KR102659334B1 - Bistable mechanism and docking system allowing self-alignment in vertical and horizontal direction using the same - Google Patents

Abstract

The present invention relates to a bistable mechanism and a docking system that self-aligns in the vertical and horizontal directions using the same. More specifically, the trailer and transport vehicle can self-align in the vertical and horizontal directions and dock conveniently without the help of external equipment. It relates to a bistable mechanism characterized by a bistable mechanism and a vertical and horizontal self-aligned docking system using the same.
The present invention relates to a drive motor, a gear connected to the drive motor, a cam rod with one end coupled to one surface of the gear and reciprocating as the gear rotates, and a lock coupled to the other end of the cam rod to move in a straight line. It includes a key and a spring, one end of which is fixed to the housing and the other end of which is fixed to the other surface of the gear, wherein the spring is disposed in a first tangential direction of the gear so that the lock key protrudes and is locked by the spring. A bistable mechanism is provided, wherein the spring maintains a first stable position or a second stable position in which the spring is disposed in a second tangential direction of the gear so that the lock key is retracted and opened.

Description

Bistable mechanism and docking system for self-alignment in vertical and horizontal directions using the same {Bistable mechanism and docking system allowing self-alignment in vertical and horizontal direction using the same}

The present invention relates to a bistable mechanism and a docking system that self-aligns in the vertical and horizontal directions using the same. More specifically, the trailer and transport vehicle can self-align in the vertical and horizontal directions and dock conveniently without the help of external equipment. It relates to a bistable mechanism characterized by a bistable mechanism and a vertical and horizontal self-aligned docking system using the same.

Recently, with the spread of infectious diseases such as coronavirus, the use of online shopping and delivery services has increased, expanding the scope of logistics transportation.

Accordingly, the industry related to unmanned delivery using autonomous trucks is developing, and products related to unmanned delivery programs and systems are being developed.

For the above-described large-scale logistics transport, most trucks dock and tow trailers equipped with one or more pairs of wheels, or wheelless trailers are loaded onto cargo trucks using external devices and transported.

The conventional technology had the disadvantage that when a truck attempted to dock with a trailer, it could only dock in either the up-down or side direction, and there was no degree of pitch freedom, so the vehicle was connected to the trailer and had to climb a hill or move the logistics back and forth. There was a problem that the docking member was very vulnerable in case of shaking.

US 2021-0061034 A1 (Name of invention: Automatic Tractor Trailer Coupling, Publication date: 2021.03.04)

Accordingly, the present invention is intended to solve the problems of the prior art as described above, and provides a bistable mechanism that can self-align and dock even if there is an alignment error without the help of an external device, and a docking system that self-aligns in the vertical and horizontal directions using the same. It has a purpose.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the above-described problem, the present invention includes a drive motor, a gear connected to the drive motor, a cam rod whose one end is coupled to one surface of the gear and reciprocates according to the rotation of the gear, and the cam rod. It includes a lock key that is coupled to the other end and moves in a straight line, and a spring that has one end fixed to the housing and the other end fixed to the other surface of the gear, wherein the spring moves the gear so that the lock key protrudes and is locked. A bistable device characterized in that the spring maintains a first stable position disposed in the first tangential direction of the gear, or a second stable position disposed in the second tangential direction of the gear so that the lock key is retracted and opened. Provides equipment.

In addition, the present invention includes a bi-stability mechanism, a fixing part provided on the bottom of the trailer, and a hitch part provided on the upper surface of a transport vehicle for transporting the trailer and fastened to the fixing part, wherein the hitch part is opened and closed so that the fixing part The hitch portion and the fixing portion are coupled by locking (locking) at least a portion of the hitch portion and the fixing portion, and the combination of the hitch portion and the fixing portion is maintained by inserting the bi-stability mechanism into the hitch portion or supporting the hitch portion. It provides a vertical and horizontal self-aligning docking system.

