CN115195366A

CN115195366A - Automatic plugging traction device for unmanned traction vehicle

Info

Publication number: CN115195366A
Application number: CN202210995021.6A
Authority: CN
Inventors: 不公告发明人
Original assignee: Beijing Jiuquan Intelligent Technology Co ltd
Current assignee: Beijing Jiuquan Intelligent Technology Co ltd
Priority date: 2022-08-18
Filing date: 2022-08-18
Publication date: 2022-10-18

Abstract

The automatic plugging traction device for the unmanned traction vehicle comprises a traction pin, a guide device, a first transmission rack movably connected with the traction pin, a second transmission rack fixedly connected with the guide device and a driving gear, wherein the first transmission rack and the second transmission rack are respectively arranged on two opposite sides of the driving gear and are in coupling transmission connection with the driving gear; the guiding device comprises a first guiding frame and a second guiding frame which are oppositely arranged on the left and right sides, the first guiding frame and the second guiding frame are connected into a whole, the automatic plugging traction device for the unmanned traction vehicle is provided with a sliding rail, and the first guiding frame and the second guiding frame are both provided with sliding blocks so as to slide along the sliding rail in the up-and-down movement process of the guiding device; the guide device also comprises a fixed seat, and an upper baffle and a lower baffle which are fixed on the fixed seat and are arranged up and down oppositely, wherein the upper baffle and the lower baffle are provided with through holes which are arranged oppositely.

Description

Automatic plugging traction device for unmanned traction vehicle

Technical Field

The invention relates to the technical field of unmanned tractors, in particular to an automatic plugging traction device for an unmanned tractor.

Background

At present, the automatic plugging traction device or the automatic unhooking device of the existing unmanned tractor is provided with a driving mechanism for driving a traction pin and a guide device to move, the driving mechanism comprises a driving gear and two driven gears, the driving gear can drive one of the driven gears to rotate, the driven gear can drive the other driven gear to rotate, and the two driven gears respectively rotate in opposite directions and respectively drive the traction pin and the guide device to move in opposite directions. Although the structure can realize linkage of the control traction pin and the guide device, the structure is complex and high in cost, and once a fault occurs between the driving gear and one of the driven gears, transmission between the two driven gears cannot be carried out, so that the fault rate is high, and the use reliability is low; and the other driven gear is not directly connected with the driving gear, and the related transmission chain length causes low transmission efficiency.

Disclosure of Invention

In order to solve one or more technical problems in the prior art or at least provide a beneficial choice, the invention provides an automatic plugging traction device for an unmanned traction vehicle, which aims to solve the problems of complex driving transmission structure, low transmission efficiency, high failure rate and poor transmission reliability of the existing traction pin and guide device.

The invention discloses an automatic plugging traction device for an unmanned tractor, which comprises a traction pin and a guide device, wherein the traction pin is used for being connected with or separated from a traction ring of a trailer or a trailer, the guide device is used for guiding the traction ring from the left direction and the right direction, and the automatic plugging traction device further comprises: the first transmission rack is movably connected with the traction pin, the second transmission rack is fixedly connected with the guide device, and the driving gear is arranged on two opposite sides of the driving gear and is in coupling transmission connection with the driving gear; the guiding device comprises a first guiding frame and a second guiding frame which are oppositely arranged on the left and right sides, the first guiding frame and the second guiding frame are connected into a whole, the automatic plugging traction device for the unmanned traction vehicle is provided with a sliding rail, and the first guiding frame and the second guiding frame are both provided with sliding blocks so as to slide along the sliding rail in the vertical movement process of the guiding device; the guiding device further comprises a fixed seat, and an upper baffle and a lower baffle which are fixed on the fixed seat and are arranged up and down oppositely, wherein through holes which are arranged oppositely are formed in the upper baffle and the lower baffle so that the traction pin can pass through the through holes.

The automatic plugging traction device for the unmanned traction vehicle further has the following additional technical characteristics:

the rotary shaft is driven by a motor, the driving gear penetrates through the rotary shaft and follows the rotary shaft to rotate, and bearings are arranged at two ends of the rotary shaft respectively to guide the rotary shaft in a rotating mode.

The distance between the first transmission rack and the second transmission rack is adjustable so as to be coupled with the driving gears with different specifications.

First transmission rack is equipped with first detection piece, automatic plug draw gear for unmanned towing vehicle is equipped with first response piece, first response piece is used for responding to first detection piece is in order to confirm the kinematic position of towing pin.

The second transmission rack is provided with a second detection piece, the automatic plugging traction device for the unmanned traction vehicle is provided with a second induction piece, and the second induction piece is used for inducing the second detection piece to determine the movement position of the guide device.

When the traction pin moves downwards and is inserted into the traction ring, the guide device moves upwards to a first height far away from the traction ring, the second sensing piece senses the second detection piece, the traction pin moves upwards to be separated from the traction ring, and when the first sensing piece senses the first detection piece, the guide device moves downwards to a second height butted with the traction ring.

The first guide frame and the second guide frame are connected into a whole through a connecting vertical plate, a first sliding block is arranged on one side, back to the first guide frame, of the connecting vertical plate corresponding to the first guide frame, a second sliding block is arranged on one side, back to the second guide frame, of the connecting vertical plate corresponding to the second guide frame, and the middle portion, back to the first guide frame, of one side of the connecting vertical plate corresponding to the second guide frame, of the connecting vertical plate is fixedly connected to the second transmission rack.

