mechanism is movably provided at the free end of the robotic arm extension assembly and is mainly used for grasping and lifting the trailer frame 26 so that the height difference between the trailer frame 26 and the electric hook 7 meets the requirements of automatic hooking. Through the adjustment of the robotic arm extension assembly, the lifting and lifting mechanism can adjust the height of the trailer frame 26. An imaging mechanism 27 is mounted on the lifting mechanism and is primarily used to capture live images of one side of the lifting mechanism. Under visual guidance, the robotic arm extension assembly extends toward the trailer frame 26 to an appropriate position, thereby driving the lifting mechanism to a preset position. In this embodiment, the preset position is when the lifting mechanism can lock the trailer frame 26 and drive it to lift. The imaging mechanism 27 is a camera or video camera, etc. A distance sensor 28 is primarily used to measure the distance between the trailer frame 26 and the distance sensor 28. By comparing the distance between the distance sensor 28 and the trailer frame 26 at its initial position in real time, it is determined whether the trailer frame 26 has been raised to a preset height. The preset height is the height at which the unmanned tractor can reverse and dock the trailer frame 26 with the electric hook 7. A control system is in communication with the robotic arm extension assembly, the lifting mechanism, the imaging mechanism 27, and the distance sensor 28. The control system is configured to receive and process data and issue corresponding adjustment instructions. Specifically, the data measured by the imaging mechanism 27 and the ranging sensor 28 are fed back to the control system, which processes the data and issues corresponding adjustment instructions, that is, the lifting mechanism is adjusted to a suitable position so that the lifting mechanism can lift the trailer frame 26, thereby lifting the trailer frame 26 to a preset height range that matches the electric hook 7.

[0040] In the present application, by setting up a mechanical combination of a robotic arm extension component and a lifting mechanism, cooperating with a control system, a distance measuring sensor 28 and an imaging mechanism 27 to perform real-time distance detection and visual guidance, and sending real-time adjustment instructions through data processing through the control system, it is possible to meet the needs of the trailer frame 26 at different heights above the ground for automatic unhooking operations. The entire device has strong adaptability, is not restricted by the application environment, is flexible in application, and does not require manual auxiliary operations.

[0041] Furthermore, in one embodiment, the robotic arm extension assembly includes a first driving member 3, a first transmission shaft and a first swing arm, the first driving member 3 is fixedly arranged on the first mounting seat 2, and the first transmission shaft is rotatably arranged on the first mounting seat 2. In this embodiment, the output end of the first driving member 3 is coaxially arranged with the first transmission shaft, and two symmetrically distributed mounting supports are provided on the first mounting seat 2. The first swing arm is composed of a first arm 9 and a second arm 10, wherein the first arm 9 and the second arm 10 have the same structure and are rotatably arranged on the two mounting supports of the first mounting seat 2 respectively. In this embodiment, since it is necessary to make way for the installation of the electric hook 7, the first transmission shaft is only connected to the first arm 9 close to the side of the first driving member 3, and the second arm 10 is hinged to the other mounting support. A lifting and lifting mechanism with a rotatable connection can also be directly provided between the first arm 9 and the second arm 10 to realize the connection between the first arm 9 and the second arm 10.

[0042] Furthermore, to minimize the length of the first swing arm and reduce installation space, while also requiring the first swing arm to extend the lifting mechanism to a certain length to meet the needs of different operating conditions, the robotic arm extension assembly also includes a second drive member 11, a second transmission shaft 14, and a second swing arm. The second swing arm can be retracted to a position that overlaps with the first swing arm. Specifically, the second drive member 11 is fixedly mounted on the first swing arm and swings synchronously with the first swing arm. The second transmission shaft 14 is rotatably mounted at the end of the first swing arm away from the first drive member 3. The second swing arm is fixedly connected to the second transmission shaft 14 and rotates synchronously with the second transmission shaft 14. In this embodiment, the second swing arm includes a third arm 15 and a fourth arm 16. One end of each of the third arm 15 and the fourth arm 16 is fixedly connected to the second transmission shaft 14, and the other end of each of the third arm 15 and the fourth arm 16 is movably connected to the lifting mechanism. The second transmission shaft 14 is rotatably connected to the first arm 9 and the second arm 10 at both ends, respectively, and the second transmission shaft 14 is arranged parallel to the first transmission shaft. The output end of the second driving member 11 is coaxially arranged with the second transmission shaft 14, which reduces the number of installed parts on the one hand, and reserves more space when the first swing arm is stored in the initial position on the other hand to avoid interference between devices.