Here, the fixing part includes a latch piece configured parallel to the bottom of the trailer, a 1-1 support part attached to the bottom of the trailer and supporting one end of the latch piece, and a 1-1 support part attached to the bottom of the trailer and supporting the other end of the latch piece. It may include a first-second support portion supporting the end.

In addition, the fixing part includes a latching piece configured to be parallel to the bottom of the trailer, a 2-1 support portion attached to the bottom of the trailer and supporting one end of the latching piece, and a second support portion attached to the bottom of the trailer to support the other end of the latching piece. It includes a 2-2 support part supporting an end, and the distance between the 2-1 support part and the 2-2 support part may become narrower toward the bottom of the trailer.

In addition, the fixing part may include a locking piece perpendicularly attached to the bottom of the trailer, and a disk portion that protrudes from a lower end of the locking piece and has a cross-sectional width wider than the cross-sectional width of the locking piece.

According to the bistable mechanism according to the present invention and the vertical and horizontal self-aligned docking system using the same, the following effects are achieved.

First, the trailer and transport vehicle can self-align vertically and horizontally without the help of external equipment and can be conveniently docked.

Second, the efficiency of docking can be increased by maintaining the open or locked state by applying a bistable mechanism.

Third, operating costs can be reduced by shortening the driving time of the motor using a bistable mechanism.

Fourth, when combining a trailer and a transport vehicle, a degree of freedom in pitch or yaw is created, which increases operational flexibility and extends the lifespan of the fixing part and hitch part.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned may be clearly understood by those skilled in the art from the description of the claims.

Figure 1 is a diagram showing the connection relationship of the main components of the bistable mechanism according to the present invention, (a) showing the locked state and (b) showing the open state.
Figure 2 (a) is a diagram showing the overall schematic diagram of a trailer and a transport vehicle including a vertical and horizontal self-aligning docking system according to the present invention, (b) is a right side view of the trailer, and (c) is a view of the trailer. This is a drawing showing the front view.
Figure 3 is a diagram showing a first embodiment of the fixing part included in the trailer of the vertical and horizontal self-aligning docking system according to the present invention.
Figure 4 is a diagram showing a second embodiment of the fixing part included in the trailer of the vertical and horizontal self-aligning docking system according to the present invention.
Figure 5 is a diagram showing a third embodiment of the fixing part included in the trailer of the vertical and horizontal self-aligning docking system according to the present invention.
Figure 6 (a) is a diagram showing the locked state of the first embodiment of the hitch part included in the transport vehicle of the vertical and horizontal self-aligning docking system according to the present invention, and (b) is a diagram showing the open state. .
Figure 7 (a) is a diagram showing the locked state of the second embodiment of the hitch included in the transport vehicle of the vertical and horizontal self-aligning docking system according to the present invention, and (b) is a diagram showing the open state. .
Figure 8 (a) is a diagram showing the locked state of the third embodiment of the hitch part included in the transport vehicle of the vertical and horizontal self-aligning docking system according to the present invention, and (b) is a diagram showing the open state. .

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely provided to ensure that the disclosure of the present invention is complete and to be understood by those skilled in the art in the technical field to which the present invention pertains. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

The sizes and shapes of components shown in the drawings attached to this specification may be exaggerated for clarity and convenience of explanation. It should be noted that the same configuration may be indicated by the same reference numeral in each drawing. Additionally, detailed descriptions of the functions and configurations of known technologies that are judged to unnecessarily obscure the gist of the present invention may be omitted.

The terms used herein are used to describe specific embodiments and are not intended to limit the invention. As used herein, the singular forms include the plural forms unless the context clearly indicates otherwise. In addition, throughout this specification, when a part “includes” a certain element, this means that it may further include other elements unless specifically stated to the contrary.

When a component is said to be “connected” or “connected” to another component, it is understood that it may be directly connected to or connected to that other component, but that other components may also exist in between. It should be. On the other hand, when a component is said to be “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between. Other expressions to describe relationships between components should be interpreted similarly.

