ROBOTIZED TRACTOR UNIT

Abstract

A robotized tractor unit comprises a frame and a housing, an axle mounted on the frame, at least two main wheels mounted on either side of the axle, at least one electric engine arranged to drive the wheels to rotate through transmission, a braking system, a fifth wheel, a mechanism for damping and adjusting the position of the fifth wheel, a control system, wherein the mechanism for damping and adjusting the position of the fifth wheel comprises a first and a second support elements and a first and a second independently controlled pneumatic units.

The design of the present invention provides for the reliable damping of the fifth wheel, the simplifying of its coupling to a semi-trailer, allowing for towing the semi-trailer at any design height, as well as ruling out a forward or rearward semi-trailer displacement force during lifting the fifth wheel, when the tractor unit is braked.

Claims

1. A robotized tractor unit comprising: a frame and a housing, an axle mounted on the frame, at least two main wheels mounted on either side of the axle, at least one electric engine arranged to drive the wheels to rotate through transmission, a braking system, a fifth wheel, a mechanism for damping and adjusting the position of the fifth wheel, a control system, wherein the mechanism for damping and adjusting the position of the fifth wheel comprises a first and a second support elements and a first and a second independently controlled pneumatic units, wherein the first end of the first support element is hinged on the tractor unit housing, and the second end of the first support element is mounted on at least one pneumatic spring of the first pneumatic unit, the first end of the second support element is hinged on the first support element between its ends, and the second end of the second support element is mounted on at least one pneumatic spring of the second pneumatic unit, wherein the fifth wheel is mounted on the second support element.

2. The tractor unit of claim 1, wherein the mounting surface of the second support element in the lower position of the pneumatic springs of both pneumatic units lies in a plane parallel to the mounting surface of the tractor unit.

3. The tractor unit of claim 1, wherein the braking system is pneumatic, and the air circuits of the pneumatic units and the braking system are separated and comprise a common compressor.

4. The tractor unit of claim 1, wherein it comprises a steering wheel mounted rotatably at angles up to 45° relative to the axis of the tractor unit straight movement.

5. The tractor unit of claim 1, wherein the view from above of the tractor unit has a rounded-corner rectangle contour.

6. The tractor unit of claim 1, wherein the fifth wheel is mounted on the housing in the area of intersection of the conventional diagonals of the rectangle.

7. The tractor unit of claim 1, wherein it comprises the block stops of the second support element, which are mounted on the housing.

8. The tractor unit of claim 1, wherein the control system comprises an electric engine controller, a control unit connected to the electric engine controller, the mechanism for damping and adjusting the position of the fifth wheel and the braking system, a steering wheel rotation mechanism controller, main wheels rotation control sensors, telemetry sensors for monitoring air pressure within the air circuits of the pneumatic units and the braking system, temperature sensors for the electric engine, servomotor and batteries, voltage sensors for batteries and their emergency protection systems, a radio frequency transceiver connected to the control unit, as well as a computer for monitoring all the tractor unit operation systems.

Description

[0025] The claimed invention is explained in more detail using the following figures:

[0026] FIG. 1 is a general view of one of the most preferred embodiments of the claimed tractor unit;

[0027] FIG. 2 is a bottom view of one of the most preferred embodiments of the claimed tractor unit;

[0028] FIG. 3 is a side view of one of the most preferred embodiments of the mechanism for damping and adjusting the position of the fifth wheel of the tractor unit as claimed in the lower position of the pneumatic springs of both pneumatic units;

[0029] FIG. 4 is a side view of one of the most preferred embodiments of the mechanism for damping and adjusting the position of the fifth wheel of the tractor unit as claimed in the upper position of the pneumatic springs of both pneumatic units;

[0030] FIG. 5 illustrates the sidesway of the fifth wheel during its upward movement according to one of the most preferred embodiments of the claimed tractor unit;

[0031] FIG. 6 is a schematic representation of the structural elements of the tractor unit as claimed and the relationships therebetween;

[0032] FIG. 7 is a general view of the tractor unit of FIG. 1 with open compartments;

[0033] FIG. 8 shows a side view and a bottom view of one of the most preferred embodiments of the claimed tractor unit with indicated dimensions.

