Transport vehicle and control method thereof

Abstract

A transport vehicle comprises a power-assisting handle, an electric control device, a lifting device and a frame. The lifting device is mounted on the frame, the power-assisting handle is mounted on the lifting device to drive the lifting device to move up and down, the power-assisting handle is connected to the electric control device, a power-assisting sensor assembly is mounted on the power-assisting handle, the power-assisting sensor assembly is connected to the electric control device, the pulling force and thrust acting on the power-assisting handle are sensed by the power-assisting sensor assembly, and a thrust or pulling force signal is sent to the electric control device; the electric control device comprises an electric wheel, a gyroscope and an electric control board, the gyroscope and the power-assisting sensor assembly are respectively connected to the electric control board, vehicle status information is sent to the electric control board by the gyroscope and the power-assisting sensor assembly, the electric control board is connected to the electric wheel, the electric wheel is driven to rotate by the electric control board, the gyroscope and the power-assisting sensor assembly provide control signals to the electric control board, so that the electric control board can judge the working condition of the transport vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of transport vehicles, and in particular relates to a transport vehicle and a control method thereof. Background Art

[0002] A pallet truck is a piece of logistics handling equipment used to transport goods. When used at a handling station, a manual pallet truck inserts its forks into the pallet holes. A hydraulic system is manually driven to raise and lower the pallet, and the truck is then pulled manually to complete the transport operation.

[0003] The main shortcomings of the transport trucks currently on the market are as follows: (1) Most transport trucks are driven by manpower. When the vehicle is heavily loaded, it is difficult to drive the transport truck by manpower, which brings certain inconvenience to users; (2) The center of gravity of the transport truck's lifting device structure is relatively high, which affects the stability of the transport truck's movement and poses certain safety hazards. Summary of the Invention

[0004] In view of the above shortcomings, the technical problem to be solved by the present invention is to provide a transport vehicle and a control method thereof. The transport vehicle has good stability and can provide a certain amount of assistance during the movement of the transport vehicle, thereby improving the mobility of the transport vehicle.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A transport vehicle comprises a power-assisting handle, an electric control device, a lifting device and a vehicle frame, wherein the lifting device is mounted on the vehicle frame, the power-assisting handle is mounted on the lifting device to drive the lifting device to move up and down, and the power-assisting handle is connected to the electric control device;

[0007] A power assist sensor assembly is installed on the power assist handle, which is connected to the electronic control device. The power assist sensor assembly senses the pulling force and pushing force acting on the power assist handle and sends a pushing force or pulling force signal to the electronic control device.

[0008] The electronic control device includes an electric wheel, a gyroscope and an electronic control board. The gyroscope and the power-assist sensor assembly are respectively connected to the electronic control board. Vehicle status information is sent to the electronic control board through the gyroscope and the power-assist sensor assembly. The electronic control board is connected to the electric wheel, and the electronically controlled wheel is driven to rotate through the electronic control board.

[0009] As a preferred solution of the present invention, the power assist sensor assembly includes a thrust sensor and a tension sensor. The thrust sensor is installed on the side of the power assist handle that pushes the transporter to move, and the tension sensor is installed on the side of the transporter handle that faces the transporter.

[0010] As a preferred solution of the present invention, the power assist handle includes an upper beam, a column, a lower beam and a connecting rod that are interconnected. The lower beam is fixedly connected to the connecting rod. The thrust sensor is installed on the column, and the tension sensor is installed on the upper beam.

[0011] As a preferred solution of the present invention, the upper crossbeam and the column are both provided with sensor sheaths, which are arranged on the outside of the thrust sensor and the tension sensor; a force-applying arch portion is formed on the sensor sheath, which is located above the thrust sensor or the tension sensor.

[0012] As a preferred solution of the present invention, the electric control board includes a driving battery, a circuit board and an electric control mounting bracket. The electric wheel is fixedly mounted on the lower end of the jacking device through the electric control mounting bracket. The circuit board is mounted on the electric control mounting bracket. The driving battery is mounted on the outside of the jacking device and is connected to the circuit board and the electric wheel.

[0013] As a preferred solution of the present invention, the jacking device includes a thrust plate, a sinking valve plate, a lifting cylinder and a driving cylinder. A sinking shaft is formed on the lower end surface of the sinking valve plate, the thrust plate is installed on the sinking shaft, a lifting shaft hole is formed in the sinking valve plate, the lifting cylinder is installed above the lifting shaft hole, and the driving cylinder is installed on the sinking valve plate and connected to the lifting cylinder through the sinking valve plate.

[0014] As a preferred solution of the present invention, the driving battery is mounted on the outside of the lifting cylinder, the electric control mounting bracket is mounted on the sinking shaft through the mounting sleeve, and the electric control mounting bracket is connected to the sinking valve plate.

[0015] As a preferred solution of the present invention, the electronically controlled mounting bracket includes a wheel bracket and a valve plate connecting bracket. The wheel bracket is installed on the sunken shaft through a mounting sleeve. The electric wheel is rotatably mounted on the wheel bracket. A mounting slope is formed on the wheel bracket. The circuit board is mounted on the mounting slope. The valve plate connecting bracket is respectively connected to the mounting slope and the sunken valve plate, and the valve plate connecting bracket cover is arranged on the circuit board.