Terms such as top, bottom, upper surface, lower surface, top, bottom, etc. used in this specification are used to distinguish the relative positions of components. For example, for convenience, if the upper part of the drawing is called upper and the lower part of the drawing is called lower, in reality, the upper part can be called lower, and the lower part can be called upper, without departing from the scope of the present invention. .

Terms containing ordinal numbers, such as ~first~, ~second~, etc. described in this specification may be used to describe various components, but the components are not limited by the terms. The above terms are only used to distinguish each component from another, and are not limited by the manufacturing order, and the names may not match in the detailed description and claims of the invention.

All terms, including technical or scientific terms, used in this specification, unless otherwise defined, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless clearly defined in this specification, should not be interpreted in an idealized or overly formal sense. No.

Hereinafter, the present invention will be described with reference to the drawings to explain a vertical and horizontal self-aligning docking system according to an embodiment of the present invention.

Figure 1 is a diagram showing the connection relationship of the main components of the bistable mechanism according to the present invention, (a) showing the locked state and (b) showing the open state.

Referring to FIG. 1, the bistable mechanism according to the present invention includes a drive motor 1100, a gear 1200, a cam rod 1300, a lock key 1400, and a spring 1500.

The drive motor 1100 provides power to enable rotation of the gear 1200, and partially rotates the gear 1200 to change the locked state and open state of the lock key 1400, which will be described later. By doing so, the spring 1500, which is in a compressed and stable state, can return to its original length by restoring force.

The gear 1200 is connected to the drive motor 1100 and rotates according to the driving of the drive motor 1100. At the same time, it is coupled to the spring 1500 and moves the spring 1500 according to the rotation of the gear 1200. The location and length of the other end are changed. The restoring force of the spring is determined according to the change in length of the spring 1500, and details will be described later.

One end of the cam rod 1300 is coupled to one surface of the gear 1200, and as the gear 1200 rotates, the cam rod 1300 reciprocates. That is, the rotational movement of the gear 1200 is changed to the linear movement of the cam rod 1300.

The lock key 1400 is coupled to the other end of the cam rod 1300 and moves in the same direction as the cam rod 1300 to move in a straight line.

That is, the locking key 1400 is set to an open state or a protruding locked state as its position moves in a straight direction, and this will be described later in the description of the spring 1500.

One end of the spring 1500 is fixed to the housing and the other end is coupled to one surface of the gear 1200.

First, when the lock key 1400 is in a standby state, the spring 1500 is located in the normal direction of the gear 1200 and is placed in a compressed position, which is the maximum compressed state.

The spring 1500 is placed in a first stable position or a second stable position, which will be described later, and the first stable position and the second stable position are determined based on the compressed position.

When the drive motor 1100 transmits power to the gear 1200 to rotate, the spring 1500 is placed in the first stable position or the second stable position depending on the rotation direction of the gear 1200. .

According to (a) of FIG. 1, when the gear 1200 rotates counterclockwise, the spring 1500 is decompressed by a restoring force to return to its original length due to elastic force, and at this time, the spring 1500 1500 is disposed in the first tangential direction of the gear 1200 and maintains a stable state as it is disposed in the first stable position where the spring force is '0'.

At this time, the first tangential direction is defined as a tangential direction formed on the housing fixing position of the spring 1500 and the lower surface of the gear 1200.

As the spring 1500 is disposed in the first tangential direction, the cam rod 1300 rises upward based on the center of the gear 1200, and as the cam rod 1300 rises, the cam rod 1300 rises upward. As the lock key 1400 coupled to the end of the cam rod 1300 also moves linearly and rises, it protrudes and enters a locked state.

In addition, when the gear 1200 rotates clockwise, the spring 1500 is decompressed by a restoring force to return to its original length due to elastic force, and at this time, the spring 1500 is ), it maintains a stable state by being placed in the second stable position where the spring force is '0'.