[0043] In this embodiment, the arm extension assembly is composed of a first swing arm and a second swing arm, which can meet the requirements of horizontal extension and vertical lifting. Optionally, the arm extension assembly can also be composed of a horizontal movement assembly and a vertical movement assembly, with the vertical movement assembly mounted on the horizontal movement assembly. The position of the vertical movement assembly is adjusted according to the movement of the horizontal assembly, and the vertical position is then adjusted by adjusting the lifting of the vertical movement assembly. The first drive member 3 and the second drive member 11 are both motors. In this embodiment, due to the need for precise control, servo motors or steering gears are preferred.

[0044] In one embodiment, the lifting mechanism includes a third drive member 17, a second mounting base 24-1, and a mechanical claw disposed on the second mounting base 24-1. Specifically, the second mounting base 24-1 is rotatably disposed at one end of the second swing arm, and the mechanical claw is movably disposed on the second mounting base 24-1, and the mechanical claw rotates synchronously with the second mounting base 24-1. Since the second swing arm needs to be stored, when the second swing arm is in the storage position, one side of the second swing arm overlaps with the first swing arm, so the third drive member 17 is fixedly set on the side of the second swing arm away from the first swing arm, and the third drive member 17 can rotate synchronously with the second swing arm. Since the third drive member 17 and the second mounting seat 24-1 are not coaxially arranged, the output end of the third drive member and the second mounting seat are connected by a synchronous transmission mechanism. The synchronous transmission mechanism includes a first synchronous pulley arranged on the side of the output end of the third drive member 17, and a second synchronous pulley arranged coaxially on the side of the second mounting seat 24-1. The first synchronous pulley and the second synchronous pulley are connected by a first synchronous belt 19, so that the second mounting seat 24-1 rotates synchronously with the third drive member 17. Optionally, the transmission structure of the synchronous pulley and the synchronous belt can also be realized by gear transmission, and the transmission ratio is configured according to actual needs. Furthermore, since the synchronous pulley is installed on the side of the second swing arm close to the first swing arm, when installing the second swing arm, it is necessary to set a distance between the second swing arm and the first swing arm to allow the second swing arm to be stored. In this embodiment, the synchronous pulley is fixed to the third support arm 15, so it is sufficient to set a distance between the third support arm 15 and the first support arm 9. Furthermore, to facilitate the storage of the second swing arm, the second swing arm is configured into an L-shaped structure. When the second swing arm is in the storage position, the shorter portion of the second swing arm of the L-shaped structure does not overlap with the first swing arm and is located outside the first swing arm.

