WO2023038422A1

WO2023038422A1 - Bistable device, and vertical- and horizontal-self-alignment docking system using same

Info

Publication number: WO2023038422A1
Application number: PCT/KR2022/013427
Authority: WO
Inventors: 최헨리
Original assignee: 최헨리; 심윤경
Priority date: 2021-09-09
Filing date: 2022-09-07
Publication date: 2023-03-16

Abstract

The present invention relates to a bistable device, and a vertical- and horizontal-self-alignment docking system using same, and, more specifically, to a bistable device, and a vertical- and horizontal-self-alignment docking system using same, the device enabling a trailer and a transport vehicle to be self-aligned in the vertical and horizontal directions without the aid of external equipment and be conveniently docked. The present invention provides the bistable device which comprises: a driving motor; a gear connected to the driving motor; a cam rod having one end coupled to one surface of the gear so as to reciprocate according to the rotation of the gear; a lock key coupled to the outer end of the cam rod so as to move linearly; and a spring having one end fixed to a housing and having the other end fixed to the other surface of the gear, and which maintains a first stable position, at which the spring is disposed in a first normal direction of the gear, so that the lock key protrudes by means of the spring, thereby allowing a locked state, or a second stable position, at which the spring is disposed in a second normal direction of the gear, so that the lock key is retracted, thereby allowing an open state.

Description

Bistable mechanism and vertical and horizontal self-alignment docking system using the same

The present invention relates to a bistable mechanism and a vertical and horizontal self-aligning docking system using the same, and more particularly, a trailer and a transport vehicle can be self-aligned in vertical and horizontal directions without the help of external equipment and docked conveniently. It relates to a bistable mechanism, characterized in that there is, and a vertical and horizontal self-aligning docking system using the same.

With the recent epidemic of contagious infectious diseases such as corona, the use rate of online shopping and delivery services has increased, expanding the scope of logistics transportation.

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

For the above-described bulk logistics, a truck docks and tows a trailer equipped with one or more pairs of wheels, or a trailer without wheels is loaded onto a cargo truck using an external device and transported.

The conventional technology had the disadvantage of being able to dock only in either the vertical or lateral direction when a truck vehicle attempts to dock with a trailer, and there is no pitch freedom, so the vehicle is connected to the trailer to climb a hill or logistics back and forth. In the case of shaking, there was a problem that the docking member was very vulnerable.

Therefore, the present invention is to solve the problems of the prior art as described above, to provide a bistable mechanism capable of self-aligning and docking even if there is an alignment error without the help of an external device, and a vertical and horizontal self-aligning docking system using the same It has a purpose.

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

In order to solve the above problems, the present invention provides a drive motor, a gear connected to the drive motor, a cam rod having one end coupled to one surface of the gear and reciprocating according to the rotation of the gear, and the cam rod A lock key coupled to the other end and moving in a straight line, and a spring having one end fixed to the housing and the other end fixed to the other surface of the gear, wherein the spring protrudes the lock key by the spring to enter a locked state. Bistability characterized in that for maintaining a first stable position disposed in the first tangential direction of the spring, or a second stable position disposed in the second tangential direction of the gear so that the lock key is depressed and opened. provide the instrument.

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

Here, the fixing part includes a hooking piece configured in parallel with the bottom surface of the trailer, a 1-1 support part attached to the bottom surface of the trailer to support one end of the hooking piece, and a hooking piece attached to the bottom surface of the trailer to support the other end of the hooking piece. It may include 1st and 2nd supports supporting the end.

In addition, the fixing part includes a hooking piece configured parallel to the bottom surface of the trailer, a 2-1 support part attached to the bottom surface of the trailer to support one end of the hooking piece, and a second support part attached to the bottom surface of the trailer to hold the other end of the hooking piece. A 2-2 support portion supporting an end portion is included, and a distance between the 2-1 support portion and the 2-2 support portion may decrease toward the bottom of the trailer.

In addition, the fixing part may include a hooking piece vertically attached to the bottom surface of the trailer, and a disc protruding from a lower end of the hooking piece, the cross section of which is wider than the width of the cross section of the hooking piece.