[0034] FIG. 1 shows a general view of a robotized tractor unit 1. The tractor unit 1 comprises a rounded corner housing 2 comprising a frame, an axle mounted on the frame, two main wheels 3 mounted on either side of the axle, an electric engine arranged to drive the wheels 3 to rotate through transmission, a braking system, a fifth wheel 4, a mechanism for damping and adjusting the position of the fifth wheel 4 and a control system. The structural elements of the claimed tractor unit 1, not designated with reference numerals, are located inside the housing 2 and, accordingly, are not visible in FIG. 1.

[0035] Said mechanism for damping and adjusting the position of the fifth wheel 4 comprises a first support element 5 and a second support element 6 and a first and a second independently controlled pneumatic units. The first pneumatic unit comprises two pneumatic springs 7, and the second one comprises two pneumatic springs 8. Since the pneumatic springs of both pneumatic units are in their lower position in the figure viewed, they are not visible in FIG. 1, but they are designated in FIG. 4.

[0036] The first support element 5 is designed to be U-shaped (i.e. it comprises two longitudinal and one transverse elements), wherein its first end 9 in the form of the free ends of its longitudinal elements is hinged on the corresponding axes 10 on the housing 2 of the tractor unit 1, and its second end 11 in the form of a transverse element is a platform resting on pneumatic springs 7 of the first pneumatic unit (see FIG. 4). And the second support element 6 is designed as a plate located in part between two longitudinal elements of the U-shaped first support element 5 and is hinged with its first end 12 in the area of the inner edge of the platform, in the form of which the second end 11 of the first support element 5 is made (i.e. in the area between the ends 9 and 11 of the first support element 5) on the corresponding axes 13, and rests with its second end 14 on the pneumatic springs 8 of the second pneumatic unit (see FIG. 4). The block stops 15 of the second support element 6 are installed on the housing 2.

[0037] It is seen that the fifth wheel 4 is mounted on the second support element 6.

[0038] FIG. 2 shows a bottom view of the tractor unit 1. It is seen that said tractor unit 1 comprises steering wheel 16 mounted in the front on a rotation mechanism 17.

[0039] FIG. 3 shows a side view of the mechanism for damping and adjusting the position of the fifth wheel 4 of the tractor unit 1 as claimed in the lower position of the pneumatic springs 7 and 8 of both pneumatic units. In the indicated position, the springs 7 and 8 are almost completely located inside the housing 2 and are not visible in FIG. 3 viewed. In what follows, the structural elements of the tractor unit 1, which are identical to those shown in FIG. 1, are designated with corresponding reference numerals.

[0040] It can be seen that in the lower position of the pneumatic springs 7 and 8, i.e. in such a position when the fifth wheel 4 takes its lowermost position, and the tractor unit 1, correspondingly, is characterized by a minimum height, the first 5 and the second 6 support elements are somewhat folded, visually forming one platform, and the mounting surface 18 of the second support element lies in a horizontal plane parallel to the upper surface of the housing 2 of the tractor unit 1 (based on the fact that the tractor unit 1 is mounted on a completely flat surface, the tilt angle of which equals 0°).

[0041] FIG. 4 shows a side view of the mechanism for damping and adjusting the position of the fifth wheel 4 of the tractor unit 1 as claimed in the upper position of the pneumatic springs 7 and 8 of both pneumatic units. In said position, the springs 7 and 8 are almost completely located over the housing 2.

[0042] FIG. 5 illustrates displacement of the fifth wheel 4 along axis X during its upward movement along axis Z using the example of point A. It is seen in the figure that when the forces F1 and F2 are applied to the support elements by the corresponding pneumatic springs and, as a result of this, when the fifth wheel is lifted to the maximum possible height h, the position of point A will only slightly displace in space along axis X by a distance Δx (due to the movement of axis 13, which is illustrated in the upper image with an arrow, along a circle with a radius r equal to the distance between axes 10 and 13).

[0043] So, for example, when the fifth wheel 4 moves along axis Z to a height from 0 to 270 mm with a radius r equal to 790 mm, the displacement Δx of point A along axis X will be 12 mm.

[0044] Thus, the displacement of point A, and, consequently, of the fifth wheel 4 relative to the vertical axis is practically excluded, and, as a result, the braked tractor unit 1, during lifting the fifth wheel 4 with a semi-trailer, will not exert any forces on the semi-trailer, i.e. will not affect the loads occurring in the semi-trailer.

[0045] Axes 10 and 13, as well as the block stops 15 rigidly fix the fifth wheel 4 and do not allow for its displacement along axis Y even when high lateral forces are applied to it.