The first guide frame with be equipped with first enhancement diaphragm between the connection riser, the second guide frame with be equipped with the second between the connection riser and strengthen the diaphragm.

The end, far away from the fixing seat, of the upper baffle is connected with an upper turning plate, the end, far away from the fixing seat, of the lower baffle is connected with a lower turning plate which is arranged opposite to the upper turning plate, and the upper turning plate and the lower turning plate are used for guiding the traction ring from the upper direction and the lower direction.

The fixed seat is provided with a plurality of buffer ribs which are arranged at intervals so as to buffer the impact of the trailer or the trailer in the insertion process of the traction ring; the guide device is provided with a travel switch and is positioned between two of the buffer ribs so as to detect whether the traction ring is inserted in place.

Due to the adoption of the technical scheme, the invention has the following beneficial effects:

1. the automatic plugging traction device for the unmanned traction vehicle can realize linkage motion of the traction pin and the guide device, save operation time and improve the overall working efficiency; on this basis, towing pin and guider carry out the transmission through first driving rack, second driving rack respectively, and first driving rack and second driving rack are connected with drive gear coupling respectively, simple structure, use the reliability high to first driving rack and second driving rack all with drive gear lug connection, the driving chain is short, can improve transmission efficiency.

Furthermore, the first guide frame and the second guide frame are of an integrated structure, so that the transmission of impact can be balanced, the deformation caused by large local stress of the first guide frame and the second guide frame can be prevented, and the impact can be prevented from being continuously transmitted to the second transmission rack; simultaneously, at the position of the traction pin, the impact can be absorbed by the upper baffle and the lower baffle, so that the impact can be prevented from being continuously transmitted to the first transmission rack; the optimized structure of the guide device and the matching precision requirement of the sliding block and the sliding rail can ensure the coupling precision of the two transmission racks and the driving gear, and ensure the transmission reliability.

Because the traction pin and the guide device are distributed on two sides of the driving gear through the first transmission rack and the second transmission rack, when the load provided by the traction pin and the guide device is even, the two transmission racks can be stressed in a balanced manner, the moving stability of the two transmission racks along the driving gear can be improved, the transmission sensitivity and the response precision are improved, and the transmission efficiency is improved, so that the movement efficiency of the traction pin and the guide device is improved.

2. As a preferred embodiment, the automatic plugging traction device for the unmanned traction vehicle further comprises a rotating shaft driven by a motor, the driving gear is arranged in the rotating shaft in a penetrating way and rotates along with the rotating shaft, and two ends of the rotating shaft are respectively provided with a bearing for guiding the rotating shaft in a rotating way; can provide the direction through setting up the bearing to the rotation axis, can improve the rotatory stability of rotation axis to improve drive gear and two transmission rack complex reliability.

3. As a preferred embodiment, the distance between the first transmission rack and the second transmission rack is adjustable to couple with the driving gears with different specifications; the driving gear with proper specification can be configured according to actual requirements, the first transmission rack and the second transmission rack which are matched with the driving gear are configured, and the connection (coupling) between the first transmission rack and the driving gear can be further met by adjusting the distance between the first transmission rack and the second transmission rack so as to ensure the transmission precision; by replacing drive gears of different specifications, the speed of movement of the structure (the traction pin and the guide device) driven by the drive gears is improved, and working parameters such as working efficiency are optimized.

4. As a preferred embodiment, the first transmission rack is provided with a first detection piece, the automatic plugging and unplugging traction device for the unmanned traction vehicle is provided with a first sensing piece, and the first sensing piece is used for sensing the first detection piece to determine the movement position of the traction pin; the motion position of this application detectable towing pin puts in place through detecting the towing pin motion and confirms its and the pull ring the condition of being connected, can improve the success rate, connection accuracy and the reliability that towing pin and pull ring are connected, can ensure the security and the reliability of trailer process from this.

5. As a preferred embodiment, the second transmission rack is provided with a second detection piece, the automatic plugging and unplugging traction device for the unmanned traction vehicle is provided with a second sensing piece, and the second sensing piece is used for sensing the second detection piece to determine the movement position of the guide device; by detecting the movement position of the guide device, on one hand, after the guide device is determined to move in place, the next operation step can be performed in a seamless mode to improve the efficiency of the whole process, on the other hand, after the guide device is determined to move in place, the drive of the guide device can be stopped, and the situation that the service life of the guide device is affected due to serious heating caused by the fact that driving sources such as a motor run all the time can be prevented.

6. In a preferred embodiment, when the towing pin moves downwards to insert the towing ring, the guiding device moves upwards to a first height far away from the towing ring, the second sensing piece senses the second detection piece, the towing pin moves upwards to separate from the towing ring, and when the first sensing piece senses the first detection piece, the guiding device moves downwards to a second height abutting against the towing ring; the utility model provides an usable towing pin and guider linkage carry out the detection that targets in place each other, can confirm simultaneously that the other party moves and targets in place through the detection that targets in place of arbitrary party promptly, can make the configuration that corresponds to towing pin or guider only set up a detection piece with the response piece that corresponds can, can save the configuration quantity of detection piece, response piece, simplify overall configuration, reduce cost.