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

First, the trailer and transport vehicle can be self-aligned in vertical and horizontal directions and conveniently docked without the help of external equipment.

Second, by applying a bistable mechanism, it is possible to increase the efficiency of docking fastening by maintaining an open or locked state.

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

Fourth, by forming a pitch or yaw degree of freedom when the trailer and the transport vehicle are coupled, operation flexibility is high, and the lifespan of the fixing part and the hitch part is extended.

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

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

Figure 2 (a) is a view showing the overall schematic diagram of the trailer and transport vehicle including the vertical and horizontal self-aligning docking system according to the present invention, (b) is a right side view of the trailer, (c) is the trailer It is a drawing showing the front view.

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

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

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

Figure 6 (a) is a view showing the locking state of the first embodiment of the hitch included in the carriage of the vertical and horizontal direction self-aligning docking system according to the present invention, (b) is a view showing the open state .

Figure 7 (a) is a view showing the locking state of the second embodiment of the hitch included in the carriage of the vertical and horizontal direction self-aligning docking system according to the present invention, (b) is a view showing the open state .

Figure 8 (a) is a view showing the locking state of the third embodiment of the hitch included in the transfer car of the vertical and horizontal direction self-aligning docking system according to the present invention, (b) is a view showing the open state .

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs. It is provided to completely inform the person who has the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

The size or shape of components shown in the drawings accompanying this specification may be exaggerated for clarity and convenience of description. It should be noted that in each drawing, the same configuration may be indicated by the same reference numerals. In addition, detailed descriptions of functions and configurations of known technologies that may unnecessarily obscure the subject matter of the present invention may be omitted.

Terms used in this specification are used to describe specific embodiments and are not intended to limit the present invention. As used herein, the singular form may include the plural form unless the context clearly indicates otherwise. In addition, when a certain part "includes" a certain component throughout this specification, it means that it may further include other components unless otherwise stated.

It is understood that when a component is referred to as “connected” or “connected” to another component, it may be directly connected or connected to the other component, but other components may exist in the middle. It should be. On the other hand, when a component is referred to as “directly connected” or “directly connected” to another component, it should be understood that no other component exists in the middle. Other expressions used to describe the relationship between components should be similarly interpreted.

Terms such as top, bottom, top, bottom, or top, bottom used in this specification are used to distinguish the relative positions of components. For example, when naming the upper part of the figure as the upper part and the lower part of the figure as the lower part for convenience, in practice, the upper part may be named as the lower part and the lower part may be named as the upper part without departing from the scope of the present invention. .

Terms including 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 above terms. The above terms are only used to distinguish each component from another component, regardless of the manufacturing order, and the names may not match in the detailed description of the invention and in the claims.

All terms including technical or scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs unless otherwise defined. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in this specification, it should not be interpreted in an ideal or excessively formal meaning. don't

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

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 only partially rotates the gear 1200 to change the locked state and the open state of the lock key 1400 to 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 driving motor 1100 and rotates according to the driving of the driving motor 1100, and at the same time is coupled to the spring 1500 and rotates according to the rotation of the gear 1200. The position and length of the other end of is changed. The restoring force of the spring is determined according to the length change of the spring 1500, and details will be described later.

The cam rod 1300 has one end coupled to one surface of the gear 1200, and as the gear 1200 rotates, the cam rod 1300 reciprocates. That is, the rotational motion of the gear 1200 is changed to the linear motion 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, thereby linearly moving.

That is, the lock key 1400 is set to an open state or a protruding lock state as it moves in a linear direction, and a description thereof 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 a normal direction of the gear 1200 and is disposed in a compressed position, which is a maximum compressed state.

The spring 1500 is disposed at 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 rotates by transmitting power to the gear 1200, the spring 1500 is disposed in a first stable position or a second stable position according to 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 by an elastic force. At this time, the spring 1500 is released. 1500 is disposed in the first tangential direction of the gear 1200 to maintain a stable state as it is disposed in the first stable position where the spring force becomes '0'.