[0046] FIG. 6 is a schematic representation of the structural elements of the tractor unit 1 as claimed and the relationships therebetween.

[0047] It is seen in the diagram that the first and the second pneumatic units comprising pairs of pneumatic springs 7 and 8 respectively, as well as the braking system represented by the pneumatic valves 19 and the pneumatic cylinders 20 comprise a common compressor 21.

[0048] In addition, the diagram shows an electric engine 22, which, with the help of an intermediate gear 23 and a differential 24, drives the wheels 3 mounted on the axle 25 to rotate.

[0049] The control system comprises an electric engine 22 controller 26; a control unit 27 connected to the electric engine 22 controller 26, a pneumatic distributor 28, pneumatic valves 19, as well as to the exterior lighting system 29, video cameras 30 and parking sensors 31. Besides, the control system comprises a radio frequency transceiver 32 connected to the control unit 27 and to the exterior lighting system 29.

[0050] The diagram also shows a power supply unit 33 of the control unit 27, an additional seat 34 for the battery, a battery controller 35, a battery protection and switching unit 36 and a voltage converter 37.

[0051] The reference numerals 38, 39 and 40 designate a charger connector, a 24 V output and a compressed air output, respectively.

[0052] The diagram also shows a steering wheel 16, a driving screw 41, three end switch-sensors 42 (the first one is for the leftmost position of the steering wheel 16, the second one is for the position of the steering wheel 16 when moving straight ahead, the third one is for the rightmost position of the steering wheel 16), a servomotor 43 driving the steering wheel 16, a controller 44 for controlling the servomotor 43, a rotating unit 45 with a sliding nut that moves along the driving screw 41 rotated by the servomotor 43.

[0053] As seen in FIG. 7, in the areas of the four corners of the tractor unit 1 housing 2, four corner compartments 46 may be provided, accessible by means of covers 47, and in the areas of the housing 2 three sides, three side compartments 48 may be provided, accessible by means of covers 49. The covers 47 and 49 are constituent parts of the housing 2. Said compartments 46 and 48 may receive structural elements of the tractor unit 1, such as, for example, batteries, compressor 21, etc.

[0054] According to FIG. 8, illustrating the side view and the bottom view of one of the most preferred embodiments of the tractor unit as claimed, the turning radius r of the tractor unit is 1.95 m, the height l.sub.1 of the tractor unit when the fifth wheel is fully lowered is 1.13 m (which allows to drive underneath almost any standard truck and to be engaged with it), and the height l.sub.2 of the tractor unit when the fifth wheel is fully lifted is 1.3 m.

[0055] The tractor unit 1 as claimed operates as follows.

[0056] If the semi-trailer needs towing, the tractor unit 1 is driven underneath the semi-trailer mounted on the supports, after which the fifth wheel 4 is mounted at the required height, thus achieving coupling to the semi-trailer and lifting it to the required towing height. The fifth wheel 4 can be pre-tilted forward or backward at an angle of up to 15° in order to simplify coupling to the semi-trailer. The above position adjustment of the fifth wheel 4 is carried out through an appropriate mechanism. When directly towing the semi-trailer on uneven surfaces using the mechanism for damping and adjusting the position of the fifth wheel 4, said mechanism 4 is damped. After the semi-trailer arriving at its destination, the fifth wheel 4 of the tractor unit 1 is lowered and, thus, the semi-trailer is mounted on the ground, after which the tractor unit 1 can be freely withdrawn from underneath the semi-trailer. The tractor unit 1, i.e. all its systems and mechanisms necessary for the performance of its functions, is driven by an operator using a remote control acting on the control unit 25 through the radio frequency transceiver device 32.

[0057] Thus, the invention as claimed is a robotized tractor unit, the design of which ensures the achievement of a technical result consisting in providing for the reliable damping of the fifth wheel, the simplifying of its coupling to a semi-trailer, allowing for towing the semi-trailer at any design height, as well as ruling out a forward or rearward semi-trailer displacement force during lifting the fifth wheel, when the tractor unit is braked.

[0058] It should be appreciated that the claimed tractor unit, as defined in the appended claims, is not necessarily limited to the specific features and embodiments, including dimensions or specific structural elements described above. On the contrary, the specific features and embodiments described above are disclosed as examples implementing the claims, and other equivalent features may be covered by the claims of the present invention.