7. As a preferred embodiment, the first guide frame and the second guide frame are connected into a whole through a connecting vertical plate, a first sliding block is arranged on one side of the connecting vertical plate, which is back to the first guide frame, corresponding to the first guide frame, a second sliding block is arranged on one side of the connecting vertical plate, which is back to the second guide frame, corresponding to the second guide frame, and the middle part of one side of the connecting vertical plate, which is back to the first guide frame and the second guide frame, is fixedly connected to the second transmission rack; the connecting vertical plate is arranged, so that the first guide frame and the second guide frame can be integrally machined conveniently, the connecting vertical plate can provide installation for the first sliding block, the second sliding block and the second transmission rack, the space utilization can be optimized, and the compact layout of the guide device is promoted; furthermore, the second transmission rack is arranged between the first sliding block and the second sliding block (in the middle) by optimizing the position distribution of the first sliding block, the second sliding block and the second transmission rack, so that the load of the first guide frame and the second guide frame on the second transmission rack can be balanced, the motion stability of the guide device is improved, the transmission precision of the second transmission rack is ensured, the transmission sensitivity and the response precision of the second transmission rack are improved, and the transmission efficiency is improved.

8. As a preferred embodiment, a first reinforcing transverse plate is arranged between the first guide frame and the connecting vertical plate, and a second reinforcing transverse plate is arranged between the second guide frame and the connecting vertical plate; by arranging the reinforcing transverse plates, on one hand, the rigidity of the guide frame can be improved, the connecting strength of the guide frame and the connecting vertical plate can be improved, the bearing capacity of the guide frame to external impact can be enhanced, and the deformation risk of the guide frame can be reduced; on the other hand, can regard as counter weight structure for first leading truck and second leading truck are more balanced to the load that the second transmission rack provided, guarantee the driven uniformity and the equilibrium of precision and first leading truck and second leading truck motion of second transmission rack.

9. As a preferred embodiment, one end of the upper baffle, which is far away from the fixed seat, is connected with an upper turning plate, one end of the lower baffle, which is far away from the fixed seat, is connected with a lower turning plate which is arranged opposite to the upper turning plate, and the upper turning plate and the lower turning plate are used for guiding the traction ring from the upper direction and the lower direction; through setting up and turning over the board down, can carry out the direction of two directions from top to bottom to the traction ring insertion process, in addition first leading truck and second leading truck carry out the direction of left right direction, can improve the direction precision to accelerate the accurate inserting of traction ring.

10. As a preferred embodiment, a plurality of buffer ribs arranged at intervals are arranged on the fixed seat to buffer the impact of the trailer or the trailer during the insertion process of the towing ring; the guide device is provided with a travel switch and is positioned between two of the buffer ribs so as to detect whether the traction ring is inserted in place or not; whether the traction ring is inserted in place or not can be fed back by arranging the travel switch, and when the traction ring is not inserted in place, the butt joint path of the tractor and the traction ring can be conveniently and timely adjusted to ensure the butt joint efficiency; furthermore, the travel switch is arranged between the two buffer ribs, so that the travel switch can be prevented from being damaged by impact, the detection precision can be ensured, and the service life of the travel switch can be prolonged.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of an automatic plugging traction device for an unmanned traction vehicle according to an embodiment of the present application.

Fig. 2 is a schematic view of a driving transmission structure for controlling the traction pin to be linked with the guide device according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a guide device according to an embodiment of the present application.

Fig. 4 is a schematic structural view of a guide device according to another embodiment of the present application.

Fig. 5 is a schematic view of an application scenario according to an embodiment of the present application.

Reference numerals:

10-a tow pin;

20-a first transmission rack, 21-a second transmission rack, 22-a driving gear, 23-a motor, 24-a rotating shaft, 25-a bearing, 261-a first mounting seat, 262-a second mounting seat, 27-an adjusting bolt, 263-a rack guide wheel;

30-a first guide frame, 31-a second guide frame, 32-an upper baffle, 33-a lower baffle, 320-a through hole, 321-a first slide rail, 322-a second slide rail, 331-a first slide block, 332-a second slide block, 34-a connecting vertical plate, 341-an installation part, 342-an avoidance opening, 35-a first reinforcing transverse plate, 36-a second reinforcing transverse plate, 301-a first limit plate, 302-a first guide plate, 311-a second limit plate, 312-a second guide plate, 37-an upper turning plate and 38-a lower turning plate;

40-a first detecting member, 41-a second detecting member, 42-a first sensing member, 43-a second sensing member.

Detailed Description

In order to more clearly explain the overall concept of the present invention, the following detailed description is given by way of example in conjunction with the accompanying drawings.

In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

It should be noted that in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.

In addition, in the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate orientations and positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; either directly or indirectly through intervening media, either internally or in any other relationship. However, the direct connection means that the two bodies are not connected by the transition structure, but connected by the connection structure to form a whole. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

As shown in fig. 1 to 5, the present application provides an automatic plug-in traction apparatus for an unmanned tractor, including a traction pin 10 and a guide apparatus, wherein the traction pin 10 is used for connecting with or disconnecting from a traction ring of a trailer or a trailer, the guide apparatus is used for guiding the traction ring from left and right directions, and further including: the first transmission rack 20 is movably connected with the traction pin 10, the second transmission rack 21 is fixedly connected with the guide device, and the driving gear 22 is fixedly connected with the guide device, the first transmission rack 20 and the second transmission rack 21 are respectively arranged on two opposite sides of the driving gear 22 and are in coupling transmission connection with the driving gear 22, and the first transmission rack 20 and the second transmission rack 21 move up and down in opposite directions under the driving of the driving gear 22; the guiding device comprises a first guiding frame 30 and a second guiding frame 31 which are oppositely arranged left and right, the first guiding frame 30 and the second guiding frame 31 are connected into a whole, the automatic plugging and pulling traction device for the unmanned traction vehicle is provided with a sliding rail, and the first guiding frame 30 and the second guiding frame 31 are both provided with sliding blocks so as to slide along the sliding rail in the vertical movement process of the guiding device; the guiding device further comprises a fixed seat, and an upper baffle 32 and a lower baffle 33 which are fixed on the fixed seat and are arranged oppositely up and down, wherein the upper baffle 32 and the lower baffle 33 are provided with through holes 320 which are arranged oppositely for the traction pin 10 to pass through.