At this time, the second tangential direction is defined as a tangential direction formed on the housing fixing position of the spring 1500 and the upper surface of the gear 1200.

As the spring 1500 is disposed in the second tangential direction, the cam rod 1300 descends downward based on the center of the gear 1200, and as the cam rod 1300 descends, the cam rod 1300 descends downward. As the lock key 1400 coupled to the end of the cam rod 1300 also moves linearly and descends, it is depressed and becomes open.

The bi-stable mechanism according to the present invention described above is included in the vertical and horizontal self-aligning docking system according to the present invention, which will be described later, and is maintained in an open state so as not to interfere with the coupling movement line when docking (combining) the fixing part and the hitch part. , When the docking of the fixing unit and the hitch unit is completed, the bi-stable mechanism is converted to a locked state to firmly maintain the docking of the fixing unit and the hitch unit.

Figure 2 (a) is a diagram showing the overall schematic diagram of a trailer and a transport vehicle including a vertical and horizontal self-aligning docking system according to the present invention, (b) is a right side view of the trailer, and (c) is a view of the trailer. According to Figure 2, which is a front view, the vertical and horizontal self-aligning docking system according to the present invention includes the above-described bi-stabilization mechanism, fixing part, and hitch part.

The bistable mechanism has been described above with reference to FIG. 1, and since it corresponds to this, detailed description will be omitted.

The fixing part is provided on the bottom of the trailer and coupled to the hitch part, and various embodiments of the fixing part will be described later with reference to FIGS. 3 to 5.

The hitch part is provided on the upper surface of the transport vehicle transporting the trailer and is fastened to the fixing part.

The trailer is transported from the storage location to the transfer location by the transfer vehicle 2, and a fixing part 2000 for coupling to the transfer vehicle 2 is provided on the bottom of the trailer 1. The trailer 1 can be loaded with cargo inside and, in another embodiment, can be a mobile house.

The transfer vehicle 2 consists of wheels and axles, docks with the trailer 1, transports the trailer 1, and undocks after arriving at the transfer location.

The hitch part 3000 is attached to the upper surface of the transport vehicle 2 and is configured to open and close for docking and undocking with the fixing part 2000, and the hitch part 3000 is locked by the bi-stability mechanism. The state can be maintained stably, and various embodiments of the hitch unit will be described later with reference to FIGS. 6 to 8.

Figure 3 is a diagram showing a first embodiment of the fixing part included in the trailer of the vertical and horizontal self-aligning docking system according to the present invention.

Referring to FIG. 3, the first embodiment of the fixing part is formed by being coupled to the bottom of the trailer and includes a locking piece 2100, a 1-1 support part 2200, and a 1-2 support part 2300. .

The locking piece 2100 is disposed below the bottom of the trailer 1, and is spaced apart from the trailer 1 at a certain distance, and the longitudinal direction of the locking piece 2100 and the bottom of the trailer 1 are parallel. It is configured to have a tubular cross-section that is circular or polygonal, or it can be formed in a column shape.

One end of the 1-1 support part 2200 is attached to the bottom of the trailer 1, and the other end is coupled to one end of the latching piece 2100 to form a connection between the bottom of the trailer 1 and the latching piece 2100. Combine one part.

One end of the 1-2 support part 2300 is attached to the bottom of the trailer 1, and the other end is coupled to the other end of the latching piece 2100 to form a connection between the bottom of the trailer 1 and the latching piece 2100. Join the other ends.

That is, the 1-1 support part 2200 and the 1-2 support part 2300 are spaced apart from each other and connect both ends of the latching piece 2100 with the bottom of the trailer 1, so that the latching piece 2100 It is arranged to be spaced apart from the bottom of the trailer 1, but is arranged parallel to the horizontal direction, and the horizontal locking piece 2100 is docked in the vertical direction with the hitch part described later that opens and closes vertically, and has a pitch ( Pitch) freedom is guaranteed.