[0045] Furthermore, in order to improve the different angles and heights of the gripping requirements of the mechanical claw, the lifting and lifting mechanism also includes a lifting module 23, a third mounting seat 22 and a fourth driving member 24-2. The lifting module 23 includes a fixed end and a free end. The fixed end of the lifting module is fixedly connected to the second mounting seat 24-1. The free end of the lifting module 23 can be lifted and moved relative to the second mounting seat 24-1. The third mounting seat 22 is fixedly set on the free end of the lifting module 23. The third mounting seat 22 and the free end of the lifting module 23 are lifted and lowered synchronously. A mechanical claw is set below the third mounting seat 22. Through the lifting module 23 The free end of the lifting module 23 is lifted and lowered, driving the mechanical claw set on the third mounting seat 22 to lift and lower synchronously. The mechanical claw includes a first clamping jaw 25 and a second clamping jaw 29. The first clamping jaw 25 and the second clamping jaw 29 are coaxially arranged, and the first clamping jaw 25 and the second clamping jaw 29 can move relative to each other. The fourth driving member 24-2 is fixed to the third mounting seat 22. The fourth driving member 24-2 is used to control the relative movement of the first clamping jaw 25 and the second clamping jaw 29 to realize the opening and closing of the mechanical claw. In this embodiment, the fourth driving member is two electric cylinders, and the first clamping jaw 25 and the second clamping jaw 29 are respectively connected to the output ends of the two electric cylinders. Optionally, a screw slider structure can also be used to achieve the relative movement of the first clamping jaw 25 and the second clamping jaw 29. In this embodiment, the lifting and lowering adjustment of the free end of the lifting module 23 is achieved by a screw slider structure combined with a guide rail. Optionally, a synchronous pulley and a synchronous belt structure can also be used to replace the screw slider structure in this embodiment. It should be noted that in order to facilitate the real-time image transmission of one side of the lifting mechanism, the imaging mechanism 27 is set on the third mounting seat 22; at the same time, in order to facilitate the detection of the real-time distance between the ranging sensor 28 and the trailer frame to confirm whether the mechanical claw has lifted the trailer frame 26 into place, the ranging sensor is set on the third mounting seat 22.

[0046] In one embodiment, a support wheel 21 is further provided on the third mounting seat 22, and the support wheel 21 can be raised and lowered relative to the third mounting seat 22 by an electric cylinder 20. When the mechanical claw of the lifting mechanism lifts the trailer frame 26 to a preset height, the support wheel 21 extends to the ground to support the entire device and prevent the trailer frame 26 from deviating from the height matching the electric hook 7. Specifically, the support wheels 21 are distributed on both sides of the second mounting seat 24-1. The support wheels 21 can rotate. When the trailer frame 26 is lifted to a preset height, the support wheels 21 fall to the ground to support the entire auxiliary device. At the same time, when the auxiliary device drives the trailer frame 26 close to the electric hook 7, the support wheels 21 can rotate to reduce resistance during travel. In this embodiment, the lifting and lowering of the support wheel 21 is achieved by the electric cylinder 20 combined with the guide shaft. Optionally, the electric cylinder 20 can be replaced with an electric screw slider structure or an electric hydraulic structure.

[0047] In one embodiment, to facilitate the storage of the first swing arm, the second swing arm, and the second mounting seat 24-1 after the trailer frame 26 is lifted, a first electromagnetic clutch 4 is provided between the first drive member 3 and the first drive shaft, a second electromagnetic clutch 12 is provided between the second drive member 11 and the second drive shaft 14, and a third electromagnetic clutch 18 is provided between the third drive member 17 and the second mounting seat 24-1. The first electromagnetic clutch 4, the second electromagnetic clutch 12, and the third electromagnetic clutch 18 are all communicatively connected to a control system. During the storage process of the first swing arm, the second swing arm, and the second mounting seat 24-1, the first electromagnetic clutch 4, the second electromagnetic clutch 12, and the third electromagnetic clutch 18 are all powered off. At this time, the connection is disconnected, and the first swing arm, the second swing arm, and the second mounting seat are automatically stored to their initial positions during the reversing process of the unmanned tractor.

[0048] In one embodiment, the present invention further provides an unmanned tractor, comprising a tractor body 1, an electric hook 7, a laser radar, and the fully automatic mechanical arm hook extension and detachment device described in each of the above embodiments, wherein a control system is in communication with the electric hook 7 and the laser radar. The electric hook 7 is fixedly mounted on the tractor body 1. In this embodiment, since two symmetrical mounting supports are provided on the first mounting seat 2, the lifting structure is positioned between the two mounting supports when lifting the trailer frame 26, and therefore the electric hook 7 is positioned between the two mounting supports. The laser radar is disposed on the tractor body 1, on the same side as the electric hook 7, and is used to obtain the coordinates of the tractor body 1 and the relative position coordinates of the trailer frame 26 relative to the tractor body 1, and to feed the measured coordinates back to the control system.

