JPS5885702A - Method of automatically coupling trailer to unmanned tractor - Google Patents
Method of automatically coupling trailer to unmanned tractorInfo
- Publication number
- JPS5885702A JPS5885702A JP56182438A JP18243881A JPS5885702A JP S5885702 A JPS5885702 A JP S5885702A JP 56182438 A JP56182438 A JP 56182438A JP 18243881 A JP18243881 A JP 18243881A JP S5885702 A JPS5885702 A JP S5885702A
- Authority
- JP
- Japan
- Prior art keywords
- trailer
- coupling
- unmanned
- unmanned tractor
- towing vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/01—Traction couplings or hitches characterised by their type
- B60D1/04—Hook or hook-and-hasp couplings
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
この発811は無人牽引車に対するトレーラの自動連結
方法に関するものである。DETAILED DESCRIPTION OF THE INVENTION This issue 811 relates to a method for automatically coupling a trailer to an unmanned towing vehicle.
部品や製品等の物品を積み込んだトレーラを走行路に設
置された誘導線中光学テープに沿って走行して牽引し、
工場内等における物品の運搬、その他を行なう無人牽引
車が一般に知られている。A trailer loaded with goods such as parts and products is towed by traveling along the optical tape in the guide line installed on the driving route.
2. Description of the Related Art Unmanned towing vehicles for transporting goods within factories and other operations are generally known.
ところで一般にこの種の無人牽引単に対してトレーラを
連結するには、トレーラの前部に設けられ九遍結ビン等
の連結軸、あるいは連結棒等を無人牽引車の後部に設け
られた連結器に接続すればよいのであるが、従来の連結
器で無人牽引単にトレーラを連結するには、連結器の操
作を行なうオペレータが必要であるため、トレーラの連
結、切離しを含めた無人牽引車の完全な自動運転が実現
できない状況であつ九。By the way, in general, in order to connect a trailer to this type of unmanned towing vehicle, a connecting shaft such as a 9-point tie bottle or a connecting rod installed at the front of the trailer is connected to a connector installed at the rear of the unmanned towing vehicle. However, in order to simply connect a trailer with a conventional coupler, an operator is required to operate the coupler. This is a situation where autonomous driving is not possible.
そこで近年、無人牽引車後部に自動切**構を有する自
動切離し連結器を取り付けることによって、無人牽引車
とトレーラとの切離しが自動化できるようになつ九が、
トレーラの連結においては、トレーラの位置決め精度の
問題中無人車引単の停比精度の問題かあって自動化が進
まないlA状であり、このためトレーラの連結を含めた
無人牽引車の完全な自動運転が未だに実現困難な状況で
ある。Therefore, in recent years, it has become possible to automate the disconnection between the unmanned towing vehicle and the trailer by installing an automatic disconnection coupler with an automatic disconnection mechanism on the rear of the unmanned towed vehicle.
Automation of trailer coupling has not progressed due to problems with trailer positioning accuracy and stopping ratio accuracy of unmanned vehicle pulling. Driving is still difficult.
この発明は前記背景に基づいてなされたもので、トレー
ラ位置決め治具を用いてトレーラを位置決めした鎌に、
無人牽引車を前記トレーラに接近させて自動切離しカッ
プラをトレーラの連結軸に結合させることによって、前
記無人牽引車にトレーラを自動連結すること、ひいては
トレーラの連結を含めた無人牽引車の完全な自動運転を
なすことを目的とする。This invention has been made based on the above background, and includes a sickle that positions a trailer using a trailer positioning jig.
By bringing the unmanned towing vehicle close to the trailer and coupling the automatic disconnection coupler to the coupling shaft of the trailer, the trailer can be automatically coupled to the unmanned towing vehicle, and the unmanned towing vehicle can be fully automated, including the coupling of the trailer. The purpose is to drive.