In addition, as the 1-1 support portion 2200 and the 1-2 support portion 2300 are coupled to both ends of the latching piece 2100, the latching piece 2100 may be coupled to the hitch portion. When the hitch part moves in the longitudinal direction of the locking piece 2100, it prevents the coupling from being released.

Figure 4 is a diagram showing a second embodiment of the fixing part included in the trailer of the vertical and horizontal self-aligning docking system according to the present invention.

Referring to FIG. 4, the second embodiment of the fixing part 2000 includes a locking piece 2110, a 2-1 support part 2210, and a 2-2 support part 2310.

Since the locking piece 2110 corresponds to the locking piece 2110 included in the first embodiment of the fixing part described above, its description is omitted.

One end of the 2-1 support part 2210 is attached to the bottom of the trailer 1, and the other end is coupled to one end of the latching piece 2110 to form a connection between the bottom of the trailer 1 and the latching piece 2110. Combine one part.

One end of the 2-2 support part 2310 is attached to the bottom of the trailer 1, and the other end is coupled to the other end of the latching piece 2110 to form a connection between the bottom of the trailer 1 and the latching piece 2110. Join the other ends.

At this time, the distance between the 2-1 support part 2210 and the 2-2 support part 2310 becomes narrower toward the bottom of the trailer 1. That is, the 2-1 support part 2210 and the 2-2 support part 2310 are obliquely coupled to the locking piece 2110, so that when docked with the hitch part 3000, the entrance part is wide and is directed to the bottom of the trailer 1. It can be configured in a shape that becomes narrower as it moves toward you.

Accordingly, the inlet portion of the 2-1 support portion 2210 and the 2-2 support portion 2310 where coupling with the hitch portion begins is configured to be wide and slanted, thereby reducing alignment errors when docked with the hitch portion 3000. Even if there is, the hitch part 3000 can move to the locking piece 2110 along an oblique surface and align itself to the docking position.

That is, the 2-1 support part 2210 and the 2-2 support part 2310 are spaced apart from each other and connect both ends of the locking piece 2110 with the bottom of the trailer 1, so that the locking piece 2110 is It is arranged to be spaced apart from the bottom of the trailer 1, but is arranged parallel to the horizontal direction, and the horizontal locking piece 2110 is docked in the vertical direction with the hitch part described later that opens and closes vertically, and has a pitch (Pitch) ) The degree of freedom is guaranteed.

As the 2-1 support portion 2210 and the 2-2 support portion 2310 are coupled to both ends of the locking piece 2110, when the locking piece 2110 is coupled to the hitch portion, The hitch part moves in the longitudinal direction of the locking piece 2110 to prevent the coupling from being released.

Figure 5 is a diagram showing a third embodiment of the fixing part included in the trailer of the vertical and horizontal self-aligning docking system according to the present invention.

Referring to FIG. 5, the third embodiment of the fixing part includes a locking piece 2400 and a disk portion 2500.

The locking piece 2400 is vertically attached to the bottom of the trailer 1 and can be horizontally docked with the hitch portion that opens and closes horizontally, and yaw freedom is guaranteed when docked.

The disk portion 2500 protrudes from the lower end of the locking piece 2400, and has a cross-sectional width wider than the cross-sectional width of the locking piece 2400, so that after the hitch portion is docked with the locking piece 2400, It prevents the hitch part from being disengaged from the locking piece due to the up and down movement of the trailer (1) or the transport vehicle (2).

Figure 6 (a) is a diagram showing the locked state of the first embodiment of the hitch part included in the transport vehicle of the vertical and horizontal self-aligning docking system according to the present invention, and (b) is a diagram showing the open state. .

Referring to FIG. 6, the first embodiment of the hitch unit can transport a trailer by docking with the fixing unit according to the first to third embodiments described above. Specifically, the first embodiment of the hitch unit has a U-shaped fitting. It includes a wing (3100) and a ring-shaped wing (3200).

The U-shaped fitting piece 3100 is formed in a U shape, and a seating groove into which the locking piece is inserted is formed in the center area.