In the related art, a multi-stage gear transmission scheme is provided to realize linkage control of a traction pin and a guide device, the configuration structure is complex, the failure rate is high, and the transmission efficiency is reduced due to the fact that an intermediate transmission chain is long. Compared with the prior art, the gear and rack matched structure is simple in structure, high in transmission sensitivity/response precision and high in transmission efficiency.

Further, because the first transmission rack 20 and the second transmission rack 21 are coupled and matched with the driving gear 22 at the same time, the requirements on the transmission accuracy of the driving gear 22 and the first transmission rack 20 as well as the transmission accuracy of the driving gear 22 and the second transmission rack 21 are higher, and therefore, the method provides optimization conditions from the aspects of impact load transmission, the motion guidance of the traction pin 10 and the guide device so as to ensure that the transmission accuracy meets the requirements. Specifically, the first guide frame 30 and the second guide frame 31 are integrated, so that the impact can be more uniformly transmitted to the first guide frame 30 and the second guide frame 31, and the impact pressure can be dispersed and prevented from being transmitted to the second transmission rack 21; the upper and

lower guards

32 and 33 are able to withstand the impact of the impact on the kingpin 10 and prevent the impact from being transmitted to the first drive rack 20. Further, when the guider moves, the first guide frame 30 and the second guide frame 31 can move along the slide rail through the slide blocks, when the traction pin 10 moves, the guide can be provided by the through holes 320, namely, the stability of the movement of the guider and the traction pin 10 can be ensured through the above conditions, unstable phenomena of postures such as deviation, inclination and shaking can be prevented from occurring in the movement process, and the driving gear 22 can be accurately coupled with the first transmission rack 20 and the second transmission rack 21.

As shown in fig. 1 and 2, the driving gear 22 may be driven by a motor 23, and when the driving gear 22 rotates in a first direction, the first driving rack 20 may drive the traction pin 10 to move downwards, and simultaneously, the second driving rack 21 may drive the guide device to move upwards; when the driving gear 22 rotates in a second direction opposite to the first direction, the first driving rack 20 may drive the drawing pin 10 to move upward, and simultaneously, the second driving rack 21 may drive the guide to move downward.

By using the above structure, when the load provided by the towing pin 10 and the guiding device is equivalent, the load acting on the first transmission rack 20 and the second transmission rack 21 can be equivalent, the forces acting on both sides of the driving gear 22 can be balanced, the coupling precision of the first transmission rack 20, the second transmission rack 21 and the driving gear 22 can be improved, and the smoothness and the stability of the transmission of the first transmission rack 20 and the second transmission rack 21 can be improved.

It should be noted that the movable guiding device described herein refers to a structure formed by the first guiding frame 30 and the second guiding frame 31, and the fixed seat, the upper baffle 32 and the lower baffle 33 are fixed structures and do not move.

As a preferred embodiment, the traction device of the present application further includes a rotating shaft 24 driven by a motor 23, the driving gear 22 is inserted into the rotating shaft 24 and rotates along with the rotating shaft 24, and bearings 25 are respectively disposed at two ends of the rotating shaft 24 to rotatably guide the rotating shaft 24.

As shown in fig. 2, by providing the bearing 25 to guide the rotation shaft 24, the stability of the rotation shaft 24 can be improved, and the reliability of the rack-and-pinion engagement can be improved.

In a preferred embodiment, the distance between the first transmission rack 20 and the second transmission rack 21 is adjustable to couple with the driving gears 22 of different specifications.

This application can dispose suitable specification's drive gear 22 according to actual demand to dispose and drive gear 22 assorted first transmission rack 20 and second transmission rack 21, further satisfy the connection (coupling) of both and drive gear 22 through adjusting the distance between first transmission rack 20 and the second transmission rack 21, in order to guarantee transmission accuracy. By replacing drive gears 22 of different specifications, it is helpful to improve the movement rate of the structures (the kingpin 10 and the guide) driven thereby, and optimize the working parameters such as working efficiency. As shown in fig. 2, the first and second mounting

seats

261 and 262 are oppositely disposed at the outer sides of the first and second transmission racks 20 and 21, and at least one of the first and second mounting

seats

261 and 262 may adjust the distance between the first and second mounting

seats

261 and 262 using the adjustment bolt 27 as a means for adjusting the distance between the first and second transmission racks 20 and 21.

Further, the first mounting seat 261 is provided with a rack guide wheel 263 for guiding the first transmission rack 20, so as to improve the transmission precision and stability of the first transmission rack 20. Similarly, the second mounting seat 262 is provided with a rack guide wheel for guiding the second transmission rack 21, so as to improve the transmission precision and stability of the second transmission rack 21.

