CN113212569A - Unmanned tractor - Google Patents
Unmanned tractor Download PDFInfo
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- CN113212569A CN113212569A CN202110539145.9A CN202110539145A CN113212569A CN 113212569 A CN113212569 A CN 113212569A CN 202110539145 A CN202110539145 A CN 202110539145A CN 113212569 A CN113212569 A CN 113212569A
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- 230000000670 limiting effect Effects 0.000 claims description 22
- 230000003028 elevating effect Effects 0.000 claims 1
- 238000003032 molecular docking Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 22
- 230000008569 process Effects 0.000 description 17
- 210000001503 joint Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/28—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for preventing unwanted disengagement, e.g. safety appliances
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
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- Transportation (AREA)
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Abstract
本公开涉及运输技术领域，尤其涉及一种无人牵引车。该无人牵引车用于对拖斗进行牵引，其包括牵引车主体和牵引装置，牵引装置包括升降机构和设置在升降机构上的牵引机构，牵引机构包括与升降机构滑动连接的滑块、与滑块固定连接的电磁锁、与电磁锁固定连接的牵引环、以及安装在牵引环上的牵引扣；电磁锁具有可伸缩的锁舌，锁舌伸出时用于对牵引扣的自由端进行限位，以限制牵引扣向下转动；牵引环具有供拖斗环通过的内侧区域，拖斗环能够向上顶开牵引扣，并由牵引扣的自由端套设在牵引扣上。本公开的无人牵引车，无需对现有拖斗进行改动，即可实现无人牵引车对拖斗的自动牵引功能，且该无人牵引车适用于与不同状态的拖把进行对接。
The present disclosure relates to the technical field of transportation, and in particular, to an unmanned tractor. The unmanned tractor is used for towing a trailer, and it includes a tractor body and a traction device, the traction device includes a lifting mechanism and a traction mechanism arranged on the lifting mechanism, and the traction mechanism includes a slider slidably connected with the lifting mechanism, The electromagnetic lock fixedly connected with the slider, the traction ring fixedly connected with the electromagnetic lock, and the traction buckle installed on the traction ring; The towing ring has an inner area for the towing bucket ring to pass through, the towing bucket ring can push the towing buckle upward, and the free end of the towing buckle is sleeved on the towing buckle. The unmanned tractor of the present disclosure can realize the automatic towing function of the unmanned tractor to the trailer without modifying the existing trailer, and the unmanned tractor is suitable for docking with mops in different states.
Description
Technical Field
The utility model relates to the technical field of transportation, especially, relate to an unmanned tractor.
Background
With the rapid development of economy, unmanned tractors have been widely used in the field of cargo transportation. The main function of the unmanned tractor is to automatically pull a trailer for loading goods, and finish the automatic transfer of the goods.
The existing trailer is generally provided with a mop which is manually butted with a tractor, the end part of the mop is provided with a trailer ring, and the trailer ring is hooked through a hook arranged on the tractor, so that the traction function of the tractor to the trailer is realized. In order to reduce the mop occupation space, the mop on the bucket is mostly in a standing state before the bucket is pulled or after the bucket is pulled to a preset position.
In order to realize the automatic unhooking function of the unmanned tractor and the existing trailer, the mop on the existing trailer is generally required to be greatly modified, so that the cost is high; and the mops on the existing mops are not all in a vertical state, and some mops on the existing mops are in a horizontal state, so that the existing unmanned tractor cannot be suitable for butt joint with mops in different states.
Disclosure of Invention
To solve the above technical problem or at least partially solve the above technical problem, the present disclosure provides an unmanned tractor.