[0049] In one embodiment, to facilitate the movement of the trailer frame 26 to the electric hook 7, a guide groove 8 is provided below the electric hook 7. The guide groove 8 is primarily used to guide the locking hole portion of the trailer frame 26 to the electric hook 7 for automatic locking. Specifically, in this embodiment, the guide groove 8 is fan-shaped, with the open end of the guide groove 8 tilted downward, and the other end of the guide groove 8 disposed on the locking groove of the electric hook 7, with the opening size of the other end matching the width of the locking groove of the electric hook 7. The downward tilt of the guide groove 8 expands the range of heights within which the electric hook 7 and the trailer frame 26 can match for reverse locking, making it easier for the trailer frame 26 to enter the locking groove of the electric hook 7 for automatic locking.

[0050] In one embodiment, as shown in FIG4 , the present invention further provides a method for controlling an unmanned tractor, the method comprising the following steps:

[0051] S1. The laser radar measures the relative coordinates of the trailer frame 26 relative to the tractor body 1 and feeds back to the control system. The control system derives the reversing path based on the relative position coordinates so that the unmanned tractor automatically drives to the docking position;

[0052] S2. The laser radar determines whether the height difference between the trailer frame 26 and the electric hook 7 matches the preset spacing. If so, the unmanned tractor directly reverses, and the portion of the trailer frame 26 with the lock hole is guided by the guide slot 8 to enter the electric hook 7. After detecting that it is in place, the control system issues a command, and the electric hook 7, driven by the first electric cylinder 6, automatically locks, connecting the trailer frame 26 to the unmanned tractor. The unmanned tractor then drives away. If the height difference between the trailer frame 26 and the electric hook 7 does not match the preset spacing, execute S3.

[0053] S3. The control system issues a control command. Under the guidance of imaging mechanism 27, the fully automatic robotic arm extends the hook-unhooking device toward the side of trailer frame 26. Specifically, the first and second swing arms unfold and extend to the appropriate lifting position. The robotic claw then descends to the bottom of trailer frame 26, clamps and lifts it to a preset height, ensuring that the height difference between trailer frame 26 and electric hook 7 is within the matching range.

[0054] Specifically, the swing range of the first swing arm is 0-70°, the swing speed of the first swing arm is 0-30° per second, the swing range of the second swing arm is 0-150°, and the rotation speed of the second swing arm is 0-50° per second. After the first swing arm and the second swing arm are rotated into place according to the set speed and rotation angle respectively, the first swing arm and the second swing arm stop rotating. At the same time, the control system gives a rotation signal to the second mounting seat 24-1. The control system calculates the rotation angle of the second mounting seat 24-1 based on the rotation angle of the first swing arm and the second swing arm, and rotates to the lifting mechanism perpendicular to the ground according to the set speed, that is, the movement direction of the support wheel 21 is perpendicular to the ground. At this time, the distance sensor 28 measures the first distance value of the trailer frame 26 from the detection point. A mark can be set on the trailer frame 26, such as a significant difference in color of the trailer frame 26, a special barcode, a QR code, or the outline of the trailer frame 26 identified by the imaging mechanism 27, etc., to determine whether the fully automatic robotic arm extension and disengagement hook device is extended in place and whether the lifting mechanism can lift the trailer frame 26. If not, the position of the first swing arm and the second swing arm is further adjusted, specifically, the first swing arm and the second swing arm are synchronously rotated 5° clockwise to extend or the first swing arm and the second swing arm are synchronously rotated 5° counterclockwise to retract, until the fully automatic robotic arm extension and disengagement hook device is extended to a suitable lifting rod position.

[0055] S4. The fully automatic mechanical arm unhooking device stops moving, that is, the first swing arm, the second swing arm and the lifting mechanism remain stationary. The control system issues a command, and the support wheel 21 falls to the ground. At the same time, the control system also issues a reverse command for the unmanned tractor to reverse. The part of the trailer frame 26 with the lock hole is guided by the guide groove 8 into the locking position of the electric hook 6. After detecting the position, the electric hook 6 automatically locks.