At this time, the first tangential direction is defined as a tangential direction formed between 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 with respect to the center of the gear 1200, and as the cam rod 1300 rises, the cam rod 1300 rises. As the lock key 1400 coupled to the end of the cam rod 1300 also moves linearly and rises, it protrudes and becomes locked.

In addition, when the gear 1200 rotates clockwise, the spring 1500 is decompressed by a restoring force to return to its original length by an elastic force, and at this time, the spring 1500 rotates the gear 1200 ) By being disposed in the second tangential direction of the spring force is disposed in the second stable position is '0' maintains a stable state.

At this time, the second tangential direction is defined as a tangential direction formed between 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 with respect to the center of the gear 1200, and as the cam rod 1300 descends, the cam rod 1300 descends. As the locking key 1400 coupled to the end of the cam rod 1300 also moves in a straight line and descends, it is depressed and becomes an open state.

The above-described bistable mechanism according to the present invention is included in the vertical and horizontal self-alignment docking system according to the present invention to be described later, and maintains an open state so as not to interfere with the coupling line during docking (combining) of the fixing part and the hitch part. , When the docking of the fixing part and the hitch part is completed, the bistable mechanism is converted into a locked state so that the docking of the fixing part and the hitch part can be firmly maintained.

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

The bistable mechanism has been described above with reference to FIG. 1, and since it corresponds thereto, a detailed description thereof 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 an upper surface of a transport vehicle transporting the trailer and is fastened to the fixing part.

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

The transport vehicle 2 is composed of wheels and axles, docks with the trailer 1, transports the trailer 1, and releases the docking after arriving at the transfer location.

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

Referring to FIG. 3, the first embodiment of the fixing part is 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 hooking piece 2100 is disposed below the bottom of the trailer 1, spaced apart from the trailer 1 at a predetermined interval, and the lengthwise direction of the hooking piece 2100 and the bottom of the trailer 1 are parallel. It is configured to be configured, and may be formed in a tubular shape having a circular or polygonal cross section, or may be formed in a columnar shape.

The 1-1 support part 2200 has one end attached to the lower surface of the trailer 1 and the other end coupled to one end of the hooking piece 2100 so that the bottom surface of the trailer 1 and the hooking piece 2100 are connected. combine once.

The 1-2 support part 2300 has one end attached to the lower surface of the trailer 1 and the other end coupled to the other end of the hooking piece 2100 so that the bottom surface of the trailer 1 and the hooking piece 2100 are connected. join the other end.

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

In addition, as the 1-1 support part 2200 and the 1-2 support part 2300 are coupled to both ends of the locking piece 2100, the locking piece 2100 may be in a state where it is coupled to the hitch part. At this time, the hitch moves in the longitudinal direction of the locking piece 2100 to prevent the coupling from being released.

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 hooking piece 2110 corresponds to the hooking piece 2110 included in the first embodiment of the above-described fixing part, a description thereof will be omitted.

One end of the 2-1 support part 2210 is attached to the lower surface of the trailer 1, and the other end is coupled to one end of the hooking piece 2110 so that the bottom surface of the trailer 1 and the hooking piece 2110 are connected. combine once.

One end of the 2-2 support part 2310 is attached to the bottom surface of the trailer 1, and the other end is coupled to the other end of the hooking piece 2110 so that the bottom surface of the trailer 1 and the hooking piece 2110 are connected. join the other end.

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 hooking piece 2110 so that when docked with the hitch part 3000, the entrance is wide and extends to the bottom of the trailer 1. It may be configured in a shape that narrows as it goes toward it.

Accordingly, the 2-1st support part 2210 and the 2-2nd support part 2310 have an inlet part at a wide angle at which engagement with the hitch part starts, resulting in misalignment when docking with the hitch part 3000. Even if there is, the hitch part 3000 can move to the hooking 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 to connect both ends of the hook piece 2110 to the bottom of the trailer 1, so that the hook piece 2110 is It is arranged spaced apart from the bottom surface of the trailer 1, but arranged in parallel in a horizontal direction, and the hooking piece 2110 in the horizontal direction is docked in the vertical direction with a hitch part to be described later that is opened and closed vertically, and the pitch ) degrees of freedom are guaranteed.