[0016] As a preferred solution of the present invention, the driving battery includes a U-shaped battery shell, a battery cell and a battery limiting plate. The battery cell is installed in the U-shaped battery shell, and the battery limiting plate is installed at the end of the U-shaped battery shell to form an installation gap for assembly with the jacking cylinder.

[0017] The above-mentioned control method of a transport vehicle includes the following control methods:

[0018] Step 1: Power on and start the vehicle to determine the vehicle's operating condition. The gyroscope in the electronic control device determines whether the vehicle is on a flat surface.

[0019] Step 2: If the vehicle is on a horizontal surface, the triggering status of the power-assistance sensor assembly is determined, and the electric wheel is controlled. When the thrust sensor is triggered, a voltage signal is generated according to the thrust detected by the thrust sensor, and the circuit board outputs a corresponding signal to the electric wheel. The electric wheel outputs torques of varying magnitudes, and the vehicle now travels toward the direction of the load-bearing roller. When the tension sensor is triggered, a voltage signal is generated according to the thrust detected by the tension sensor, and the circuit board outputs a corresponding signal to the electric wheel. The electric wheel outputs torques of varying magnitudes, and the vehicle now travels toward the direction of the electric wheel.

[0020] Step three, if the vehicle is on an inclined ground or the vehicle drives from a horizontal ground to a sloped ground, if the tension sensor is triggered, the tension sensor outputs a voltage signal to the circuit board. At this time, the current information generated by the electric roller is fed back to the circuit board to determine the direction of movement of the vehicle. If the current value is positive, the electric roller rotates toward the drive wheel, and the current is positive. If it rotates toward the load-bearing roller, the current is negative, and the vehicle starts power assistance. If the thrust sensor is triggered, the thrust sensor outputs a voltage signal to the circuit board. At this time, the current information generated by the electric roller is fed back to the circuit board to determine the direction of movement of the vehicle. If the current value is negative, the vehicle starts power assistance. The power assistance is not turned on under the other conditions.

[0021] Step 4: Set a first speed threshold and a second speed threshold in the circuit board. The circuit board monitors the vehicle speed. When the speed does not reach the first speed threshold, the power provided by the circuit board to the electric roller remains unchanged. When the speed reaches the first speed threshold, the power provided by the circuit board to the electric roller gradually decreases as the vehicle speed increases. When the speed reaches the second speed threshold, the electric roller stops assisting. When the vehicle speed drops to the set second speed threshold, the vehicle resumes assisting when the assisting conditions are met.

[0022] Step five: Set a first temperature threshold and a second temperature threshold in the circuit board. When the temperature reaches the first temperature threshold, as the motor temperature increases, the power assist provided by the circuit board to the electric roller gradually decreases; when the motor temperature reaches the second temperature threshold, the power assist is suspended; when the motor temperature drops to the set second temperature threshold, the vehicle re-enables the power assist when the power assist conditions are met.

[0023] Step six: When the power assist sensor assembly is in the released state, the power assist stops.

[0024] The beneficial effects of the present invention are: (1) providing control signals to the electric control board through the gyroscope and the power assist sensor assembly, thereby facilitating the electric control board to judge the working condition of the transport vehicle.

[0025] (2) By setting the sinking shaft, a jacking shaft hole that sinks downward is formed on the sunken raft, so that the retraction position of the jacking shaft of the jacking cylinder is lower under normal conditions, the overall height of the driving cylinder is reduced, and the center of gravity of the sinking structure is lowered, thereby lowering the overall center of gravity of the vehicle installed with the sinking structure and improving the stability of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present invention.

[0027] Figure 2 It is a schematic diagram of the structure after the figure is rotated at a certain angle.

[0028] Figure 3 It is a structural diagram of the cart handle.

[0029] Figure 4 This is a schematic diagram of the structure of the cart handle after the sensor cover is hidden.

[0030] Figure 5 It is a structural diagram of the sensor sheath.

[0031] Figure 6 It is a structural schematic diagram of the present invention.

[0032] Figure 7 It is a half-section schematic diagram of the lower structure.

[0033] Figure 8 It is the AA section view.

[0034] Figure 9 It is a structural diagram of the jacking shaft.

[0035] Figure 10 It is a half-section schematic diagram of the jacking device.

[0036] Figure 11 It is a structural diagram of the driving battery.

[0037] Figure 12 It is a structural diagram of the pressure relief valve assembly.

[0038] Reference numerals: lifting device 1, power handle 2, electronic control device 3, frame 4,

[0039] Thrust plate 1-1, sinking valve plate 1-2, lifting cylinder 1-3, driving cylinder 1-4, sinking shaft 1-5, lifting shaft hole 1-6, lifting shaft 1-7, inner cylinder barrel 1-8, lifting groove 1-9, shaft inner flow channel 1-10, driving oil hole 1-11, lifting oil passage 1-12, driving flow channel 1-13, lifting flow channel 1-14, valve body flow channel 1-15, valve core 1-16, shift lever 1-17, lifting check valve 1-18 , rocker arm 1-19, lifting core 1-20, partition core 1-21, valve core cover 1-22, through hole 1-23, outer cylinder 1-24, pressure relief channel 1-25, pressure relief check valve 1-26, drive cylinder 1-27, drive cylinder shaft 1-28, return spring 1-29, pressure relief valve spring 1-32, adjusting head 1-33, pressure relief valve plug 1-34, end cover 1-35, plug ball 37, pressure relief through hole 1-36,;