The invention provides an unmanned towing vehicle which is used for towing a trailer, wherein a mop is arranged on the trailer, a trailer ring is arranged at the end part of the mop, and the unmanned towing vehicle comprises a towing vehicle main body and a towing device arranged on the towing vehicle main body;
the traction device comprises a lifting mechanism and a traction mechanism arranged on the lifting mechanism, the lifting mechanism is used for driving the traction mechanism to move up and down, and the traction mechanism comprises a sliding block connected with the lifting mechanism in a sliding manner, an electromagnetic lock fixedly connected with the sliding block, a traction ring fixedly connected with the electromagnetic lock and a traction buckle arranged on the traction ring;
the traction buckle is provided with a first end and a second end which are oppositely arranged, the first end of the traction buckle and the part of the traction ring, which is far away from the electromagnetic lock and is opposite to the electromagnetic lock, are rotatably connected, and the second end of the traction buckle is a free end;
the electromagnetic lock is provided with a telescopic lock tongue, and the lock tongue is used for limiting the free end of the traction buckle when extending out so as to limit the traction buckle to rotate downwards;
the towing ring is provided with an inner side area for the trailer ring to pass through, the trailer ring can upwards jack the towing buckle, and the free end of the towing buckle is sleeved on the towing buckle;
when the lock tongue retracts, the limit function of the lock tongue on the traction buckle is cancelled, and the traction buckle rotates downwards to enable the trailer ring to be separated from the free end of the traction ring.
Optionally, a reset mechanism is arranged between the traction buckle and the traction ring, and the reset mechanism is used for driving the traction buckle to rotate and reset, so that the free end of the traction buckle is reset to the position limited by the lock tongue.
Optionally, a first end of the traction buckle is provided with a sleeve joint part, and the sleeve joint part is sleeved on the traction ring; the reset mechanism comprises a reset torsion spring, one end torsion arm of the reset torsion spring is supported on the outer surface of the traction buckle, and the other end torsion arm of the reset torsion spring is supported on the outer surface of the traction ring.
Optionally, a support surface for abutting against the lock tongue is formed on the lower surface of the free end of the draw buckle, and when the lock tongue extends out, the support surface is supported on the lock tongue so as to limit the draw buckle to rotate downwards.
Optionally, a limiting convex rib for limiting the front end and the left and right sides of the lock tongue is arranged on the supporting surface.
Optionally, the lock tongue is a wedge-shaped lock tongue, and the lower surface of the lock tongue is a wedge-shaped surface; the free end of the traction buckle is located below the lock tongue and is close to the lock tongue in the direction rotating process, the free end of the traction buckle is in contact fit with the wedge-shaped surface to drive the lock tongue to retract, and the free end of the traction buckle is enabled to rotate upwards to the upper side of the lock tongue.
Optionally, be equipped with on the terminal surface of the free end of drawing the knot and be used for supplying the spring bolt male spacing groove, when the spring bolt stretches out the spring bolt inserts in the spacing groove, in order to restrict draw the knot to rotate downwards.
Optionally, the traction ring is arranged obliquely, and a portion of the traction ring, which is connected with the traction buckle, is higher than a portion of the traction ring, which is connected with the electromagnetic lock, so that when the lock tongue is in a state of limiting a free end of the traction buckle, a first end of the traction buckle is higher than a second end of the traction buckle.
Optionally, the towing ring is racetrack-shaped, the towing ring includes two straight wall sections arranged in parallel and two arc-shaped wall sections connecting the two straight wall sections, the electromagnetic lock is fixedly connected with a middle portion of one of the straight wall sections, and the towing buckle is rotatably connected with a middle portion of the other straight wall section.
Optionally, two in the straight wall section with electromagnetic lock fixed connection the middle part of straight wall section is equipped with the opening draw-in groove, draw the ring through the opening draw-in groove card is located on two relative surfaces of electromagnetic lock, the spring bolt by opening draw-in groove department to draw the inboard region of ring to stretch out, just the direction of stretching out of spring bolt is towards draw the first end of knot.
Optionally, the lifting mechanism comprises a fixed bracket, and a guide rail and a driving assembly mounted on the fixed bracket; the guide rail is vertically arranged, the sliding block of the traction mechanism is in sliding connection with the guide rail, and the driving assembly is used for driving the traction mechanism to move up and down along the guide rail.
Optionally, the driving assembly includes a motor, a sprocket connected to an output shaft of the motor, and a chain mounted on the sprocket, the slider is fixed to the chain, and the motor drives the traction mechanism to move up and down along the guide rail through the sprocket and the chain.