Specifically, the U-shaped fitting piece 3100 may include a first end that is one end and a second end that is the other end with respect to the seating groove, and the distance between the first end and the second end is the seating groove. The surfaces where the first end and the second end face each other may be formed in a curved shape so that they become farther away from each other in the end direction.

Accordingly, even if the locking piece is not disposed at a position corresponding to the exact center of the U-shaped fitting piece 3100, it can move along the side of the first end or the second end and be aligned at the center of the seating groove. This allows docking of the hitch unit and the fixing unit to be performed more easily without separate alignment configurations and steps.

The annular wing 3200 is fixed to one side of the U-shaped fitting piece 3100 with a hinge, and opens and closes the seating groove according to the rotation direction. Specifically, the annular wing 3200 is a first wing portion ( 3230), second wing portion 3240, hinge hole 3210, and wing groove 3220.

The annular wing 3200 is formed in an L-shape, and the first wing part extends in one direction based on the center, and the second wing part extends in the other direction and is arranged at a predetermined angle.

The hinge hole is formed in a central area where the first wing part and the second wing part are connected, and is fixed to one side of the U-shaped fitting piece with a hinge.

The wing groove is disposed in an inner region facing each other among the central region where the first wing portion and the second wing portion are connected, and the fixing portion is disposed.

That is, when the fixing part is not fixed to the U-shaped fitting piece and is in an open state, the ring-shaped wing has the second wing part disposed in an area corresponding to the seating groove, and the first wing part is disposed in the first end area. is placed in

Thereafter, as the fixing part begins to be docked to the U-shaped fitting piece, the locking piece of the fixing part presses the first wing portion to rotate the annular wing, and the locking piece is simultaneously inserted into the seating portion and the wing groove. You lose.

At the same time, as the annular wing 3200 rotates, the first wing part is disposed in an area between the first end and the second end of the U-shaped fitting piece 3100, so that the catching piece located on the seating part is The locking state is achieved by preventing the mold fitting piece 3100 from leaving the mold fitting piece 3100.

The bi-stable mechanism 3300 is provided on the other side of the U-shaped insert 3100, that is, the second end area, and the lock key 3310 is formed to come into contact with the upper surface of the first wing portion. By firmly supporting the locked state of the annular wing 3200, unintentional undocking due to movement of the trailer or transport vehicle can be prevented.

Specifically, after the hitch part and the fixing part are docked, the motor 3350 is driven to move from the second stable position in the gear open state to the first stable position in the locked state where the lock key 3310 protrudes.

The motor 3350 provides power up to the branching point where the restoring force of the spring 3320 is maximum, and the remaining distance can be moved to the first stable position by the restoring force of the spring.

Other than that, the operation of the bi-stable mechanism according to this embodiment is the same as the content of the bi-stable mechanism described above in FIG. 1, so description thereof is omitted.

Additionally, it may further include a first guide part (G1) and a second guide part (G2) formed in the second end area of the U-shaped fitting piece (3100) to guide the linear movement of the lock key (3310). In the open state, the opening groove of the second wing part may be engaged and fixed to the second guide part.

Figure 7 (a) is a diagram showing the locked state of the second embodiment of the hitch included in the transport vehicle of the vertical and horizontal self-aligning docking system according to the present invention, and (b) is a diagram showing the open state. .

Referring to FIG. 7, the second embodiment of the hitch unit can transport a trailer by docking with the fixing unit according to the first to third embodiments described above. Specifically, the second embodiment of the hitch unit is connected to the first collar. It includes a shaped wing 4100 and a second collar shaped wing 4200.

The first collar-type wing 4100 is formed in a semi-disc shape, and a 2-1 seating groove is formed into which the locking piece is vertically inserted and seated, and the second collar-type wing 4200 is formed in the first collar. It is formed in the same shape as the wing 4100, but is axially symmetrical with the first collar wing 4100, and is arranged to face the first collar wing 4100, and the locking piece is inserted vertically. A 2-2 seating groove is formed to be seated.