[0040] Trolley handle 2-1, force application handle 2-1-1, connecting rod 2-1-2, upper crossbeam 2-1-3, column 2-1-4, lower crossbeam 2-1-5, threading hole 2-1-6, thrust sensor 2-2, tension sensor 2-3, transporter 2-4, pressure relief handle 2-5, sensor sheath 2-6, force application arch 2-6-1, sensor limit slot 2-6-2, deformation slot 2-6-3;

[0041] Electric wheel 3-1, gyroscope 3-2, drive battery 3-3, U-shaped battery housing 3-3-1, battery unit 3-3-2, battery limit plate 3-3-3, circuit board 3-4, electronic control mounting bracket 3-5, wheel bracket 3-5-1, valve plate connecting bracket 3-5-2, mounting sleeve 3-5-3, mounting slope 3-5-4;

[0042] Wheel bracket 4-1, transport bracket 4-2. DETAILED DESCRIPTION

[0043] The present invention will be further described below with reference to the accompanying drawings.

[0044] A transport vehicle includes a power-assisting handle 2, an electronic control device 3, a lifting device 1, and a vehicle frame 4. The lifting device 1 is mounted on the vehicle frame 4. The power-assisting handle 2 is mounted on the lifting device 1 to drive the lifting device 1 up and down. The power-assisting handle 2 is connected to the electronic control device 3. The vehicle frame includes a wheel bracket 4-1 and a transport bracket 4-2. The transport bracket 4-2 is used to carry the transport vehicle. The wheel bracket 4-1 is provided with a load-bearing roller to facilitate the movement of the transport vehicle.

[0045] A power assist sensor assembly is installed on the power assist handle 2, which is connected to the electronic control device 3. The power assist sensor assembly senses the pulling force and pushing force acting on the power assist handle 2 and sends a pushing force or pulling force signal to the electronic control device 3.

[0046] The electronic control device 3 includes an electric wheel 3-1, a gyroscope 3-2, and an electric control board. The gyroscope 3-2 and the power-assistance sensor assembly are respectively connected to the electric control board. Vehicle status information is sent to the electric control board via the gyroscope 3-2 and the power-assistance sensor assembly. The electric control board is connected to the electric wheel 3-1 and drives the electric-controlled wheel to rotate via the electric control board. The gyroscope 3-2 and the power-assistance sensor assembly provide control signals to the electric control board, thereby facilitating the electric control board to judge the working condition of the transport vehicle.

[0047] The electronic control board includes a driving battery 3-3, a circuit board 3-4 and an electronic control mounting bracket 3-5. The electric wheel 3-1 is fixedly mounted on the lower end of the jacking device 1 through the electronic control mounting bracket 3-5. The circuit board 3-4 is mounted on the electronic control mounting bracket 3-5. The driving battery 3-3 is mounted on the outside of the jacking device 1 and is connected to the circuit board 3-4 and the electric wheel 3-1. The driving battery 3-3 supplies power to the circuit board 3-4, the power assist sensor assembly and the gyroscope 3-2.

[0048] The driving battery 3-3 is mounted on the outside of the lifting cylinder 1-3, the electric control mounting bracket 3-5 is mounted on the sinking shaft 1-5 through the mounting sleeve 3-5-3, and the electric control mounting bracket 3-5 is connected to the sinking valve plate 1-2. The electric control structure of this transport vehicle is assembled on the outside of the lifting device 1 to prevent the electric control structure from affecting the height of the center of gravity of the transport vehicle.

[0049] The electric control mounting bracket 3-5 includes a wheel bracket 3-5-1 and a valve plate connecting bracket 3-5-2. The wheel bracket 3-5-1 is mounted on the sinking shaft 1-5 through a mounting sleeve 3-5-3. The electric wheel 3-1 is rotatably mounted on the wheel bracket 3-5-1. A mounting slope 3-5-4 is formed on the wheel bracket 3-5-1. The circuit board 3-4 is mounted on the mounting slope 3-5-4. The electric wheel and the circuit board are mounted at the same time through the wheel bracket 3-5-1, which is convenient for the electric control. The dynamic wheel and circuit board are installed, and the valve plate connecting frame 3-5-2 is connected to the installation slope 3-5-4 and the sunken valve plate 1-2 respectively, and the valve plate connecting frame 3-5-2 is covered on the circuit board 3-4. The setting of the valve plate connecting frame 3-5-2 is convenient for improving the stability of the wheel bracket 3-5-1, ensuring the detection accuracy of the circuit board installed on the wheel bracket 3-5-1, and at the same time, the valve plate connecting frame 3-5-2 can provide a certain protection function for the circuit board 3-4, ensuring the service life of the circuit board 3-4.

[0050] The driving battery 3-3 includes a U-shaped battery shell 3-3-1, a battery unit 3-3-2 and a battery limiting plate 3-3-3. The battery unit 3-3-2 is installed in the U-shaped battery shell 3-3-1, and the battery limiting plate 3-3-3 is installed at the end of the U-shaped battery shell 3-3-1 to form an installation gap for assembly with the jacking cylinder 1-3, which makes it convenient to surround the driving battery 3-3 around the outside of the jacking cylinder 1-3 to ensure the compactness of the structure of this transport vehicle.