[0056] Specifically, the support wheel 21 extends to the ground for support, and at the same time, the lifting module 23 moves toward the ground to the extreme position to ensure that the mechanical claw is under the trailer frame 26. According to the outline of the trailer frame 26 recognized by the imaging mechanism 27, the control system issues an instruction to control the fourth driving member 24-2 to drive the first clamping jaw 25 and the second clamping jaw 29 to move, so that the distance between the first clamping jaw 25 and the second clamping jaw 29 conforms to the outline width of the trailer frame 26. At the same time, the control system controls the motion module 23 to rise, that is, to move away from the ground. When the trailer frame 26 is lifted to the set position, the second distance value of the trailer frame 26 from the detection point is measured. If the first distance value is greater than or equal to the second distance value, the trailer frame 26 is lifted into place. If the first distance value is less than the second distance value, the lifting module 23 continues to move away from the ground until the first distance value is greater than or equal to the second distance value, and the lifting module 23 stops moving. At the same time, the control system gives a reversing instruction for the unmanned tractor.

[0057] During the reversing process of the unmanned tractor, the torque generated by the various joints of the fully automatic mechanical arm extension and release hook device changes with the reversing position and can be adaptively adjusted. That is, the torque of the first drive member 3, the second drive member 11 and the third drive member 17 before reversing is used as a reference to ensure that the torque fluctuations of each joint are stable and no equipment damage occurs. The specific method is as follows: when reversing, the torque of each joint increases. At this time, the first drive member 3, the second drive member 11 and the third drive member 17 reverse, the first swing arm, the second swing arm and the lifting mechanism retract, and the torque of the first drive member 3, the second drive member 11 and the third drive member 17 is reduced to the set value range. If reversing continues, the torque of each joint increases further, and the first drive member 3, the second drive member 11 and the third drive member 17 further reverse and retract until the torque of each joint is within the set value and the trailer frame is in place, and the electric hook 7 automatically locks.

[0058] Since the first electromagnetic clutch 4, the second electromagnetic clutch 12 and the third electromagnetic clutch 18 are set, during the reversing process, the first electromagnetic clutch 4, the second electromagnetic clutch 12 and the third electromagnetic clutch 18 can also be controlled to disconnect through the control system. At this time, the fully automatic mechanical arm unhooking device is disconnected from the input power, and is only in a natural state without being affected by external forces, thereby protecting the joints from damage by external forces.

[0059] S5. The first swing arm, the second swing arm, and the mechanical claw retract and return to their initial state. At the same time, the unmanned tractor drives away.

[0060] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention. Such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. Fully automatic mechanical arm unhooking device, characterized in that: include: a first mounting seat; A mechanical arm extension assembly, wherein the mechanical arm extension assembly is provided with a free end and a fixed end, and the fixed end of the mechanical arm extension assembly is movably arranged on the first mounting seat; A lifting and lowering mechanism, wherein the lifting and lowering mechanism is movably arranged at the free end of the mechanical arm extension assembly, and the position of the lifting and lowering mechanism is adjusted by adjusting the position of the free end of the lifting and lowering mechanism; An imaging mechanism, disposed on the lifting mechanism, for acquiring a live image of one side of the lifting mechanism, so as to move the lifting mechanism to a preset position; A distance measuring sensor is provided on the lifting mechanism and is used to obtain the distance between the distance measuring sensor and the trailer frame to confirm that the trailer frame is lifted to a preset height; A control system, wherein the control system is connected to the robotic arm extension assembly, the lifting and elevating mechanism, the imaging mechanism and the ranging sensor in single / bidirectional digital communication, and the control system is used to receive and process data and send corresponding control and adjustment instructions.

2. The fully automatic mechanical arm unhooking device according to claim 1, characterized in that: The robotic arm extension assembly includes a first driving member, a first transmission shaft, and a first swing arm. The first transmission shaft is rotatably disposed on the first mounting seat, the first driving member is disposed on the first mounting seat, one end of the first swing arm is fixedly connected to one end of the first transmission shaft, and the other end of the first transmission shaft is connected to the output end of the first driving member.