Optionally, a sensing sensor and a controller are arranged on the tractor body, the sensing sensor is used for sensing an initial position state of the mop and sending a sensing signal to the controller, and the controller is used for controlling the movement of the tractor body and the lifting of the lifting mechanism according to the received sensing signal; wherein the initial position state of the mop includes at least one of a vertical state, a horizontal state and an inclined state.
Optionally, the initial position state of the mop is a vertical state or an inclined state, the controller controls the lifting mechanism to drive the traction mechanism to move downwards, so that the bucket ring jacks the traction buckle upwards in the downward movement process of the traction mechanism, and the free end of the traction buckle is sleeved on the traction buckle; or
The initial position state of the mop is a horizontal state, the controller controls the tractor body to back up to drive the traction mechanism to move backwards, so that the trailer ring upwards jacks the traction buckle in the backward movement process of the traction mechanism, and the free end of the traction buckle is sleeved on the traction buckle.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
the embodiment of the disclosure provides an unmanned tractor, which is used for realizing the traction function of a trailer by arranging a traction device on the tractor body of the unmanned tractor. The traction device comprises a lifting mechanism and a traction mechanism arranged on the lifting mechanism, wherein the traction mechanism comprises a sliding block, an electromagnetic lock, a traction ring and a traction buckle, the first end of the traction buckle is rotatably connected with the traction ring, and the second end of the traction buckle is a free end; when the trailer with the mop in a vertical state needs to be pulled by the unmanned towing vehicle, the unmanned towing vehicle is aligned to the position of the trailer and backs up to be close to the position of the trailer, so that the traction mechanism of the traction device is positioned above the mop of the trailer, then the traction mechanism is driven to move downwards by the lifting mechanism, in the process of downward movement of the traction mechanism, the trailer ring of the mop pushes the traction buckle upwards (or the trailer ring of the mop pushes the traction buckle to enable the free end of the traction buckle to rotate upwards), the free end of the traction buckle is sleeved on the traction buckle to realize the sleeving connection of the mop ring and the traction buckle, and meanwhile, the spring bolt extending out of the electromagnetic lock is utilized to limit the downward rotation of the traction buckle, so that the mop ring is prevented from being separated from the traction buckle, the reliable butt connection of the unmanned towing vehicle and the trailer is realized, after the butt connection is completed, the unmanned towing vehicle pulls forwards, the mop of the trailer is gradually pulled to, the traction mechanism moves downwards to the lower part of the lifting mechanism, and the automatic traction function of the unmanned tractor to the trailer is realized through the matching of the traction device of the unmanned tractor and the mop of the trailer; when needs are with unmanned tractor and the separation of trailer, remove the spring bolt retraction of electromagnetic lock and to the limiting displacement who pulls the knot for pull the knot and rotate downwards, the trailer ring of mop is deviate from the free end that pulls the knot, realizes unmanned tractor and trailer promptly and breaks away from, thereby realizes the automatic unhooking function of unmanned tractor and trailer. In addition, to the mop of trailer in the condition such as tilt state, perhaps be in the horizontality, the unmanned tractor that this disclosed embodiment provided can realize the traction function to the trailer equally, for example to the mop that is in the horizontality, accessible unmanned tractor aims at the position of trailer and backs a car and is close to, at the unmanned tractor in-process of backing a car, the trailer ring of mop upwards pushes away the pull knot (also the trailer ring of mop can promote the pull knot, makes the free end of pull knot upwards rotate) and establish on the pull knot by the free end cover of pull knot, realize the cup jointing of mop ring and pull knot, and then realize the butt joint of unmanned tractor and trailer. The unmanned tractor of the embodiment of the disclosure does not need to change the existing trailer bucket, can realize the traction function of the unmanned tractor to the trailer bucket, and is suitable for being butted with mops in different states.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic structural view of an unmanned tractor according to an embodiment of the disclosure;
fig. 2 is a schematic structural view of an unmanned tractor and a trailer according to an embodiment of the disclosure;
fig. 3 is a side view schematic diagram of an unmanned tractor and a trailer according to an embodiment of the disclosure;
fig. 4 is a schematic top view of an unmanned tractor and a trailer according to an embodiment of the disclosure;
fig. 5a to 5e are schematic structural diagrams of a process of docking and towing a trailer with a vertical towing handle by using the unmanned towing vehicle according to the embodiment of the present disclosure;
fig. 6 is a schematic structural view of a towing pintle of the unmanned towing vehicle according to the embodiment of the disclosure disengaged from a trailer ring of a trailer;
FIG. 7 is a schematic structural diagram of an unmanned tractor according to an embodiment of the present disclosure before docking a trailer with a horizontal towing handle;
fig. 8a to 8c are schematic structural diagrams of a process of docking and towing a trailer with a horizontal towing handle by using the unmanned towing vehicle according to the embodiment of the present disclosure;
fig. 9 is a schematic structural view of a trailer in a turning state when the unmanned tractor according to the embodiment of the present disclosure is used to drag the trailer.