In a preferred embodiment, the first transmission rack 20 is provided with a first detection element, and the automatic insertion and extraction traction device for the unmanned traction vehicle is provided with a first sensing element, which is used for sensing the first detection element to determine the movement position of the traction pin 10.

In the related art, only a means for detecting whether the traction ring is inserted in place is provided, however, the connection condition between the traction ring and the traction pin cannot be determined by detecting that the traction ring is inserted in place, which cannot truly reflect the automatic connection between the traction pin and the traction ring for the application scene of unmanned driving, and also reduces the connection precision and reliability between the traction pin and the traction ring.

Moreover, the prior art also has the following problems: the towing ring is inevitably affected by impact from the trailer or other outside in the long-term use process, which causes a certain deformation of the towing ring, and in the absence of relevant detection means, the connection of the towing pin and the towing ring has an unstable connection condition (for example, the towing pin is only inserted into a half depth of the towing ring), and during the towing process, a safety accident that the towing pin is separated from the towing ring is easy to happen.

Due to the deformation of the towing ring, the towing ring and the towing pin are successfully connected (actually, a great safety hazard exists) in the early connection stage, and the appearance is misled to the outside, so that the person skilled in the art is difficult to realize the actual connection condition of the towing ring and the towing pin, and the reason, the caused result and the like (the separation of the towing pin and the towing ring in the process of towing can be considered to be caused by other factors in the process of traveling).

After the applicant has recognized the above problems, the applicant has proposed means for detecting the moving position of the towing pin, that is, the applicant has recognized that the error requirement of the downward movement of the towing pin is actually greater than the error requirement of the insertion fit of the towing pin and the towing ring, that is, the connection condition of the towing pin and the towing ring cannot be accurately judged by detecting whether the towing ring is inserted in place, and the connection condition of the towing pin and the towing ring is determined to be unreliable by the means.

Specifically, the present disclosure may detect a moving position of the towing pin 10, for example, when the towing pin 10 moves to be inserted into the towing ring, the first sensing element and the first detecting element cooperate to provide a signal indicating that the towing pin 10 is in place, so as to determine that the towing pin 10 is in place, and at this time, the towing pin 10 and the towing ring are successfully connected, so that the automatic connection between the towing pin 10 and the towing ring may be implemented, so as to meet the requirement of an unmanned application scenario.

The present application can detect the moving position of the towing pin 10, which may include detecting a plurality of moving positions of the towing pin 10, for example, during the moving process of the towing pin 10 toward the towing ring, a plurality of positions of the towing pin 10 may be detected, and besides the connection condition of the towing pin 10 and the towing ring may be determined, the moving speed of the towing pin 10 may also be controlled, for example, when the towing pin 10 is far away from the towing ring, the towing pin 10 may be controlled to move toward the towing ring relatively quickly, and when the towing pin 10 is close to the towing ring, the towing pin 10 may be controlled to decelerate or move at a constant speed, so as to ensure the connection precision with the towing ring. Similarly, during movement of the kingpin 10 away from the traction ring, a plurality of positions of the kingpin 10 may be detected to control the rate of movement of the kingpin 10, determine a target position of the kingpin 10, and the like.

It should be noted that, by means of the present application, a stable coupling of the kingpin 10 to the towing ring is ensured, so that a detachment of the kingpin 10 from the towing ring during towing is avoided.

In some embodiments, a plurality of first sensing members may be disposed in the path of movement of the kingpin 10, and a first sensing member may be used to cooperate with a corresponding first sensing member to detect a presence when the kingpin 10 is moved to one of the positions.

Further, the second transmission rack 21 is provided with a second detection piece, the automatic plugging and unplugging traction device for the unmanned traction vehicle is provided with a second induction piece, and the second induction piece is used for inducing the second detection piece to determine the movement position of the guide device.

By detecting the movement position of the guide device, on one hand, after the guide device is determined to move in place, the next operation step can be performed in a seamless mode to improve the efficiency of the whole process, on the other hand, after the guide device is determined to move in place, the drive of the guide device can be stopped, and the situation that the service life of the guide device is affected due to serious heating caused by the fact that driving sources such as a motor run all the time can be prevented.

In particular, the present application may detect multiple movement positions of the guide device, for example, by determining a current position of the guide device during movement of the guide device toward the traction ring, which may be compared to a current position of the traction ring, so as to adjust the position of the guide device or the traction ring in time to improve the accuracy and efficiency of traction ring insertion; and, can also provide the basis for controlling the rate of motion of guider through the position that detects guider, can improve the control accuracy of guider. Similarly, during movement of the guide away from the traction ring, multiple positions of the guide may be detected in order to control the rate of movement of the guide, determine a target position of the guide, and so forth.

In some embodiments, a plurality of second sensing members may be disposed on the moving path of the guiding device, and when the guiding device moves to one of the positions, the in-position detection may be implemented by using the second detecting members to cooperate with the corresponding second sensing members.

In a preferred embodiment, the guiding means moves up to a first height away from the traction ring when the traction pin 10 moves down to insert the traction ring, and the second sensing member senses the second sensing member, the traction pin 10 moves up to disengage from the traction ring, and the guiding means moves down to a second height abutting the traction ring when the first sensing member senses the first sensing member.