3. The fully automatic mechanical arm unhooking device according to claim 2, characterized in that: The robotic arm extension assembly also includes a second driving member, a second transmission shaft and a second swing arm. The second transmission shaft is rotatably arranged at an end of the first swing arm away from the first driving member. The second transmission shaft is arranged parallel to the first transmission shaft. One end of the second swing arm is fixedly arranged on the second transmission shaft. The lifting and lowering mechanism is movably arranged at the other end of the second swing arm.

4. The fully automatic mechanical arm extension and unhooking device according to claim 3 is characterized in that: The lifting and lowering mechanism includes a third driving member, a second mounting seat and a mechanical claw arranged on the second mounting seat, the third driving member is arranged on the second swing arm, the second mounting seat is rotatably arranged at the end of the second swing arm away from the second driving member, the output end of the third driving member is connected to the second mounting seat through a synchronous transmission mechanism, and the synchronous transmission mechanism includes a first synchronous pulley arranged at the output end of the third driving member, a second synchronous pulley coaxially arranged with the second mounting seat, and a first synchronous belt for connecting the first synchronous pulley and the second synchronous pulley.

5. The fully automatic mechanical arm unhooking device according to claim 4, characterized in that: The lifting and lowering mechanism also includes a lifting module, a third mounting seat, a fourth driving member, a first clamp and a second clamp. The fixed end of the lifting module is arranged on the second mounting seat, and the third mounting seat is fixedly arranged on the free end of the lifting module. The first clamp and the second clamp are coaxially arranged. The fourth driving member is arranged on the third mounting seat, and the fourth driving member can drive the first clamp and the second clamp to move relative to each other.

6. The fully automatic mechanical arm unhooking device according to claim 5, characterized in that: The second mounting seat is also provided with a supporting wheel, and the supporting wheel can be lifted and moved relative to the second mounting seat.

7. The fully automatic mechanical arm unhooking device according to claim 4, characterized in that: A first electromagnetic clutch is provided between the first driving member and the first transmission shaft, a second electromagnetic clutch is provided between the second driving member and the second transmission shaft, and a third electromagnetic clutch is provided between the third driving member and the second mounting seat.

8. An unmanned tractor, characterized in that: include: Tractor body; An electric hook is arranged on the tractor body; A laser radar is horizontally arranged on the tractor body and arranged on the same side as the electric hook, and is used to obtain the coordinates of the tractor body and the relative coordinates of the trailer frame; The fully automatic mechanical arm unfolding and unhooking device according to any one of claims 1 to 7, wherein the first mounting seat is mounted on the tractor body, and wherein the control system is communicatively connected with the electric hook and the laser radar.

9. The unmanned tractor according to claim 8, characterized in that: The tractor body is also provided with a guide groove, which is located below the electric hook and is used to guide the trailer frame to the electric hook.

10. A control method for an unmanned tractor as claimed in claim 8, characterized in that: The control method comprises the following steps: S1. Based on the relative coordinate data of the trailer frame measured by the laser radar, the control system derives the path, and the unmanned tractor automatically drives to the docking position; S2. Determine whether the height difference between the trailer frame and the electric hook matches the preset spacing. If so, the unmanned tractor directly reverses, and the trailer frame enters the electric hook locking position through the guide groove. After the electric hook is detected to be in position, it automatically locks and the unmanned tractor drives away. If not, execute S3; S3. The control system issues a control command, and under the guidance of the imaging mechanism, the first swing arm and the second swing arm extend toward the trailer frame to a suitable lifting rod position, and then the mechanical claw reaches down to the lower part of the trailer frame and lifts the trailer frame to a preset height; S4. The first swing arm and the second swing arm stop swinging and adjusting, the supporting wheel falls to the ground, and the control system gives a reverse command, the unmanned tractor reverses, the first drive member, the second drive member and the third drive member reverse and perform torque adaptive adjustment within the preset value range, until the trailer frame passes through the guide groove and enters the electric hook locking position. After detecting that the trailer frame is in place, the electric hook automatically locks; S5. The first swing arm, the second swing arm and the mechanical claw retract and reset to the initial state, and at the same time, the tractor drives away.

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