Wherein, 1-unmanned tractor; 11-a tractor body; 12-a traction device; 13-a lifting mechanism; 131-a fixed support; 132-a guide rail; 133-a motor; 134-chain; 14-a traction mechanism; 141-a slide block; 142-an electromagnetic lock; 1421-bolt; 143-traction rings; 144-a traction buckle;
2-a trailer; 21-the trailer body; 22-a mop; 221-trailer ring.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
As shown in fig. 1 to 4, the disclosed embodiment provides an unmanned tractor 1 for towing a trailer 2. Specifically, the mop bucket 2 comprises a bucket body 21 and a mop 22 arranged on the bucket body 21, wherein a bucket ring 221 is arranged at the end part of the mop 22; the unmanned tractor 1 includes a tractor body 11 and a traction device 12 mounted on the tractor body 11. During the concrete implementation, draw gear 12 mountable is at the afterbody of tractor main part 11, and mop 22 can set up at the front end of trailer main part 21, through draw gear 12 and mop 22 cooperation, realizes unmanned tractor 1 and the automatic butt joint of trailer 2, and then realizes the automatic function of pulling of unmanned tractor 1 to trailer 2.
Specifically, as shown in fig. 5a to 5e, the traction device 12 includes a lifting mechanism 13 and a traction mechanism 14 provided on the lifting mechanism 13, and the lifting mechanism 13 is used for driving the traction mechanism 14 to move up and down; the traction mechanism 14 includes a slider 141 slidably connected to the lifting mechanism 13, an electromagnetic lock 142 fixedly connected to the slider 141, a traction ring 143 fixedly connected to the electromagnetic lock 142, and a traction buckle 144 mounted on the traction ring 143. The traction buckle 144 has a first end and a second end which are oppositely arranged, the traction buckle 144 can adopt a rod-shaped structure when the method is specifically realized, the first end of the traction buckle 144 and the part of the traction ring 143 which is far away from the electromagnetic lock 142 and is opposite to the electromagnetic lock 142 are rotatably connected, and the second end of the traction buckle 144 is a free end; the electromagnetic lock 142 has a retractable bolt 1421, and when the bolt 1421 extends, the bolt 1421 is used for limiting the free end of the draw buckle 144 to limit the draw buckle 144 from rotating downwards; the towing ring 143 has an inner area through which the trailer ring 221 passes, the trailer ring 221 can push the towing button 144 upwards (or the trailer ring 221 can push the towing button 144 to make the free end of the towing button 144 rotate upwards), and the free end of the towing button 144 is sleeved on the towing button 144; as shown in fig. 6, when the latch 1421 retracts, the latch 1421 stops the pulling buckle 144, and the pulling buckle 144 rotates downward to allow the trailer ring 221 to be pulled out of the free end of the pulling ring 143.