In this embodiment, the second sensing member and the second detecting member cooperate to detect not only the movement of the guiding device in place when the guiding device moves upward, but also the movement of the towing pin 10 in place when the towing pin moves downward; the cooperation of the first sensing member and the first detecting member can detect not only the movement position of the towing pin 10 when moving upward, but also the movement position of the guiding device when moving downward. Therefore, when the first sensing member and the first detecting member cannot be used normally, the successful connection between the towing pin 10 and the towing ring can be determined by confirming that the guiding device reaches the first height, and the reliability of the in-place detection of the towing pin 10 is further improved.

Specifically, as shown in fig. 2, a first detecting member 40 is disposed on the top of the first driving rack 20, a second detecting member 41 is disposed on the top of the second driving rack 21, and accordingly, a first sensing member 42 and a second sensing member 43 are disposed on one side of the first detecting member 40 and one side of the second detecting member 41, respectively. When the first driving rack 20 moves upward to a position, the first sensing member 42 senses the first sensing member 40; when the second driving rack 21 is moved upward to a position, the second sensing member 43 senses the second sensing member 41. The parameters of the coupling of the first transmission rack 20 and the second transmission rack 21 with the driving gear 22 are satisfied, when the towing pin 10 moves downwards to insert the towing ring (i.e. the two are successfully connected), the guiding device moves upwards to the second sensing member 43 to sense the second detecting member 41, so as to provide a signal that the towing pin 10 moves downwards to the position. Similarly, when the guide moves down to the second height, the kingpin 10 moves up to the first sensing member 42 to sense the first sensing member 40 to provide a signal that the guide is moved down to the first position.

It will be appreciated that when the guide means is moved downwardly to the second height, the height of the traction ring can be adjusted to meet the guiding requirements if it cannot be matched to the height of the traction ring for effective guiding.

The first sensing member 42 and the second sensing member 43 may be disposed at the same height, or at different heights, and are adjusted according to the moving distance of the towing pin 10 and the guiding device.

Further, the structure or form of the detecting member and the sensing member is not particularly limited in the present application, and any of the following may be used, for example.

(1) The first detecting member 40 or the second detecting member 41 is an inductor, and the first sensing member 42 or the second sensing member 43 is an inductive switch. The inductive switch can select any one of an electromagnetic inductive switch, an infrared inductive switch, a photoelectric inductive switch and the like, correspondingly matches inductors of different materials/structures according to the type of the inductive switch, and the related working principle can refer to the prior art, which is not repeated herein.

(2) The first detecting member 40 or the second detecting member 41 is a magnet, and the first sensing member 42 or the second sensing member 43 is a hall element.

Regarding the structure of the guide device, the first guide frame 30 and the second guide frame 31 may be integrally connected, or may be integrally connected. Preferably, the first guide frame 30 and the second guide frame 31 may have a symmetrical structure and arrangement. The automatic plugging and pulling device for the unmanned tractor is provided with a first sliding rail 321 and a second sliding rail 322, the first guide frame 30 is provided with a first sliding block 331, the second guide frame 31 is provided with a second sliding block 332, when the driving gear 22 is controlled to rotate forwards and backwards, the second transmission rack 21 can drive the first guide frame 30 and the second guide frame 31 to move up and down, meanwhile, the first sliding block 331 slides along the first sliding rail 321, and the second sliding block 332 slides along the second sliding rail 322. Further, the first slider 331 and the first sliding rail 321, and the second slider 332 and the second sliding rail 322 may have a sliding plane with a certain shape, which may improve the stability of the transmission and the consistency and balance of the movement of the first guiding frame 30 and the second guiding frame 31, compared to the way that the sliding structure slides along the guiding post (typically, a cylindrical guiding post), thereby ensuring the transmission accuracy of the second transmission rack 21. As shown in fig. 3 and 4, the first slider 331 has a substantially U-shaped sliding surface, and the middle portion of the first slider 331 has a large planar contact area with the first sliding rail 321, so as to improve the stability and reliability of the sliding of the first slider 331. Similarly, the structure of the second slider 332 engaged with the second sliding rail 322 is the same as the structure of the first slider 331 engaged with the first sliding rail 321.

As a preferred embodiment, the first guide frame 30 and the second guide frame 31 are integrally connected through a connecting vertical plate 34, a first sliding block 331 is disposed on one side of the connecting vertical plate 34 facing away from the first guide frame 30 corresponding to the first guide frame 30, a second sliding block 332 is disposed on one side of the connecting vertical plate 34 facing away from the second guide frame 31 corresponding to the second guide frame 31, and a middle portion of one side of the connecting vertical plate 34 facing away from the first guide frame 30 and the second guide frame 31 is fixedly connected to the second transmission rack 21.

As shown in fig. 3, the connecting riser 34 is connected to the first guide frame 30 and the second guide frame 31 at two ends, which form an integral structure. In some embodiments, the first guide frame 30, the second guide frame 31, and the connecting riser 34 can be integrally formed. In other embodiments, the first guide frame 30 and the second guide frame 31 may be welded to the connecting risers 34, respectively; of course, other attachment means than welding may be used. Preferably, the connecting riser 34 is arranged perpendicular to the first guide frame 30 and the second guide frame 31, so that the occupied space can be reduced and the miniaturization of the guide device can be promoted.