[0051] The jacking device 1 includes a thrust plate 1-1, a sunken valve plate 1-2, a jacking cylinder 1-3 and a driving cylinder 1-4. The thrust plate 1-1 is used to install the wheel bracket 4-1 of the transport vehicle, the jacking cylinder 1-3 is used to install the transport bracket 4-2 of the transport vehicle, and the driving cylinder 1-4 is used to jack up the jacking cylinder 1-3, so that the transport bracket 4-2 floats and lifts the transported objects. This application does not involve improvements to the wheel bracket 4-1 and the transport bracket 4-2 of the transport vehicle.

[0052] The lower end surface of the sinking valve plate 1-2 is formed with a sinking shaft 1-5, and the thrust plate 1-1 is installed on the sinking shaft 1-5. The thrust plate 1-1 and the sinking shaft 1-5 rotate relative to each other. A jacking shaft hole 1-6 is formed in the sinking valve plate 1-2, and the jacking oil cylinder 1-3 is installed above the jacking shaft hole 1-6. Through the arrangement of the sinking shaft 1-5, on the one hand, it is convenient for the installation of the thrust plate 1-1, and on the other hand, a downward-sinking jacking shaft hole 1-6 can be formed on the sinking raft 1-2, so that the jacking shaft 1-7 of the jacking oil cylinder 1-3 is retracted to a lower position under normal conditions, reducing the overall height of the driving oil cylinder 1-4, lowering the center of gravity of the sinking structure, and thus lowering the overall center of gravity of the vehicle installed with the sinking structure; the driving oil cylinder 1-4 is installed on the sinking valve plate 1-2, and the driving oil cylinder 1-4 is connected to the jacking oil cylinder 1-3 through the sinking valve plate 1-2, providing jacking power for the jacking oil cylinder 1-3.

[0053] The lifting cylinder 1-3 includes a lifting shaft 1-7 and an inner cylinder barrel 1-8. The inner cylinder barrel 1-8 is installed on the lifting shaft hole 1-6. A lifting cavity is formed between the side wall of the lifting shaft 1-7 and the inner wall of the inner cylinder barrel 1-8. The lifting shaft 1-7 is slidably connected in the lifting cavity. During the lifting process, the oil in the driving cylinder 1-4 flows into the lifting cavity. As the oil pressure in the lifting cavity increases, the lifting shaft 1-7 is lifted.

[0054] A lifting groove 1-9 is formed at the bottom of the lifting shaft hole 1-6, and an inner shaft flow channel 1-10 is formed in the lifting shaft 1-7. The inner shaft flow channel 1-10 is adapted to the lifting groove 1-9, that is, the oil outlet of the inner shaft flow channel 1-10 faces the lifting groove 1-9, so that the oil flows through the inner shaft flow channel 1-10 into the bottom of the lifting shaft 1-7, thereby lifting the lifting shaft 1-7.

[0055] In this embodiment, in order to further lower the position of the jacking shaft 1-7 in the retracted state, when the jacking shaft 1-7 is retracted, the lower end face of the jacking shaft 1-7 is against the lower end face of the jacking shaft hole 1-6, and the openings on both sides of the shaft inner flow channel 1-10 are respectively connected to the side wall of the jacking shaft 1-7 and the lower end face of the jacking shaft 1-7. The oil of the driving cylinder 1-4 flows into the lifting chamber, and the oil pressure in the lifting chamber increases. The oil flows into the jacking groove 1-9 through the shaft inner flow channel 1-10, and the oil pressure in the jacking groove 1-9 increases, thereby lifting the jacking shaft 1-7.

[0056] A driving oil hole 1-11 is also formed on the sunken valve plate 1-2, and the driving oil cylinder 1-4 is installed on the driving oil hole 1-11. The driving oil hole 1-11 and the jacking shaft hole 1-6 are connected through the jacking oil circuit 1-12. The setting of the driving oil hole 1-11 facilitates the sinking installation of the driving oil cylinder 1-4 on the sunken raft 1-2. On the one hand, the height of the driving oil cylinder 1-4 can be reduced, and on the other hand, it facilitates the connection of the jacking oil circuit 1-12 with the driving oil cylinder 1-4 and the jacking oil cylinder 1-3.

[0057] The lifting oil circuit 1-12 includes a driving channel 1-13, a lifting channel 1-14 and a valve body channel 1-15. The lifting channel 1-14 is connected to the lifting shaft hole 1-6, and the driving channel 1-13 is connected to the driving oil hole 1-11. The driving channel 1-13 and the lifting channel 1-14 are connected through the valve body channel 1-15. A pressure relief valve assembly is installed on the valve body channel 1-15. The pressure relief valve assembly is used to relieve pressure on the lifting cylinder 3, so that the cylinder shaft height of the lifting cylinder 3 is reduced.