以下この発明を図面に示す装置の一実施例に基づいて説
明する〇
第1図ないし第5図はこの発明の実施に用いる自動連結
装置の一例を示すもので、この装置は、無人牽引軍人の
区部に突出して取り付けられた自動切離しカップラ(以
下カップラと称す)lと、トレーラBの前部に上下方向
を向けて取り付けられた連結@B2と、走行路0に設置
されるトレーラ位置決め治具りとを主体として構成され
ている。The present invention will be explained below based on an embodiment of the device shown in the drawings. Figures 1 to 5 show an example of an automatic coupling device used to carry out the present invention. An automatic disconnection coupler (hereinafter referred to as a coupler) l protrudingly attached to the section, a coupling @B2 attached to the front of the trailer B facing in the vertical direction, and a trailer positioning jig installed on the travel path 0. It is mainly composed of Rito.
前記無人章引車人には、車体フレーム3に取り付けられ
た車輪4,5と、この無人牽引軍人を走行路0に設置さ
れ次誘導線等に沿って走行さげるための操舵機構とが設
けられている。The unmanned badge puller is provided with wheels 4 and 5 attached to the vehicle body frame 3, and a steering mechanism for lowering the unmanned towing soldier installed on the travel route 0 and traveling along the next guide line etc. ing.
前記カップラlには、先端(第3図の右端)から級端に
向けて狭まる挿入孔6が形成された連結板7が上下にほ
ぼ水平に離間して一対設けられるとともに、これら連結
板7.7の1記挿入孔6近くの一側に設けられた回動軸
8には、連結板7とほぼ平行に回動して前記挿入孔6の
底部6aに到達するつかみ部91および受圧部9bがC
字状に設けられた掛は金9が回動自在に取り付けられて
いる。そして、前記連結板7,7の挿入孔6近くの他側
IC&けられた枢軸10には、繭記底部6aに到達した
受圧部9bの先端を一端部11aのかぎ部11cで引掛
けて係止するドグ11が回動自在に取り付けられるとと
もに、このドグ11の他端11bllの連結板7には、
この他端11bに当接してドグ11を回動させ、前記受
圧部9bを係止したかぎ部11cを受圧部9bの先端か
ら離すロータリーソレノイド12が取り付けられる一方
、前記連結板7,70両側部を接続して設けられた側板
13,13の一方には、前記ロータリーソレノイド12
によって回動されるドグ11の他端11bの接近を検知
してロータリーンレノイド12の励磁を解除するマイク
ロスイッチSが取り付けられている。また、前記掛は金
9のつかみ99mと受圧部9bの反対11には突出片1
4か掛は金9と一体に形成されるとともに、突出片14
と前記係止片11の一端部1151とがばね15によっ
て連結されており、このばね15が掛は金9とドグ11
を共に第3図における反時計方向に付勢している。The coupler l is provided with a pair of connecting plates 7 vertically and approximately horizontally spaced apart, each having an insertion hole 6 formed therein that narrows from the tip (right end in FIG. 3) to the end. The rotation shaft 8 provided on one side near the insertion hole 6 in item 7 has a grip portion 91 and a pressure receiving portion 9b that rotate approximately parallel to the connecting plate 7 and reach the bottom 6a of the insertion hole 6. is C
A metal 9 is rotatably attached to the hook provided in the shape of a letter. Then, the tip of the pressure receiving part 9b that has reached the cocoon bottom part 6a is hooked to the other side IC near the insertion hole 6 of the connecting plates 7, 7 and the pivot shaft 10 is hooked with the hook part 11c of the one end part 11a. A stopping dog 11 is rotatably attached to the connecting plate 7 at the other end 11bll of the dog 11.
A rotary solenoid 12 is attached to the other end 11b to rotate the dog 11 and separate the hook portion 11c, which locks the pressure receiving portion 9b, from the tip of the pressure receiving portion 9b. The rotary solenoid 12 is connected to one of the side plates 13, 13 provided by connecting the rotary solenoid 12.