The side of the connecting vertical plate 34, which faces away from the first guide frame 30 and the second guide frame 31, can provide mounting positions for the first sliding block 331, the second sliding block 332 and the second transmission rack 21, so that the space utilization can be further optimized, and the compact layout of the guide device is promoted; in addition, by optimizing the position distribution of the first slider 331, the second slider 332 and the second transmission rack 21, the second transmission rack 21 is arranged between (in the middle of) the first slider 331 and the second slider 332, the load of the first guide frame 30 and the second guide frame 31 on the second transmission rack 21 can be balanced, the first guide frame 30 and the second guide frame 31 can be prevented from being inclined, the movement stability of the guide device is improved, the transmission precision of the second transmission rack 21 is ensured, the transmission sensitivity and response precision of the second transmission rack 21 can be improved, and the transmission efficiency is improved.

Further, as shown in fig. 3, the connecting riser 34 (and the first slider 331 and the second slider 332 thereon), the first sliding rail 321, and the second sliding rail 322 may form an i-shaped configuration, which may further improve the stability of the movement of the guiding device, thereby ensuring the coupling precision of the second driving rack 21 and the driving gear 22.

The first slider 331, the second slider 332 and the connecting riser 34 may be integrally formed or may be connected by welding. The middle of the connecting riser 34 is provided with a mounting portion 341, and the mounting portion 341 is, for example, a screw hole, and can be used for being bolted to the second transmission rack 21. Alternatively, the connecting riser 34 and the second drive rack 21 can be connected by welding.

Further, a first reinforcing transverse plate 35 is arranged between the first guide frame 30 and the connecting vertical plate 34, and a second reinforcing transverse plate 36 is arranged between the second guide frame 31 and the connecting vertical plate 34.

By arranging the reinforcing transverse plates, on one hand, the rigidity of the guide frame can be improved, the connecting strength of the guide frame and the connecting vertical plate 34 can be improved, the bearing capacity of the guide frame to external impact can be enhanced, and the deformation risk of the guide frame can be reduced; on the other hand, the first guide frame 30 and the second guide frame 31 can be used as a counterweight structure, so that the load provided by the second transmission rack 21 is more balanced, and the transmission precision of the second transmission rack 21 and the movement consistency and balance of the first guide frame 30 and the second guide frame 31 are ensured.

As shown in fig. 3, one or more first reinforcing transverse plates 35 and one or more second reinforcing transverse plates 36 may be disposed according to actual requirements to improve the uniformity of rigidity of the first guide frame 30/the second guide frame 31, and serve as an isolation structure to prevent impact from being transmitted to the slide block and the slide rail and the position of the second transmission rack 21.

Further, taking the first guide frame 30 as an example for illustration, by optimizing the structural configuration and arrangement, the center of gravity or the center of mass of the whole formed by the first guide frame 30, the first reinforcing transverse plate 35 and the partial structures of the connecting vertical plate 34 connected with the first guide frame 30 and the first reinforcing transverse plate 35 and the first slider 331 can have a better corresponding relationship, so as to reduce the resistance of the first guide frame 30 to the movement and improve the stability of the first guide frame 30 to the movement.

Further, the first guiding frame 30 includes a first limiting plate 301 vertically connected to the connecting vertical plate 34 and a first guiding plate 302 connected to the first limiting plate 301 in a bent manner, and the second guiding frame 31 includes a second limiting plate 311 vertically connected to the connecting vertical plate 34 and a second guiding plate 312 connected to the second limiting plate 311 in a bent manner; the first limiting plate 301 and the second limiting plate 311 are arranged in parallel and oppositely to limit the movement of the traction ring along the left direction and the right direction, the first guide plate 302 and the second guide plate 312 are both provided with guide inclined planes, and the two guide inclined planes are gradually close to each other along the extending direction of the traction ring.

As shown in fig. 3, the traction ring is initially positioned outside the first and

second guide plates

302 and 312, and the first and

second guide plates

302 and 312 may guide the traction ring in the left-right direction during the insertion of the traction ring, and guide the traction ring to move toward the space defined by the first and

second stopper plates

301 and 311. When the traction ring moves into the space defined by the first and

second retainer plates

301 and 311, the traction ring reaches the mounting position and can be coupled to the traction pin above. Wherein the space defined by the first and

second guide plates

302 and 312 is tapered in the direction in which the traction ring is inserted, the space defined by the first and

second limit plates

301 and 311 may have a uniform width.

The first limiting plate 301 and the first guiding plate 302 may be integrally formed, and the second limiting plate 311 and the second guiding plate 312 may be integrally formed.

As a preferred embodiment, an upper turning plate 37 is connected to an end of the upper baffle 32 away from the fixed seat, a lower turning plate 38 arranged opposite to the upper turning plate 37 is connected to an end of the lower baffle 33 away from the fixed seat, and the upper turning plate 37 and the lower turning plate 38 are used for guiding the traction ring from the upper direction and the lower direction.

As shown in fig. 4 and 5, the upper flap 37 is inclined obliquely upward with respect to the upper baffle 32, the lower flap 38 is inclined obliquely downward with respect to the lower baffle 33, and the upper flap 37 and the lower flap 38 and the first guide plate 302 and the second guide plate 312 may form a bell mouth shape, which may further improve the accuracy of guiding the traction ring. The connection mode of the upper flap 37 and the upper baffle 32 is not limited in the present application, and may be integrally formed or may be welded. Similarly, the lower flap 38 and the lower baffle 33 may be integrally formed or may be welded together.

Further, connect riser 34 to be located be equipped with between first leading truck 30 and the second leading truck 31 and dodge mouth 342, when first leading truck 30 and second leading truck 31 downstream put in place, dodge the bottom of mouth 342 with the top butt of overhead gage 32.