[0058] The pressure relief valve assembly includes a valve core 1-16, a shift lever 1-17, a lifting check valve 1-18 and a rocker arm 1-19. The valve core 1-16 is installed in the valve body flow channel 1-15. The shift lever 1-17 and the lifting check valve 1-18 are respectively installed in the valve core 1-16. The rocker arm 1-19 is rotatably installed on the sunken valve plate 1-2. The shift lever 1-17 and the lifting check valve 1-18 are arranged opposite to each other. Under normal circumstances, due to the setting of the lifting check valve 1-18 and the plug ball 1-37, the plug ball 1-37 blocks the flow channel of the isolation core 1-21, so that the oil flows toward the lifting check valve 1-18. The oil flows in the opposite direction, and the lifting one-way valve 1-18 is pushed open, so that the oil in the lifting oil circuit 1-12 flows from the driving channel 1-13 into the lifting channel 1-14. When the pressure is relieved, the rocker arm 1-19 rotates to drive the shift rod 1-17 to move, and the shift rod 1-17 drives the lifting one-way valve 1-18 to move, so that the lifting one-way valve 1-18 is in a failed state. The high-pressure oil flows from the lifting channel 1-14 through the lifting one-way valve 1-18, the partition core 1-21 and the through hole on the valve core cover 1-22 in turn and flows into the pressure relief channel 1-25, thereby relieving the pressure on the lifting cylinder 1-3.

[0059] The lifting cylinder 1-3 also includes an outer cylinder barrel 1-24, which is sleeved on the outside of the inner cylinder barrel 1-8. A pressure relief through hole 1-36 is formed on the sunken valve plate 1-2. The pressure relief through hole 1-36 is connected to the driving oil hole 1-11 through a pressure relief flow channel 1-25. A pressure relief one-way valve 1-26 is installed on the pressure relief flow channel 1-25. Through the setting of the pressure relief one-way valve 1-26, when the oil pressure in the system is too high, the oil pushes open the pressure relief valve plug 34 of the pressure relief one-way valve 26, so that the oil in the driving cylinder 4 flows back to the outer cylinder barrel 24.

[0060] In this embodiment, in order to prevent the oil from flowing into the jacking cylinder 1-3 through the pressure relief channel 1-25 during the jacking process, the one-way valve spring force of the pressure relief one-way valve 1-26 is much greater than the pressure relief valve spring force of the jacking one-way valve 1-18.

[0061] In this embodiment, the pressure relief one-way valve 1-26 includes a pressure relief valve spring 1-32, an adjusting head 1-33 and a pressure relief valve plug 1-34. The pressure relief valve plug 1-34 is arranged at the connection between the driving channel 1-13 and the pressure relief channel 1-25. The adjusting head 1-33 is installed on the sunken valve plate 1-2 by means of threads, and an end cover 1-35 is also installed on the outside of the adjusting head 1-33.

[0062] The valve core 1-16 includes a lifting core 1-20, a partition core 1-21 and a valve core cover 1-22 that are connected to each other. Since the valve body flow channel 1-15 passes through the driving flow channel 1-13 and the lifting flow channel 1-14, in order to prevent the driving flow channel 1-13 and the lifting flow channel 1-14 from flowing through each other, a partition core 1-21 is set in the valve body flow channel 1-15; the lifting check valve 1-18 is installed in the lifting core 1-20, the partition core 1-21 is set in the valve body flow channel 1-15; The core body 1-21 and the valve core cover 1-22 are assembled to form a toggle chamber, and the toggle rod 1-17 is slidably installed in the toggle chamber. A through hole 1-23 is formed on the side wall of the partition core body 1-21 and the lifting core body 1-20. The oil in the driving cylinder 1-3 flows into the valve core 1-16 through the through hole 1-23 on the partition core body 1-21, and then flows into the driving flow channel 1-13 through the through hole 1-23 on the lifting core body 1-20.

[0063] The driving cylinder 1-4 includes a driving cylinder barrel 1-27, a driving cylinder shaft 1-28 and a reset spring 1-29. The driving cylinder barrel 1-27 is installed on the driving oil hole 1-11, and the driving cylinder shaft 1-28 is slidably installed in the driving cylinder barrel 1-27. The reset spring 1-29 is respectively connected to the sunken valve plate 1-2 and the driving cylinder shaft 1-28, so that the driving cylinder shaft 1-28 is reset.

[0064] This sinking structure sets the flow path between the lifting cylinder 1-3 and the driving cylinder 1-4 in the sinking valve plate 1-2, without the need for an external flow channel, which can further simplify the sinking structure and further lower the center of gravity of the lower structure.

[0065] The working principle of the oil in this jacking structure is as follows:

[0066] When the lifting cylinder 1-3 is lifted, the cylinder shaft 1-28 is pushed down by swinging the power handle, and the oil pressure in the driving cylinder 1-4 increases. The oil flows through the driving flow channel 1-13, the valve body flow channel 1-15, and the lifting flow channel 1-14 in sequence and flows into the lifting cylinder 1-3, so that the lifting shaft 1-7 is lifted.

[0067] When the pressure is released, the rocker arm 1-19 is rotated, the rocker arm 1-19 drives the shifting rod 1-17 to move, and the shifting rod 1-17 drives the lifting check valve 1-18 to move, so that the lifting check valve 1-18 is in a failed state, and the lifting cylinder 1-3 can flow from the lifting cylinder 1-3 into the driving cylinder 1-4 through the lifting oil circuit 1-12. When the oil pressure in the driving cylinder 1-4 is still too high, the oil breaks through the pressure relief check valve 1-26 and returns the oil in the driving cylinder 1-4 to the outer cylinder barrel 1-24.