A microswitch S is attached to detect the approach of the other end 11b of the dog 11 rotated by the rotary renoid 12 and to release the excitation of the rotary lean renoid 12. Furthermore, the hook has a grip 99m on the metal 9 and a protruding piece 1 on the opposite side 11 of the pressure receiving part 9b.
The hook 4 is formed integrally with the metal 9, and the protruding piece 14
and one end 1151 of the locking piece 11 are connected by a spring 15, and this spring 15
Both are biased counterclockwise in FIG.
しかして16は、前記連結板7.7に取り付けられて掛
は金9の第3図における反時計方向′\の回動範凹を規
制するストツノく一117Fi掛は金9VC*り付けら
れて掛は金9を手動で回動するための手動レバーである
。Therefore, the hook 16 is attached to the connecting plate 7.7, and the hook 117Fi is attached to the hook 9VC* for regulating the rotation range of the hook 9 in the counterclockwise direction in FIG. 3. The hook is a manual lever for manually rotating the metal 9.
前記トレーラ位置決め治A(以下治具と称す)l)r!
、トレーラBの左右(幅方向)の車輪18゜18の間隔
よりわずかに広い間隔で走行路00所定位置rctxぼ
平行にボルト等で固定されてトレーラBの車輪18・・
・を案内し、幅方向の位置決めをなす板状のガイド部1
9.19と、これらのガイド部19.19に交差する方
向にボルト等で固定されて、前記ガイド部194Cよっ
て案内されて移動してきたトレーラBの車輪18.18
vc当接してトレーラBt停止させ、トレーラBの走行
方向の位置決めをなすストッパ部20.20とから構成
されている。そして、前記ガイド部19.19の先端1
9m、19mの互いに対向するl1lia先すぼまり状
にされて、上記トレーラBの車輪18を案内し易いよう
になっている。The trailer positioning jig A (hereinafter referred to as jig) l)r!
, the left and right (width direction) wheels 18 of trailer B are fixed with bolts, etc., substantially parallel to the travel path 00 predetermined position rctx at an interval slightly wider than the interval of 18 degrees 18, and the wheels 18 of trailer B...
・Plate-shaped guide part 1 that guides and positions in the width direction
9.19, and the wheels 18.18 of trailer B that are fixed with bolts or the like in a direction intersecting these guide portions 19.19 and move while being guided by the guide portion 194C.
The stopper portion 20.20 contacts the trailer Bt to stop the trailer Bt and positions the trailer B in the traveling direction. Then, the tip 1 of the guide portion 19.19
The 9m and 19m opposing l1lia are tapered to make it easier to guide the wheels 18 of the trailer B.
次If−第1図ないし第5図に示し九連結装置によって
本発明の方法を実施する場合について説明する。Next, if--the case in which the method of the present invention is carried out using the nine coupling devices shown in FIGS. 1 to 5 will be described.
まず、連結#I2がガイド部19の先端側に位置するよ
うにトレーラBの向きを調節してトレー2Bを治具り内
に走行させる。すると、トレーラHの車輪18・・・に
、ガイド部19の先端19aとガ印Fで示す方向に無人
牽引軍人を後退させてトレーラBに接近させ、カップラ
lの連結板7の挿入孔6に連結@2を挿入する。(ただ
しこの際、挿入孔6に連結@2を挿入する以前に、前記
ロータリーンレノイド12を励磁してドグ11を第3図
の時計方向に回動して、ばね15により掛は金9を反時
計方向に回動させ、第3図の2点鎖線で示す位置にして
おく。この時同時に、他端11bがマイクロスイッチS
を作動させてロータリーソレノイド12の励磁を解除す
るが、ドグ11はばね15により第3図の実線で示す位
置に戻る。)すると、連結@2ri掛は金90受圧部9
bに当接して掛は金9を第3図の時計方向に回動さぜ、
受圧i9bの先端にドグ11の一端部11mのかぎ部1
1cに引っ掛かる。この際ドグ11げはね15によって
反時計方向に付勢されているため掛は金9を係止する。First, the direction of the trailer B is adjusted so that the connection #I2 is located on the leading end side of the guide portion 19, and the tray 2B is driven into the jig. Then, the unmanned towing military personnel is moved backward in the direction indicated by the tip 19a of the guide portion 19 and the gas mark F to approach the trailer B, and is inserted into the insertion hole 6 of the connecting plate 7 of the coupler L. Insert concatenation @2. (However, at this time, before inserting the connection @2 into the insertion hole 6, the rotary renoid 12 is energized, the dog 11 is rotated clockwise in FIG. 3, and the latch 9 is held by the spring 15. Rotate it counterclockwise to the position shown by the two-dot chain line in Fig. 3. At the same time, the other end 11b is connected to the micro switch S.