Specifically, when the bucket 2 with the mop in the vertical state (or the mop in the vertical state) needs to be towed by the unmanned towing vehicle 1, the unmanned towing vehicle 1 is directed to the position of the bucket 2 to be backed up and close, so that the towing mechanism 14 of the towing device 12 is located above the mop 22 of the bucket 2 (as shown in fig. 5 a), then the towing mechanism 14 is driven by the lifting mechanism 13 to move downwards, during the downward movement of the towing mechanism 14, the bucket ring 221 of the mop 22 pushes the towing buckle 144 upwards (or the bucket ring 221 of the mop 22 pushes the towing buckle 144 to rotate the free end of the towing buckle 144 upwards as shown in fig. 5b and 5 c), and the free end of the towing buckle 144 is sleeved on the towing buckle 144 (as shown in fig. 5 d), so that the mop 22 ring is sleeved on the towing buckle 144, and the bolt 1421 extending from the electromagnetic lock 142 is used to limit the towing buckle 144 to rotate downwards, thereby preventing the ring of the mop 22 from being pulled out from the pulling buckle 144 (as shown in fig. 5 e), so as to realize reliable butt joint of the unmanned tractor 1 and the trailer 2, after the butt joint is completed, the unmanned tractor 1 pulls forwards, the mop 22 of the trailer 2 is gradually pulled to a horizontal state from a vertical state, the pulling mechanism 14 moves downwards to the lower position of the lifting mechanism 13 (as shown in fig. 5 e), and through the matching of the pulling device 12 of the unmanned tractor 1 and the mop 22 of the trailer 2, the automatic pulling function of the unmanned tractor 1 on the trailer 2 is realized; when the unmanned tractor 1 needs to be separated from the trailer 2, the bolt 1421 of the electromagnetic lock 142 is retracted to release the limiting effect of the bolt 1421 on the towing buckle 144, so that the towing buckle 144 rotates downwards, the trailer ring 221 of the mop 22 is separated from the free end of the towing buckle 144 (as shown in fig. 6), that is, the unmanned tractor 1 is separated from the trailer 2, and thus the automatic unhooking function of the unmanned tractor 1 and the trailer 2 is realized. The unmanned tractor of the embodiment of the disclosure does not need to change the existing trailer, can realize the automatic traction function of the unmanned tractor to the trailer, and effectively reduces the transformation cost.
In addition, the unmanned tractor of the embodiment of the disclosure can also realize the automatic traction function of the trailer for the condition that the mop of the trailer is in an inclined state, a horizontal state or the like. For the condition that the mop of the bucket is in an inclined state, the bucket can be automatically pulled by referring to the condition that the mop is in a vertical state, the butt joint and the pulling processes of the unmanned tractor and the bucket are approximately the same, and the details are not repeated.
In the case that the mop of the trailer is in a horizontal state, as shown in fig. 7, when the trailer 2 with the horizontal mop needs to be pulled by the unmanned towing vehicle 1, the unmanned towing vehicle 1 is aligned with the position of the trailer 2 to reverse and approach, the lifting mechanism 13 drives the towing mechanism 14 to move downwards, the towing mechanism 14 moves downwards to a position approximately horizontal to the towing ring 143 of the mop 22, then the unmanned towing vehicle 1 continues to be aligned with the position of the mop 22 of the trailer 2 to reverse and approach (as shown in fig. 8 a), during the reversing of the unmanned towing vehicle 1, the towing ring 221 of the mop 22 pushes the towing buckle 144 upwards (or the towing buckle 144 is pushed by the towing ring 221 of the mop 22 to rotate the free end of the towing buckle 144 upwards, as shown in fig. 8 b), and the free end of the towing buckle 144 is sleeved on the towing buckle 144 (as shown in fig. 8 c), so as to realize the sleeving of the ring of the mop 22 and the towing buckle 144, meanwhile, the bolt 1421 extending from the electromagnetic lock 142 is used for limiting the downward rotation of the traction buckle 144, so that the mop 22 ring is prevented from being separated from the traction buckle 144 (as shown in fig. 8 c), thus realizing the reliable butt joint of the unmanned tractor 1 and the trailer 2, and after the butt joint is completed, the unmanned tractor 1 pulls forwards, and through the matching of the traction device 12 of the unmanned tractor 1 and the mop 22 of the trailer 2, the automatic traction function of the unmanned tractor 1 on the trailer 2 is realized; when the unmanned tractor 1 needs to be separated from the trailer 2, the bolt 1421 of the electromagnetic lock 142 is retracted to release the limiting effect of the bolt 1421 on the towing buckle 144, so that the towing buckle 144 rotates downwards, the trailer ring 221 of the mop 22 is separated from the free end of the towing buckle 144 (as shown in fig. 6), that is, the unmanned tractor 1 is separated from the trailer 2, and thus, the automatic unhooking function of the unmanned tractor and the trailer is realized.