[0068] The power-assisting handle 2 includes a trolley handle 2-1, a thrust sensor 2-2 and a tension sensor 2-3. The thrust sensor 2-2 and the tension sensor 2-3 are respectively installed on the trolley handle 2-1. The thrust sensor 2-2 and the tension sensor 2-3 respectively sense the thrust or tension acting on the trolley handle 2-1, generate a sensing signal through the sensor, and send the sensing signal to the electronic control system. The electronic control system drives the motor system of the transport vehicle to provide assistance for the movement of the transport vehicle, so that the power-assisting system generates a control signal.

[0069] In this embodiment, the thrust sensor 2-2 and the tension sensor 2-3 are both pressure sensors, which sense the force applied by the operator to the cart handle 2-1 through the pressure sensor. The pressure sensor used in this embodiment detects the magnitude of the force and generates different electrical signals according to the different magnitudes of the force and sends them to the power assist system, thereby facilitating the power assist system. It should be pointed out that this application does not involve improvements to the pressure sensor, the transport vehicle, and the transport vehicle drive device.

[0070] The trolley handle 2-1 is installed on the transport cart 2-4. According to the operator's habit of pushing the transport cart, the thrust sensor 2-2 is installed on the side of the trolley handle 2-1 that pushes the transport cart 2-4 to move. According to the operator's habit of pulling the transport cart, the tension sensor 2-3 is installed on the side of the trolley handle 2-1 facing the transport cart 2-4.

[0071] To facilitate the connection between the trolley handle 2-1 and the transport vehicle body, the trolley handle 2-1 includes a force handle 2-1-1 and a connecting rod 2-1-2. The force handle 2-1-1 is fixedly connected to the connecting rod 2-1-2, and the connecting rod 2-1-2 is connected to the transport vehicle 2-4. The thrust sensor 2-2 and the tension sensor 2-3 are respectively installed on the force handle 2-1-1.

[0072] The force handle 2-1-1 includes an upper crossbeam 2-1-3, a column 2-1-4 and a lower crossbeam 2-1-5 which are interconnected. The lower crossbeam 2-1-5 is fixedly connected to the connecting rod 2-1-2. According to the operator's habit of pushing the transport vehicle, the thrust sensor 2-2 is installed on the columns 2-1-4 on both sides. According to the operator's habit of pulling the transport vehicle, the tension sensor 2-3 is installed on the upper crossbeam 2-1-3.

[0073] A threading hole 2-1-6 is formed in the middle of the column 2-1-4 and the middle of the upper crossbeam 2-1-3. The communication lines of the thrust sensor 2-2 and the tension sensor 2-3 are extended into the trolley handle 2-1 through the threading hole 2-1-6, which is convenient for storing the communication line of the pressure sensor and ensuring that the electrical signal of the pressure sensor is smoothly transmitted to the transporter drive device.

[0074] In order to facilitate the transmission of the user's force to the pressure sensor, protect the pressure sensor and improve the life of the sensor, a sensor sheath 2-6 is provided on the upper crossbeam 2-1-3 and the column 2-1-4. The sensor sheath 2-6 is provided on the outside of the thrust sensor 2-2 and the tension sensor 2-3.

[0075] A force-applying arch 2-6-1 is formed on the sensor sheath 2-6, and the force-applying arch 2-6-1 is located above the thrust sensor 2-2 or the tension sensor 2-3, that is, the force-applying arch 2-6-1 is located on the force-applying part of the pressure sensor. The setting of the force-applying arch 2-6-1 can more effectively ensure that the force applied by the operator is transmitted to the pressure sensor through the sensor sheath 2-6, thereby improving the accuracy of the pressure sensor in detecting the force applied.

[0076] In order to ensure the position accuracy of the sensor sheath 2-6 and the pressure sensor and improve the force detection accuracy of the pressure sensor, a sensor limit groove 2-6-2 is formed on the inner wall of the sensor sheath 2-6. The sensor limit groove 2-6-2 corresponds to the force arch 2-6-1, that is, the sensor limit groove 2-6-2 is located on the inner wall opposite to the force arch 2-6-1, and the thrust sensor 2-2 or the tension sensor 2-3 is installed in the sensor limit groove 2-6-2.

[0077] A deformation groove 2-6-3 is formed on the inner wall of the sensor sheath 2-6, and a deformation cavity is formed between the deformation groove 2-6-3 and the force handle 2-1-1. The sensor limit groove 2-6-2 is formed in the deformation groove 2-6-3. By setting the deformation cavity, the deformation range of the sensor sheath 2-6 is increased, thereby further ensuring the accuracy of the pressure sensor in detecting the applied force.

[0078] The sensor sheath 2-6 is used to fix the pressure sensor. Before the assembly process of the sensor sheath 2-6, the pressure sensor is first installed at the threading hole 2-1-6 to facilitate the insertion of the communication line of the pressure sensor into the threading hole 2-1-6. The position of the pressure sensor can be fixed with the help of glue, and then the sensor sheath 2-6 is installed on the outside of the pressure sensor. As a preferred method, the sensor sheath 2-6 is installed in the middle of the upper beam 2-1-3 or the column 2-1-4.

[0079] The end of the connecting rod 2-1-2 extends into the force handle 2-1-1. A pressure relief handle 2-5 is installed on the connecting rod 2-1-2. The pressure relief handle 2-5 is connected to the rocker arm 1-19 by a steel wire. When relieving pressure, pinch the pressure relief handle 2-5 to relieve pressure in the lifting cylinder 1-3.