is activated to de-energize the rotary solenoid 12, but the dog 11 is returned to the position shown by the solid line in FIG. 3 by the spring 15. ) Then, the connection @2ri hook is gold 90 pressure receiving part 9
Rotate the hook 9 clockwise as shown in Fig. 3 when it comes into contact with b.
The hook 1 of one end 11m of the dog 11 is attached to the tip of the pressure receiving i9b.
Caught on 1c. At this time, since the dog 11 is biased counterclockwise by the spring 15, the latch locks the metal 9.
以上の如くしてトレー2Bは無人牽引軍人に連結される
。なお、現在、無人牽引軍人の停止に際しては、幅方向
および進行方向で若干の誤差があるようであるが、幅方
向については前記連結板7,7の挿入孔6の開口部で、
また、進行方向については挿入孔6の夷行きで、寸法的
に十分に前記誤差を吸収することができる。また、前記
治具りを走行路0に多数設置し、これら治具D・・−に
多数のトレー2B・・・を一度に位置決めすることによ
り、豪数台のトレーラB・・・をオペレータなしで複数
台の無人牽引軍人・・・に一度に連結して牽引すること
ができる。As described above, the tray 2B is connected to the unmanned towed soldier. Currently, there seems to be some error in the width direction and the traveling direction when stopping the unmanned towed military personnel, but in the width direction, the opening of the insertion hole 6 of the connecting plates 7, 7,
Further, in the direction of movement, the above-mentioned dimensional error can be sufficiently absorbed in the backward direction of the insertion hole 6. In addition, by installing a large number of the above-mentioned jigs on the travel path 0 and positioning a large number of trays 2B on these jigs D at the same time, several trailers B can be operated without an operator. It can be connected to multiple unmanned towing soldiers at the same time to be towed.
ま九、トレーラBを無人牽引軍人から切り離すには、無
人牽引軍人を停止させてロータリーソレノイド12を励
磁した状態で無人牽引車Aを所定時間タイマー等で前進
させる。すると、ドグ11のかぎ部11cが掛は金9の
受圧部9bからはずれた状態で無人牽引軍人が前進する
ため、掛は金9が反時計方向に回動して連結@2は挿入
孔6からはずれ、トレーラBは停止位置で置き去りにさ
れる。(9) To separate trailer B from the unmanned towing military personnel, the unmanned towing military personnel are stopped, the rotary solenoid 12 is energized, and the unmanned towing vehicle A is moved forward for a predetermined time using a timer or the like. Then, since the unmanned towing military personnel moves forward with the hook part 11c of the dog 11 disengaged from the pressure receiving part 9b of the hook 9, the hook 9 rotates counterclockwise and the connection @2 is connected to the insertion hole 6. Trailer B is left behind at the stopped position.
以上のようなロータリーソレノイド12の励磁、無人牽
引軍人とトレー2Bとの切り離しの際の停止・前進、あ
るいは無人牽引軍人の行先等は全て無人牽引車Aの操作
盤等によって制御できるため、無人牽引車Aとトレーラ
Bとの連結・切離しの自動化がなされたことになる。The excitation of the rotary solenoid 12 as described above, the stopping/advancement when separating the unmanned towing soldier from the tray 2B, the destination of the unmanned towing soldier, etc. can all be controlled by the operation panel of the unmanned towing vehicle A. This means that the connection and disconnection between car A and trailer B has been automated.