So, the unmanned traction vehicle of this disclosed embodiment need not to change current trailer, can realize the automatic traction function of unmanned traction vehicle to the trailer, and this unmanned traction vehicle is applicable to and docks with the mop of different states (if be in the mop of vertical state, be in the mop of horizontality, or be in the mop of tilt state) to the application scope of this unmanned traction vehicle has effectively been increased.
In some embodiments of the present disclosure, a resetting mechanism is disposed between the pulling buckle 144 and the pulling ring 143, and the resetting mechanism is configured to rotate and reset the pulling buckle 144, so that the free end of the pulling buckle 144 is reset to a position limited by the locking tongue 1421. It should be understood that, during the automatic docking process (or, during the automatic hooking process) of the unmanned tractor 1 with the trailer 2, after the trailer ring 221 of the mop 22 pushes the towing clasp 144 upwards, the towing clasp 144 needs to be rotated downwards to be reset; when the locking tongue 1421 of the electromagnetic lock 142 releases the limiting function of the towing clasp 144 during the automatic disengagement process (or the automatic disengagement process) of the unmanned towing vehicle 1 from the trailer 2, the towing clasp 144 needs to be rotated upward to be reset after the towing clasp 144 is rotated downward to disengage the trailer ring 221 of the mop 22 from the towing clasp 144.
In the above embodiment, the resetting mechanism is provided between the pulling buckle 144 and the pulling ring 143, and the resetting mechanism can not only realize that the pulling buckle 144 is driven to rotate downwards to reset after the bucket ring 221 of the mop 22 pushes the pulling buckle 144 upwards, but also realize that the pulling buckle 144 is driven to rotate upwards to reset after the limit action of the lock tongue 1421 of the electromagnetic lock 142 on the pulling buckle 144 is cancelled and the pulling buckle 144 rotates downwards so that the bucket ring 221 of the mop 22 is separated from the pulling buckle 144. In other words, by providing a reset mechanism between the draw bail 144 and the draw ring 143, it is ensured that the free end of the draw bail 144 remains or is reset to a position where it is retained by the bolt 1421 of the electromagnetic lock 142.
In some embodiments of the present disclosure, as shown in fig. 5b, 5c, 5d and 6, the first end of the pulling buckle 144 is provided with a sleeve portion, and the sleeve portion is sleeved on the pulling ring 143; the reset mechanism comprises a reset torsion spring, one end of which is supported on the outer surface of the traction button 144, and the other end of which is supported on the outer surface of the traction ring 143. The reset of the traction button 144 is realized by using the reset torsion spring, the structure is simple, the assembly is convenient, and the cost is low.
In some embodiments of the present disclosure, as shown in fig. 5b to 5e, a lower surface of a free end of the towing clasp 144 is formed with a supporting surface for abutting against the latch 1421, and the supporting surface is supported on the latch 1421 when the latch 1421 extends, so as to limit the towing clasp 144 from rotating downward. The mode that adopts drawing knot 144 and spring bolt 1421 overlap joint realizes the limiting displacement of spring bolt 1421 to drawing knot 144, reaches the purpose that the restriction draws knot 144 to rotate downwards, and this kind of cooperation structure is low to the requirement of cooperation precision, and the complex reliability is higher.