[0080] The above-mentioned control method of a transport vehicle includes the following control methods:

[0081] Step 1: Power on and start the vehicle to determine the vehicle's operating condition. The gyroscope in the electronic control device determines whether the vehicle is on a flat surface.

[0082] Step 2: If the vehicle is on a horizontal surface, the triggering status of the power-assistance sensor assembly is determined, and the electric wheel is controlled. When the thrust sensor is triggered, a voltage signal is generated according to the thrust detected by the thrust sensor, and the circuit board outputs a corresponding signal to the electric wheel. The electric wheel outputs torques of varying magnitudes, and the vehicle now travels toward the direction of the load-bearing roller. When the tension sensor is triggered, a voltage signal is generated according to the thrust detected by the tension sensor, and the circuit board outputs a corresponding signal to the electric wheel. The electric wheel outputs torques of varying magnitudes, and the vehicle now travels toward the direction of the electric wheel.

[0083] Step three, if the vehicle is on an inclined ground or the vehicle drives from a horizontal ground to a sloped ground, if the tension sensor is triggered, the tension sensor outputs a voltage signal to the circuit board. At this time, the current information generated by the electric roller is fed back to the circuit board to determine the direction of movement of the vehicle. If the current value is positive, the electric roller rotates toward the drive wheel, and the current is positive. If it rotates toward the load-bearing roller, the current is negative, and the vehicle starts power assistance. If the thrust sensor is triggered, the thrust sensor outputs a voltage signal to the circuit board. At this time, the current information generated by the electric roller is fed back to the circuit board to determine the direction of movement of the vehicle. If the current value is negative, the vehicle starts power assistance. The power assistance is not turned on under the other conditions.

[0084] Step 4: Set a first speed threshold and a second speed threshold in the circuit board. The circuit board monitors the vehicle speed. When the speed does not reach the first speed threshold, the power provided by the circuit board to the electric roller remains unchanged. When the speed reaches the first speed threshold, the power provided by the circuit board to the electric roller gradually decreases as the vehicle speed increases. When the speed reaches the second speed threshold, the electric roller stops assisting. When the vehicle speed drops to the set second speed threshold, the vehicle resumes assisting when the assisting conditions are met.

[0085] Step five: Set a first temperature threshold and a second temperature threshold in the circuit board. When the temperature reaches the first temperature threshold, as the motor temperature increases, the power assist provided by the circuit board to the electric roller gradually decreases; when the motor temperature reaches the second temperature threshold, the power assist is suspended; when the motor temperature drops to the set second temperature threshold, the vehicle re-enables the power assist when the power assist conditions are met.

[0086] Step six: When the power assist sensor assembly is in the released state, the power assist stops.

[0087] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but is to be embodied in the widest possible manner consistent with the principles and novel features disclosed herein.

[0088] Although this article uses more terms corresponding to the figure marks in the figures, it does not exclude the possibility of using other terms; these terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. A transport vehicle, characterized in that: The vehicle comprises a power-assisting handle (2), an electric control device (3), a lifting device (1) and a frame (4); the lifting device (1) is mounted on the frame (4); the power-assisting handle (2) is mounted on the lifting device (1) to drive the lifting device (1) to move upward and downward; and the power-assisting handle (2) is connected to the electric control device (3); A power assist sensor assembly is installed on the power assist handle (2), and the power assist sensor assembly is connected to the electronic control device (3). The power assist sensor assembly senses the pulling force or thrust acting on the power assist handle (2), and sends a thrust or pulling force signal to the electronic control device (3); The electric control device (3) comprises an electric wheel (3-1), a gyroscope (3-2) and an electric control board. The gyroscope (3-2) and the power-assist sensor assembly are respectively connected to the electric control board. Vehicle status information is sent to the electric control board via the gyroscope (3-2) and the power-assist sensor assembly. The electric control board is connected to the electric wheel (3-1), and the electric control board drives the electric-controlled wheel to rotate. The electric control panel comprises a driving battery (3-3), a circuit board (3-4) and an electric control mounting bracket (3-5); the electric wheel (3-1) is fixedly mounted on the lower end of the lifting device (1) via the electric control mounting bracket (3-5); the circuit board (3-4) is mounted on the electric control mounting bracket (3-5); the driving battery (3-3) is sleeved on the outer side of the lifting device (1) and is connected to the circuit board (3-4) and the electric wheel (3-1); The jacking device comprises a thrust plate (1-1), a sinking valve plate (1-2), a jacking oil cylinder (1-3) and a driving oil cylinder (1-4); a sinking shaft (1-5) is formed on the lower end surface of the sinking valve plate (1-2); the thrust plate (1-1) is mounted on the sinking shaft (1-5); a jacking shaft hole (1-6) is formed in the sinking valve plate (1-2); the jacking oil cylinder (1-3) is mounted above the jacking shaft hole (1-6); and the driving oil cylinder (1-4) is mounted on the sinking valve plate (1-2) and connected to the jacking oil cylinder (1-3) via the sinking valve plate (1-2); The driving battery (3-3) is sleeved on the outside of the lifting cylinder (1-3), the electric control mounting bracket (3-5) is mounted on the sinking shaft (1-5) via a mounting sleeve (3-5-3), and the electric control mounting bracket (3-5) is connected to the sinking valve plate (1-2).