In this embodiment, the upper baffle 32 can be used to limit the downward movement of the first guide frame 30 and the second guide frame 31, so that the arrangement of a limiting structure can be omitted, and when the avoidance port 342 is in abutting engagement with the upper baffle 32, the movement in place can be prompted, the arrangement of an in-place detection structure can be omitted, which is beneficial to simplifying the structural configuration and saving the cost. In addition, the weight of the connecting vertical plate 34 can be reduced by arranging the avoiding opening 342, which is beneficial to improving the transmission efficiency of the second transmission rack 21.

Further, the towing pin 10 is movably connected (e.g., hinged) to the first driving rack 20, so as to further prevent the impact from being transmitted to the position of the first driving rack 20, and ensure the coupling precision of the first driving rack 20 and the driving gear 22.

As a preferred embodiment, a plurality of buffer ribs arranged at intervals are arranged on the fixed seat to buffer the impact of the trailer or the trailer during the insertion process of the towing ring; the guide device is provided with a travel switch and is positioned between two of the buffer ribs so as to detect whether the traction ring is inserted in place.

Wherein, the vertical plane at fixing base place can be regarded as the traction ring spacing in the ascending terminal of direction of inserting, and through setting up the buffering muscle, it can absorb the traction ring and insert and connect the impact load of in-process trailer or trailer, can protect the tractor on the one hand, and on the other hand can reduce the displacement risk that causes by the impact to ensure the connection accuracy of traction ring and towing pin 10. The travel switch is arranged between the two buffer ribs, so that the travel switch can be prevented from being damaged by impact, the detection precision can be ensured, and the service life of the travel switch can be prolonged.

In some embodiments, the guide defines a mounting cavity for insertion of a traction ring, and the travel switch is disposed within the mounting cavity.

The position of the traction ring is detected, so that the alignment precision of the traction ring and the traction pin 10 can be improved, and the motion position of the traction pin 10 is detected, so that the traction pin 10 can be inserted into the traction ring and the stable connection between the traction ring and the traction ring can be ensured, the connection precision and reliability of the traction pin 10 and the traction ring can be integrally improved, and the safety accident that the traction pin 10 is separated from the traction ring can be prevented.

In the example in which the guide device is provided with the first and

second stopper plates

301 and 311, the upper shutter 32, and the lower shutter 33, the four may enclose a mounting cavity in which the stroke switch may be provided. More specifically, the stroke switch may be provided on the upper shutter 32 or the lower shutter 33.

As shown in fig. 5, the above-mentioned automatic plugging and unplugging traction apparatus for an unmanned tractor can be applied to an unmanned tractor.

The technical solutions protected by the present invention are not limited to the above embodiments, and it should be noted that the combination of the technical solution of any one embodiment and the technical solution of one or more other embodiments is within the protection scope of the present invention. Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. The utility model provides an automatic plug draw gear for unmanned driving tractor, includes towing pin and guider, the towing pin is used for being connected or the separation with the traction ring of trailer or trailer, guider is used for leading the traction ring from controlling two directions, its characterized in that still includes:

the first transmission rack and the second transmission rack are respectively arranged on two opposite sides of the driving gear and are in coupling transmission connection with the driving gear, and the first transmission rack and the second transmission rack move up and down along opposite directions under the driving of the driving gear;

the guiding device comprises a first guiding frame and a second guiding frame which are oppositely arranged on the left and right sides, the first guiding frame and the second guiding frame are connected into a whole, the automatic plugging traction device for the unmanned traction vehicle is provided with a sliding rail, and the first guiding frame and the second guiding frame are both provided with sliding blocks so as to slide along the sliding rail in the vertical movement process of the guiding device;

the guiding device further comprises a fixed seat, and an upper baffle and a lower baffle which are fixed on the fixed seat and are arranged up and down oppositely, wherein through holes which are arranged oppositely are formed in the upper baffle and the lower baffle so that the traction pin can pass through the through holes.

2. The automatic plugging traction device for the unmanned traction vehicle according to claim 1,

3. The automatic plugging traction device for the unmanned traction vehicle according to claim 1,

4. The automatic plugging traction device for the unmanned traction vehicle according to claim 1,

the first driving rack is provided with a first detection piece, the automatic plugging traction device for the unmanned traction vehicle is provided with a first induction piece, and the first induction piece is used for inducing the first detection piece to determine the movement position of the traction pin.

5. The automatic plugging traction device for the unmanned traction vehicle according to claim 4,

6. The automatic plugging traction device for the unmanned traction vehicle according to claim 5,

7. The automatic plugging traction device for the unmanned traction vehicle according to claim 1,

first leading truck and second leading truck link into an integrated entity through connecting the riser, it is dorsad to connect the riser one side of first leading truck corresponds first leading truck is equipped with first slider, it is dorsad to connect the riser one side of second leading truck corresponds the second leading truck is equipped with the second slider, it is dorsad to connect the riser first leading truck with one side middle part fixed connection of second leading truck is to the second driving rack.

8. The automatic plugging traction device for the unmanned traction vehicle according to claim 7,

9. The automatic plugging traction device for the unmanned traction vehicle according to claim 1,

10. The automatic plug-pull traction device for the unmanned traction vehicle according to claim 1,

the fixed seat is provided with a plurality of buffer ribs arranged at intervals so as to buffer the impact of a trailer or a trailer in the insertion process of the traction ring;

the guide device is provided with a travel switch and is positioned between two of the buffer ribs so as to detect whether the traction ring is inserted in place.