Further, as shown in fig. 5b to 5e, a limiting rib for limiting the front end and the left and right sides of the bolt 1421 is provided on the support surface. Specifically, spacing protruding muscle can enclose and establish into the open-ended slot-shaped structure in one side, draws knot 144 to support on spring bolt 1421, and the left and right sides and the front end of spring bolt 1421 are by spacing in the slot-shaped structure that encloses by spacing protruding muscle and establish, so can improve and draw knot 144 and spring bolt 1421 complex reliability.
In some embodiments of the present disclosure, as shown in fig. 5b and 5c, the latch 1421 is a wedge-shaped latch 1421, and the lower surface of the latch 1421 is a wedge surface; when the free end of the pulling buckle 144 is located below the latch 1421 and rotates toward a direction close to the latch 1421, the free end of the pulling buckle 144 contacts and cooperates with the wedge surface to drive the latch 1421 to retract, so that the free end of the pulling buckle 144 rotates upward to above the latch 1421. By adopting the wedge-shaped bolt 1421, the bolt 1421 can be driven to retract by matching the free end of the traction buckle 144 with the wedge surface of the wedge-shaped bolt 1421 in the process of upwards rotating and resetting the free end of the traction buckle 144, and after the free end of the traction buckle 144 upwards rotates to the position above the bolt 1421, the bolt 1421 can automatically extend out, the process is similar to the retraction and extension of the bolt 1421 of a door lock structure, so that the control on the bolt 1421 can be simplified, and the control on the whole traction device 12 is simplified. Of course, retraction and extension of the deadbolt 1421 may also be accomplished entirely by electrical control, as desired.
In other embodiments of the present disclosure, a limiting groove for inserting the locking tongue 1421 is formed on an end surface of the free end of the pulling buckle 144, and the locking tongue 1421 is inserted into the limiting groove when the locking tongue 1421 extends, so as to limit the pulling buckle 144 to rotate downward. The mode that the traction buckle 144 is connected with the lock tongue 1421 in an inserting mode is adopted, the limit effect of the lock tongue 1421 on the traction buckle 144 is achieved, the purpose of limiting the downward rotation of the traction buckle 144 is achieved, the matching stability and the firmness of the traction buckle 144 and the lock tongue 1421 can be effectively ensured by the matching structure, and the condition that the bucket ring 221 of the mop 22 is separated from the traction buckle 144 due to the upward rotation of the traction buckle 144 when the conditions such as sudden bumping, sudden braking and the like are avoided.
In some embodiments of the present disclosure, as shown in fig. 3, the towing ring 143 is disposed obliquely, and a portion of the towing ring 143 connected to the towing clasp 144 is higher than a portion of the towing ring 143 connected to the electromagnetic lock 142, so that when the bolt 1421 is in a state of limiting a free end of the towing clasp 144, a first end of the towing clasp 144 is higher than a second end of the towing clasp 144. Through the arrangement, when the traction device 12 approaches the bucket ring 221 of the mop 22, the bucket ring 221 can more easily jack the traction button 144 upwards and is sleeved on the traction button 144; and the bucket 2 with the mop 22 vertically arranged, the mop 22 obliquely arranged and the mop 22 horizontally arranged can ensure that the bucket ring 221 upwards jacks the traction buckle 144 and is sleeved on the traction buckle 144. Preferably, the angle of inclination of the traction ring 143 with respect to the horizontal is 45 degrees.
In some embodiments of the present disclosure, as shown in fig. 5b to 5e, the towing ring 143 has a racetrack shape, the towing ring 143 includes two straight wall sections arranged in parallel and two arc-shaped wall sections connecting the two straight wall sections, the electromagnetic lock 142 is fixedly connected to a middle portion of one of the straight wall sections, and the towing buckle 144 is rotatably connected to a middle portion of the other straight wall section. With the above arrangement, when the free end of the draw button 144 is limited by the bolt 1421 of the electromagnetic lock 142, the inner area of the draw ring 143 is divided into two symmetrical spaces by the draw button 144; when the trailer ring 221 is sleeved on the towing buckle 144, the trailer ring 221 has a larger moving space in the inner side area of the towing ring 143, so that when the unmanned towing vehicle 1 is used for towing the trailer 2, more flexible turning is facilitated in the towing process, as shown in fig. 9, the structure diagram of the unmanned towing vehicle in the turning state when the unmanned towing vehicle in the embodiment of the present disclosure is used for towing the trailer.