なお、前記した連結装置の一例にあっては、ト4゜レー
ラBの連結軸2が上下方向を向いているが、この連結軸
2は水平でも、傾いていても差し支えない。ただし、連
結板7.7は前記連結軸20軸廁とほぼ直交する方向に
設けられる。また、治具Dq前記例の形状に限るもので
はなく、チャンネル状のもの管種々の形状が実現可舵で
ある。さらに1記治具Dr!、車輪1B、1@に当接し
てトレーラBの位置決めをなすもの、又はトレーラBの
車体に当接して位置決めをなすもの等でもよい。In the above-mentioned example of the coupling device, the coupling shaft 2 of the trailer B is oriented in the vertical direction, but the coupling shaft 2 may be horizontal or inclined. However, the connecting plate 7.7 is provided in a direction substantially perpendicular to the axis of the connecting shaft 20. Furthermore, the shape of the jig Dq is not limited to the above-mentioned example, but can be realized in various shapes such as a channel shape or a pipe. In addition, 1 jig Dr! , one that positions the trailer B by contacting the wheels 1B, 1@, or one that positions the trailer B by contacting the vehicle body of the trailer B.
以上説明したようにこの発明は、走行路に設置したトレ
ーラ位置決め治具を用いてトレーラを走行路の所定位置
に位置決めした鎌に、無人牽引車の自動切離しカップラ
をトレー2の連結軸に結合させることによって無人牽引
車にトレーラを連結するものであるから、無人牽引車と
トレーラとをオペレータなしで自動連結・切離しするこ
とができる。そして、このことによって本発明により無
人牽引車のトレーラに対する連結・切離しを含めた完全
な自動運転を実現することができる。As explained above, the present invention connects the automatic disconnection coupler of the unmanned towing vehicle to the connecting shaft of the tray 2 to the sickle that positions the trailer at a predetermined position on the travel path using a trailer positioning jig installed on the travel path. Since the trailer is thereby connected to the unmanned towing vehicle, the unmanned towing vehicle and the trailer can be automatically connected and disconnected without an operator. As a result, the present invention makes it possible to realize complete automatic operation including connection and disconnection of the unmanned towing vehicle to and from the trailer.
第1図はこの発明を実施する自動連結装置の一例を取り
付けた無人牽引車を示す平面略図、第2図は同牽引車を
示す側面略図、1g3図は同−例の装部を破断して拡大
した平面図、第4図は同−例の装部拡大側面略図、第5
図は同−例のトレーラ位置決め治具を示す斜視略図であ
る。
A・・・無人牽引車、B・・・トレーラ、0・・・走行
路、1・・・自動切離しカップ2.2・・・連結軸、D
・・・トレーラ位置決め治具、19・・・ガイド部、2
0・・・ストッパ部。
第3図
第5図Fig. 1 is a schematic plan view showing an unmanned towing vehicle equipped with an example of an automatic coupling device embodying the present invention, Fig. 2 is a schematic side view showing the towing vehicle, and Fig. 1g3 is a cutaway view of the same example. Fig. 4 is an enlarged plan view of the same example, and Fig. 5 is an enlarged schematic side view of the mounting part of the same example.