At this time, the first collar-type wing 4100 and the second collar-type wing 4200 are respectively fixed with a hinge and opened and closed.

When the first collar-type wing 4100 and the second collar-type wing 4200 are in an open state, the locking piece moves between the first collar-type wing 4100 and the second collar-type wing 4200. do.

Afterwards, when the first collar-type wing 4100 and the second collar-type wing 4200 rotate and reach a locked state, the 2-1 seating groove 4100H of the first collar-type wing 4100 and The locking piece is inserted and fixed into the 2-2 seating groove (4200H) of the second collar-type wing (4200).

In addition, a step is formed in the Z-direction thickness of both ends in the arc direction of the first collar-type wing 4100 and the second collar-type wing 4200 to form a low thickness. When the first collar-type wing 4200 and the second collar-type wing 4200 are in a locked state, the low-thickness ends of both wings forming the step form an overlapping portion to solidify the docking coupling. The first collar-type wing 4100 and the second collar-type wing 4200 rotate around the first hinge hole 4110 and the second hinge hole 4210 formed in the center of the wing to be in an open or locked state. can be converted to

When the first collar-type wing 4100 and the second collar-type wing 4200 are combined, the bi-stability mechanism is formed between the end area of the first collar-type wing 4100 and the second collar-type wing 4200. It is inserted into the locking groove (H') formed in.

Since the bi-stable mechanism 4300 configured with the lock key has the same configuration as the bi-stable mechanism 3300 provided in the above-described U-shaped fitting piece 3100, the description is omitted.

Figure 8 (a) is a diagram showing the locked state of the third embodiment of the hitch included in the transport vehicle of the vertical and horizontal self-aligning docking system according to the present invention, and (b) is a diagram showing the open state. .

Referring to FIG. 8, the third embodiment of the hitch unit can transport a trailer by docking with the fixing unit according to the first to third embodiments described above. Specifically, the third embodiment of the hitch unit is a seating unit ( 5500), a first separation prevention wing 5100, and a second separation prevention wing 5200.

The seating portion 5500 is provided on the upper surface of the transport vehicle, and a latching piece support groove 5500H into which the latching piece is inserted is formed on the upper surface.

The first separation prevention wing 5100 is rotatably coupled to one side of the seating portion, and a first separation prevention groove 5100H is formed on a surface facing the support groove, and the second separation prevention wing 5200 is rotatably coupled to the other side of the seating portion, and a second separation prevention groove (5200H) is formed on the side facing the support groove.

Specifically, the first separation prevention wing 5100 and the second separation prevention wing 5200 have upper surfaces formed as curved surfaces, so that the first separation prevention wing 5100 and the second separation prevention wing 5200 are in a locked state. Even when the fixing part is guided to the center along the upper curved surface, self-alignment is possible.

When the first separation prevention wing 5100 and the second separation prevention wing 5200 are in the locked state, the first separation prevention groove (5100H), the second separation prevention groove (5200H), and the locking piece support groove (5500H) The hitch part and the fixing part are docked by inserting the locking piece.

Each side of the seating portion 5500 is provided with a support handle 5400 forming an upper curved surface, and the support handle 5400 is composed of a half-moon shaped locking plate 5410 and an H-shaped support bar 5420. You can. One end of the support bar 5420 is fixed to the seating portion 5500 with a hinge, the other end is coupled to the locking plate 5410, and the center is connected to the bi-stable mechanism 5300 to be connected to the bi-stable mechanism ( 5300), the linear motion of the bistable mechanism 5300 is changed into a rotational motion to change the locked and open states of the first breakaway prevention wing 5100 and the second breakaway prevention wing 5200. You can.

The bi-stability mechanism 5300 is coupled to the support handle 5400 to maintain the first separation prevention wing 5100 and the second separation prevention wing 5200 in contact with the seating portion 5500. Double locking is possible by supporting the ends of the first separation prevention wing 5100 and the second separation prevention wing 5200.