In some embodiments of the present disclosure, as shown in fig. 5b to 5e, an open slot is disposed in a middle portion of a straight wall section, fixedly connected to the electromagnetic lock 142, of the two straight wall sections, the pulling ring 143 is clamped on two opposite outer surfaces of the electromagnetic lock 142 through the open slot, the locking tongue 1421 extends from the open slot to an inner region of the pulling ring 143, and a direction of extension of the locking tongue 1421 faces a first end of the pulling buckle 144. With the above arrangement, the free end of the draw buckle 144 is limited by the bolt 1421 of the electromagnetic lock 142.
In some embodiments of the present disclosure, as shown in fig. 5a to 5d, the lifting mechanism 13 includes a fixed bracket 131, and a guide rail 132 and a driving assembly mounted on the fixed bracket 131; the guide rail 132 is vertically arranged, the slider 141 of the traction mechanism 14 is slidably connected with the guide rail 132, and the driving assembly is used for driving the traction mechanism 14 to move up and down along the guide rail 132. Further, the driving assembly includes a motor 133, a sprocket connected to an output shaft of the motor 133, and a chain 134 mounted on the sprocket, the slider 141 is fixed to the chain 134, and the motor 133 drives the traction mechanism 14 to move up and down along the guide rail 132 via the sprocket and the chain 134. Adopt the drive mode of motor cooperation sprocket, chain, compare in the drive mode of electronic lead screw, the accuracy is higher, and the butt joint of unmanned tractor 1 and trailer 2 is more smooth and easy. Of course, the lifting mechanism is not limited to the above transmission mode, and other transmission modes such as a motor matched belt and an electric screw rod can be adopted.
In some embodiments of the present disclosure, the tractor body 11 is provided with a sensing sensor and a controller, the sensing sensor is used for sensing the initial position state of the mop 22 and sending a sensing signal to the controller, and the controller is used for controlling the movement of the tractor body 11 and the lifting of the lifting mechanism 13 according to the received sensing signal; wherein the initial position state of the mop 22 includes at least one of a vertical state, a horizontal state and an inclined state.
In some embodiments of the present disclosure, the initial position of the mop 22 is vertical or inclined, and the controller controls the lifting mechanism 13 to drive the pulling mechanism 14 to move downward, so that the bucket ring 221 pushes the pulling buckle 144 upward during the downward movement of the pulling mechanism 14, and the free end of the pulling buckle 144 is sleeved on the pulling buckle 144.
In other embodiments of the present disclosure, the initial position of the mop 22 is horizontal, and the controller controls the tractor body 11 to move backward to drive the towing mechanism 14 to move backward, so that the bucket ring 221 pushes the towing button 144 upward during the backward movement of the towing mechanism 14, and the free end of the towing button 144 is sleeved on the towing button 144.
In the above embodiment, the initial position state of the mop is sensed by the sensing sensor and the sensing signal is sent to the controller, and the controller controls the movement of the tractor body and the lifting of the lifting mechanism according to the received sensing signal, so that the function that the automatic traction can be carried out on the trailer in different states by the unmanned tractor is realized, and the application range of the unmanned tractor is effectively enlarged.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (14)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110539145.9A CN113212569B (en) | 2021-05-18 | 2021-05-18 | Unmanned tractor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110539145.9A CN113212569B (en) | 2021-05-18 | 2021-05-18 | Unmanned tractor |
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| CN113212569A true CN113212569A (en) | 2021-08-06 |
| CN113212569B CN113212569B (en) | 2025-02-07 |
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| CN202110539145.9A Active CN113212569B (en) | 2021-05-18 | 2021-05-18 | Unmanned tractor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119701248A (en) * | 2024-12-16 | 2025-03-28 | 中国矿业大学 | Electric automobile fire extinguishing device and method |
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| Publication number | Publication date |
|---|---|
| CN113212569B (en) | 2025-02-07 |
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