The figure is a schematic perspective view showing the trailer positioning jig of the same example. A...Unmanned towing vehicle, B...Trailer, 0...Travel road, 1...Automatic separation cup 2.2...Connection shaft, D
...Trailer positioning jig, 19...Guide part, 2
0...stopper part. Figure 3 Figure 5
Claims (1)
ーラ位置決め治具を用いてトレーラを走行路の所定位置
に位置決めし九級、−無人牽引車を前記トレーラに接近
させて自動切離しカップラをトレーラの連結軸に結合さ
せることによって前記無人牽引車にトレーラを連結する
ことを特砿とする無人牽引車に対するトレーラの自動連
結方法。 z ガイド部とストッパ部とからなる前記トレーラ位置
決め治具を用い、前記ガイド部によってトレー2を案内
して幅方向の位置決めをなし、かつ、前記ストッパ部に
よってトレー2を停止させてトレーラの走行方向の位置
決めを□なすことを特徴とする特許請求の範囲第1項記
載の無人牽引車に対するトレーラの自動連結方法。[Claims] 1. A trailer positioning jig is installed on a running road, the trailer is positioned at a predetermined position on the running road using this trailer positioning jig, and - class 9 - an unmanned towing vehicle is brought close to the trailer. A method for automatically connecting a trailer to an unmanned towing vehicle, the special feature being to connect the trailer to the unmanned towing vehicle by coupling an automatic disconnection coupler to a connecting shaft of the trailer. z Using the trailer positioning jig consisting of a guide part and a stopper part, the guide part guides the tray 2 to position it in the width direction, and the stopper part stops the tray 2 to move the trailer in the traveling direction. A method for automatically connecting a trailer to an unmanned towing vehicle according to claim 1, characterized in that the positioning of the trailer is performed by □.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP56182438A JPS5885702A (en) | 1981-11-14 | 1981-11-14 | Method of automatically coupling trailer to unmanned tractor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP56182438A JPS5885702A (en) | 1981-11-14 | 1981-11-14 | Method of automatically coupling trailer to unmanned tractor |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS5885702A true JPS5885702A (en) | 1983-05-23 |
JPS6257521B2 JPS6257521B2 (en) | 1987-12-01 |
Family
ID=16118265
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP56182438A Granted JPS5885702A (en) | 1981-11-14 | 1981-11-14 | Method of automatically coupling trailer to unmanned tractor |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS5885702A (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6015208A (en) * | 1983-07-06 | 1985-01-25 | Three T:Kk | Automatic cargo-handling car for cart |
CN112272620A (en) * | 2018-02-21 | 2021-01-26 | 奥特莱德科技公司 | System and method for automated handling and processing of automotive trucks and tractor-trailers |
US11707955B2 (en) | 2018-02-21 | 2023-07-25 | Outrider Technologies, Inc. | Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby |
US11858491B2 (en) | 2018-10-30 | 2024-01-02 | Outrider Technologies, Inc. | System and method for controlling braking functions in an autonomous vehicle |
-
1981
- 1981-11-14 JP JP56182438A patent/JPS5885702A/en active Granted
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6015208A (en) * | 1983-07-06 | 1985-01-25 | Three T:Kk | Automatic cargo-handling car for cart |
CN112272620A (en) * | 2018-02-21 | 2021-01-26 | 奥特莱德科技公司 | System and method for automated handling and processing of automotive trucks and tractor-trailers |
EP3755553A4 (en) * | 2018-02-21 | 2022-08-24 | Outrider Technologies, Inc. | Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby |
US11429099B2 (en) | 2018-02-21 | 2022-08-30 | Outrider Technologies, Inc. | Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby |
US11707955B2 (en) | 2018-02-21 | 2023-07-25 | Outrider Technologies, Inc. | Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby |
US11755013B2 (en) | 2018-02-21 | 2023-09-12 | Outrider Technologies, Inc. | Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby |
US11782436B2 (en) | 2018-02-21 | 2023-10-10 | Outrider Technologies, Inc. | Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby |
US11994857B2 (en) | 2018-02-21 | 2024-05-28 | Outrider Technologies, Inc. | Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby |
US11858491B2 (en) | 2018-10-30 | 2024-01-02 | Outrider Technologies, Inc. | System and method for controlling braking functions in an autonomous vehicle |
Also Published As
Publication number | Publication date |
---|---|
JPS6257521B2 (en) | 1987-12-01 |
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