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

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

The hooking piece 2400 is vertically attached to the lower surface of the trailer 1 and can be docked with the hitch that opens and closes horizontally in a horizontal direction, and yaw freedom is guaranteed when the docking is fastened.

The disk part 2500 protrudes from the lower end of the hooking piece 2400 and has a width wider than that of the cross section of the hooking piece 2400, so that the hitch is docked to the hooking piece 2400. The hitch is prevented from being disengaged from the hooking piece due to the vertical movement of the trailer 1 or the transport vehicle 2.

Referring to FIG. 6 , the first embodiment of the hitch part is docked with the fixing parts according to the first to third embodiments described above to transport the trailer. Specifically, the first embodiment of the hitch part has a U-shaped fitting. It includes a piece 3100 and an annular 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 a central region.

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 based on the seating groove, and the distance between the first end and the second end is the seating groove. A surface where the first end and the second end face each other so as to be separated from each other toward the end may be formed in a curved shape.

Accordingly, even if the locking piece is not disposed at a position corresponding to the center of the U-shaped fitting piece 3100, it moves along the side surface of the first end or the second end and can be aligned with the center of the seating groove. Accordingly, docking of the hitch part and the fixing part can be performed more easily without a separate arrangement or step.

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

The annular wing 3200 is formed in an L-shape, the first wing part extending in one direction with respect to the center, and the second wing part extending in the other direction and disposed at a predetermined angle.

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

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

That is, when the fixing part is not fixed to the U-shaped fitting piece and is in an open state, the annular wing is disposed in an area where the second wing part corresponds to the seating groove, and the first wing part is disposed in the first end region. is placed on

After that, as the fixing part starts to be docked to the U-shaped fitting piece, the hooking piece of the fixing part presses the first wing to rotate the annular wing, and the hooking piece is simultaneously inserted into the seating part and the wing groove. will 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, and the locking piece positioned in the seating part moves to the U-shaped fitting piece 3100. The locking state is spherical by not leaving the mold fitting piece 3100.

The bistable mechanism 3300 is provided on the other side of the U-shaped fitting piece 3100, that is, at the second end region, and the locking key 3310 is formed to come into contact with the upper surface of the first wing. By firmly supporting the locked state of the annular wing 3200, it is possible to prevent unintentional docking due to movement of the trailer or transport vehicle.

Specifically, after docking the hitch part and the fixing part, 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 to a 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, since the driving of the bistable mechanism according to the present embodiment is the same as the contents of the bistable mechanism described above in FIG. 1, a description thereof will be omitted.

Additionally, a first guide part G1 and a second guide part G2 formed at the second end region of the U-shaped fitting piece 3100 may be further included 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.

Referring to FIG. 7 , the second embodiment of the hitch part is docked with the fixing parts according to the first to third embodiments described above to transport the trailer. Specifically, the second embodiment of the hitch part has a first collar It includes a molded wing 4100 and a second collar-typed wing 4200.

The first collar-shaped wing 4100 is formed in a semi-disc shape, and has a 2-1 seating groove into which the locking piece is vertically inserted and seated, and the second collar-shaped wing 4200 is formed with the first collar-shaped wing 4200. It is formed in the same shape as the mold wing 4100, formed in an axially symmetrical shape with the first collar-type wing 4100, and is disposed to face the first collar-type wing 4100, and the engaging piece is vertically inserted. 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 each fixed by 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 hooking piece moves between the first collar-type wing 4100 and the second collar-type wing 4200. do.

Then, when the first collar-type wing 4100 and the second collar-type wing 4200 reach a locked state by rotating, the 2-1 seating groove 4100H of the first collar-type wing 4100 and The locking piece is inserted into and fixed to 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 constituting the step form an overlapping portion to secure 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 constituting the central part of the wing to open or lock state can be converted to

The bistable mechanism is provided between the end regions of the first collar-type wing 4100 and the second collar-type wing 4200 when the first collar-type wing 4100 and the second collar-type wing 4200 are coupled. It is inserted into the locking groove (H ') formed in.