2. A transport vehicle according to claim 1, characterized in that: The power assist sensor assembly comprises a thrust sensor (2-2) and a tension sensor (2-3). The thrust sensor (2-2) is installed on the side of the power assist handle (2) that pushes the transport vehicle (2-4) to move, and the tension sensor (2-3) is installed on the side of the transport vehicle handle (2-1) that faces the transport vehicle (2-4).

3. A transport vehicle according to claim 2, characterized in that: The power assist handle (2) comprises an upper crossbeam (2-1-3), a column (2-1-4), a lower crossbeam (2-1-5) and a connecting rod (2-1-2) which are connected to each other; the lower crossbeam (2-1-5) is fixedly connected to the connecting rod (2-1-2); the thrust sensor (2-2) is mounted on the column (2-1-4); and the tension sensor (2-3) is mounted on the upper crossbeam (2-1-3).

4. A transport vehicle according to claim 3, characterized in that: The upper crossbeam (2-1-3) and the column (2-1-4) are both sleeved with a sensor sleeve (2-6), and the sensor sleeve (2-6) is sleeved on the outside of the thrust sensor (2-2) and the tension sensor (2-3); a force-applying arched portion (2-6-1) is formed on the sensor sleeve (2-6), and the force-applying arched portion (2-6-1) is located above the thrust sensor (2-2) or the tension sensor (2-3).

5. A transport vehicle according to claim 2, characterized in that: The electric control mounting bracket (3-5) comprises a wheel bracket (3-5-1) and a valve plate connecting bracket (3-5-2); the wheel bracket (3-5-1) is mounted on the sinking shaft (1-5) via a mounting sleeve (3-5-3); the electric wheel (3-1) is rotatably mounted on the wheel bracket (3-5-1); a mounting slope (3-5-4) is formed on the wheel bracket (3-5-1); a circuit board (3-4) is mounted on the mounting slope (3-5-4); the valve plate connecting bracket (3-5-2) is respectively connected to the mounting slope (3-5-4) and the sinking valve plate (1-2); and the valve plate connecting bracket (3-5-2) is covered on the circuit board (3-4).

6. A transport vehicle according to claim 5, characterized in that: The driving battery (3-3) comprises a U-shaped battery housing (3-3-1), a battery unit (3-3-2) and a battery limiting plate (3-3-3); the battery unit (3-3-2) is installed in the U-shaped battery housing (3-3-1); and the battery limiting plate (3-3-3) is installed at the end of the U-shaped battery housing (3-3-1) to form an installation gap for assembly with the jacking cylinder (1-3).

7. A method for controlling a transport vehicle according to any one of claims 2 to 6, characterized in that: The following control methods are included: Step 1: Power on and start the vehicle to determine the vehicle's operating condition. The gyroscope in the electronic control device determines whether the vehicle is on a flat surface. Step 2: If the vehicle is on a horizontal plane, determine the triggering status of the power assist sensor assembly and control the electric wheel. When the thrust sensor is triggered, a voltage signal is generated according to the thrust detected by the thrust sensor, and the circuit board outputs a corresponding signal to the electric wheel. The electric wheel outputs torques of different sizes, and the vehicle travels in the direction of the load-bearing roller. When the tension sensor is triggered, a voltage signal is generated according to the thrust detected by the tension sensor, and the circuit board outputs a corresponding signal to the electric wheel. The electric wheel outputs torques of different sizes, and the vehicle travels in the direction of the electric wheel. Step three, if the vehicle is on an inclined ground or the vehicle is driving from a horizontal ground to a sloped ground, if the tension sensor is triggered, the tension sensor outputs a voltage signal to the circuit board, and the current information generated by the electric roller is fed back to the circuit board to determine the moving direction of the vehicle, that is, when the electric roller rotates in the direction of the driving wheel, the current is positive, and when it rotates in the direction of the load-bearing roller, the current is negative. If the current value is positive, the vehicle starts power assistance; if the thrust sensor is triggered, the thrust sensor outputs a voltage signal to the circuit board, and the current information generated by the electric roller is fed back to the circuit board to determine the moving direction of the vehicle. If the current value is negative, the vehicle starts power assistance, and the other conditions do not start power assistance; Step 4: Set a first speed threshold and a second speed threshold in the circuit board. The circuit board monitors the vehicle speed. When the speed does not reach the first speed threshold, the power provided by the circuit board to the electric roller remains unchanged. When the speed reaches the first speed threshold, as the vehicle speed increases, the power provided by the circuit board to the electric roller gradually decreases. When the speed reaches the second speed threshold, the electric roller stops assisting. When the vehicle speed drops to the set second speed threshold, the vehicle restarts assisting when the assisting conditions are met. Step 5: setting a first temperature threshold and a second temperature threshold in the circuit board. When the temperature reaches the first temperature threshold, as the temperature of the motor increases, the power assist provided by the circuit board to the electric roller gradually decreases; when the temperature of the motor reaches the second temperature threshold, the power assist is suspended; when the temperature of the motor drops to the set second temperature threshold, the vehicle restarts the power assist when the power assist conditions are met; Step six, when the power assist sensor assembly is in the released state, the power assist stops.

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