Hereinafter, since the bi-stable mechanism 5400 configured with the support handle 5400 is the same as the bi-stable mechanism 3300 provided in the above-described U-shaped fitting piece 3100, detailed description will be replaced.

As described above, preferred embodiments of the present invention have been shown and described with reference to the drawings, but the present invention is not limited to the specific embodiments described above, and the present invention is not limited to the gist of the present invention as claimed in the patent claims. Of course, various modifications can be made by those skilled in the art in the technical field to which the invention belongs, and these modifications should not be understood individually from the technical idea or perspective of the present invention.

1: trailer
2: Transport vehicle
1000: Bistable mechanism
1100: motor
1200: gear
1300: Cam rod
1400: lock key
1500: Spring
2000: Fixed part
2100, 2110: Jamming piece
2200, 2210: first support
2300, 2310: second support portion
2400: Jamming piece
2500: Disk part
3000: Hitch part
3100: “U” shaped seat
3200: Ring-shaped wings
3210: Hinge hole
3220: Wing groove
3230: first wing part
3240: second wing part
3300, 4300, 5300: Bistable mechanism
3310, 4310, 5310: Lock key
3320, 4320, 5320: spring
3330, 4330, 5330: Cam rod
3340, 4340, 5340: Gears
3350, 4350, 5350: Motor
5400: Support handle
5410: lock plate
5420: support bar
4000: Collar type hitch part
4100: 1st collar type wing
4110: 1st hinge hole
4200: 2nd collar type wing
4210: 2nd hinge hole
5000: Clamp type hitch part
5100: 1st pincer-type wing
5200: 2nd pincer-type wing
5500: Seating part

Claims (5)

drive motor;
A gear connected to the drive motor;
a cam rod, one end of which is coupled to one surface of the gear and which reciprocates according to the rotation of the gear;
a lock key coupled to the other end of the cam rod and moving in a straight line; and
One end is fixed to the housing and the other end includes a spring fixed to the other surface of the gear,
A first stable position in which the spring is disposed in a first tangential direction of the gear so that the lock key is protruded by the spring and is in a locked state, or
A bistable mechanism, characterized in that the spring maintains a second stable position disposed in a second tangential direction of the gear so that the lock key is retracted and opened. A bistable mechanism according to paragraph 1;
A fixing part provided on the bottom of the trailer; and
It includes a hitch part provided on the upper surface of the transport vehicle for transporting the trailer and fastened to the fixing part,
The hitch part is opened and closed, and the hitch part and the fixing part are coupled by locking (locking) at least a portion of the fixing part,
A vertical and horizontal self-aligning docking system, characterized in that the combination of the hitch unit and the fixing unit is maintained by inserting the bi-stability mechanism into the hitch unit or supporting the hitch unit. According to paragraph 2,
The fixing part
A locking piece configured to be parallel to the bottom of the trailer;
A 1-1 support part attached to the bottom of the trailer and supporting one end of the locking piece; and
A vertical and horizontal self-aligning docking system comprising a first-second support part attached to the bottom of the trailer and supporting the other end of the hitch piece. According to paragraph 2,
The fixing part,
A locking piece configured to be parallel to the bottom of the trailer;
A 2-1 support part attached to the bottom of the trailer and supporting one end of the locking piece; and
It includes a 2-2 support part attached to the bottom of the trailer and supporting the other end of the hitch piece,
A vertical and horizontal self-aligning docking system, characterized in that the distance between the 2-1 support part and the 2-2 support part becomes narrower toward the bottom of the trailer. According to paragraph 2,
The fixing part,
A locking piece attached perpendicularly to the bottom of the trailer; and
A vertical and horizontal self-aligning docking system comprising a disk portion that protrudes from the lower end of the locking piece and has a cross-sectional width wider than the cross-sectional width of the locking piece.

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