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

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

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

The first separation prevention wing 5100 is rotatably coupled to one side of the seating part, and a first departure prevention groove 5100H is formed on a surface facing the support groove, and the second departure 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 surface facing the support groove.

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

When the first separation preventing wing 5100 and the second separation preventing wing 5200 are in a locked state, the first separation preventing groove 5100H, the second separation preventing groove 5200H, and the engaging piece support groove 5500H The hitch part and the fixing part are docked by the insertion of the engaging piece.

Support handles 5400 forming an upper curved surface are provided on both sides of the seating portion 5500, and the support handles 5400 are composed of a half-moon-shaped locking plate 5410 and an H-shaped support bar 5420. can One end of the support bar 5420 is hingedly fixed to the seating portion 5500, the other end is coupled to the locking plate 5410, and the center portion is connected to the bistable mechanism 5300 to form the bistable mechanism ( 5300) to convert the linear motion of the bistable mechanism 5300 into a rotational motion to switch the locked state and the open state of the first anti-leaving wing 5100 and the second anti-leaving wing 5200 can

The bistable mechanism 5300 is coupled to the support handle 5400 so that the first separation prevention wing 5100 and the second separation prevention wing 5200 maintain a state in contact with the seating portion 5500. By supporting the ends of the first departure prevention wing 5100 and the second departure prevention wing 5200, it can be double locked.

Hereinafter, since the bistable mechanism 5400 configured together with the support handle 5400 is the same as the bistable mechanism 3300 provided in the above-described U-shaped fitting piece 3100, a detailed description is omitted.

Although the preferred embodiments of the present invention have been illustrated and described with reference to the drawings as described above, the present invention is not limited to the specific embodiments described above, and the subject matter without departing from the subject matter of the present invention claimed in the claims. Of course, various modifications and implementations are possible by those skilled in the art to which the invention belongs, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

Even if there is an alignment error without the help of an external device, it is possible to align and dock by itself, and by performing self-alignment in the vertical and horizontal directions, the time required to combine the transport vehicle and the trailer can be shortened, so that fast logistics delivery can be achieved. It can be applied to a trailer transport system, etc.

Claims

drive motor;

a gear connected to the driving motor;

A cam rod having one end coupled to one surface of the gear and reciprocating according to the rotation of the gear;

A lock key that is coupled to the other end of the cam rod and moves linearly; 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 protrudes and is locked by the spring; or

The bistable mechanism characterized in that the second stable position is maintained in which the spring is disposed in the second tangential direction of the gear so that the lock key is depressed and opened.
a bistable device according to claim 1;

A fixing part provided on the bottom of the trailer; and

A hitch portion provided on an upper surface of a transport vehicle for transporting the trailer and fastened to the fixing portion,

The hitch part is opened and closed, and at least a portion of the fixing part is hooked and locked (by printing), so that the hitch part and the fixing part are coupled,

The vertical and horizontal direction self-aligning docking system, characterized in that the coupling of the hitch and the fixing portion is maintained by inserting the bistable mechanism into the hitch or supporting the hitch.
According to claim 2,

the fixing part

a locking piece configured parallel to the lower surface of the trailer;

a 1-1 support part attached to the bottom of the trailer to support one end of the hooking piece; and

Vertical and horizontal direction self-alignment docking system, characterized in that it comprises a 1-2 support attached to the bottom surface of the trailer to support the other end of the hooking piece.
According to claim 2,

The fixing part,

a locking piece configured parallel to the lower surface of the trailer;

a 2-1 support part attached to the bottom of the trailer to support one end of the hooking piece; and

A 2-2 support part attached to the bottom of the trailer to support the other end of the hooking piece,

The vertical and horizontal direction self-aligning docking system, characterized in that the distance between the 2-1 support portion and the 2-2 support portion narrows toward the bottom of the trailer.
According to claim 2,

The fixing part,

a hanging piece vertically attached to the bottom of the trailer; and

The vertical and horizontal direction self-alignment docking system, characterized in that it comprises a; doedoe protruding from the lower end of the engaging piece, the width of the cross section is formed wider than the width of the cross section of the engaging piece.