Power assist mechanism of trolley, driving system of trolley and trolley

Abstract

The embodiment of the present invention relates to a transport device, and in particular to a power-assist mechanism of a trolley, a driving system of the trolley and the trolley, wherein the power-assist mechanism is arranged on the body of the trolley and comprises: a power-assist handrail, a first detection module and a second detection module, wherein the power-assist handrail can push and pull the body of the trolley; the first detection module is used to detect the first force when the power-assist handrail pushes and pulls the body; the second detection module is used to detect the second force when the power-assist handrail pushes and pulls the body, and the first force and the second force applied to the body act on the same side of the body and are away from each other along the side; the first detection module and the second detection module respectively send the measured first force and the second force to the main control module of the trolley, so that the main control module can control the driving device of the trolley to drive the body to move. Compared with the prior art, while facilitating the staff to push and pull the trolley, the trolley can also flexibly switch between the forward, backward and turning directions of the trolley during the movement.

Description

Technical Field

[0001] The embodiments of the present invention relate to a transport device, and more particularly to a power assist mechanism of a trolley, a driving system of the trolley and the trolley. Background Art

[0002] Trolleys, as a transportation device that can transport large equipment, tools, and product parts, have been widely used in various industries. At present, trolleys are generally pushed and pulled manually to achieve straight movement, backward movement, and turning. When the equipment transported by the trolley is large, or there are many parts transported, the mass of the trolley will be too large, resulting in the workers needing to expend greater effort to push or pull the trolley, and being unable to flexibly switch the trolley's straight movement, backward movement, and turning operations. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to design a trolley power assist mechanism, a trolley drive system and a trolley, which can facilitate the push and pull operations of the trolley while enabling the trolley to flexibly switch between forward, backward and turning directions during movement.

[0004] In order to achieve the above-mentioned object, an embodiment of the present invention provides a power-assisting mechanism, which is arranged on the body of a trolley, and is characterized in that the power-assisting mechanism comprises:

[0005] A power-assisting handrail, used for pushing and pulling the vehicle body;

[0006] A first detection module and a second detection module;

[0007] Wherein, the first detection module is used to detect the first force applied by the power-assisting armrest to the vehicle body when pushing or pulling the vehicle body; the second detection module is used to detect the second force applied by the power-assisting armrest to the vehicle body when pushing or pulling the vehicle body; the first force and the second force applied by the power-assisting armrest to the vehicle body act on the same side of the vehicle body and are away from each other along the side;

[0008] The first detection module is also used to send the measured first force to the main control module of the trolley, and the second detection module is also used to send the measured second force to the main control module of the trolley, so that the main control module can control the driving device of the trolley to drive the vehicle body to move according to the obtained first force and second force.

[0009] In addition, an embodiment of the present invention further provides a driving system of a trolley, comprising:

[0010] A power assist mechanism as described above;

[0011] A driving device is arranged on the body of the trolley;

[0012] A main control module, respectively connected to the first detection module, the second detection module and the driving device for communication;

[0013] The main control module is used to obtain the first force measured by the first detection module and the second force measured by the second detection module;

[0014] The main control module is further used to control the driving device according to the obtained first acting force and the second acting force, so that the driving device drives the body of the trolley to move.

[0015] In addition, an embodiment of the present invention further provides an inflatable device, comprising:

[0016] The device body has a cavity;

[0017] The air pump as described above is arranged on the device body; the air pump is used to inflate or exhaust air into the cavity.

[0018] In addition, an embodiment of the present invention further provides a trolley, comprising:

[0019] Vehicle body;

[0020] The driving system as described above is arranged on the vehicle body and is used to drive the vehicle body to move.

[0021] Compared with the prior art, the embodiments of the present invention are different in that when the body of the trolley is pushed or pulled by the power-assist handrail, the first force and the second force applied to the body by the power-assist handrail act on the same side of the body and are away from each other along the side of the body. In addition, the first force and the second force can be detected by the first detection module and the second detection module, respectively. At the same time, the first detection module and the second detection module can also send the measured first force and the second force to the main control module, respectively. The main control module controls the driving device according to the obtained first force and the second force, so that the driving device can drive the body to move, thereby realizing the forward, backward and turning movement of the trolley. Therefore, when pushing or pulling the trolley, the staff only needs to apply a small thrust or pull force to the body of the trolley, so that the driving device of the trolley can drive the body to move by itself, so that the staff can realize the push and pull operation of the trolley conveniently, and the trolley can also flexibly switch the forward, backward and turning of the trolley during the movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the axial side of the power assist mechanism in some embodiments of the present invention;

[0023] Figure 2It is a schematic diagram of an orthographic projection of the right side viewing angle of the power assist mechanism in some embodiments of the present invention;

[0024] Figure 3 This is a schematic diagram of an orthographic projection of the power assist mechanism from the left side perspective in some embodiments of the present invention;

[0025] Figure 4 It is a schematic diagram of an orthographic projection of a power assist mechanism from a top view in some embodiments of the present invention;

[0026] Figure 5 for Figure 4 Sectional view at AA in the middle;

[0027] Figure 6 for Figure 4 Sectional view at the middle BB;

[0028] Figure 7 for Figure 4 Sectional view at CC;

[0029] Figure 8 This is a system module block diagram of the trolley in some embodiments of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are provided to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented.

[0031] Embodiment 1

[0032] The first embodiment of the present invention relates to a power-assisting mechanism of a trolley, such as Figure 1 As shown, the power-assisting mechanism 3 is arranged on the body 1 of the trolley, and the power-assisting mechanism 3 comprises: a power-assisting armrest 33, a first detection module 31 and a second detection module 32, wherein the power-assisting armrest 33 is used to push and pull the body 1 of the trolley. Figure 1 and Figure 4 As shown, the first detection module 31 is used to detect the first force applied by the power-assisting armrest 33 to the vehicle body 1 when the vehicle body 1 is pushed or pulled. Similarly, the second detection module 32 is used to detect the second force applied by the power-assisting armrest 33 to the vehicle body 1 when the vehicle body 1 is pushed or pulled. Moreover, the first force and the second force applied by the power-assisting armrest 33 to the vehicle body 1 act on the same side of the vehicle body and are away from each other along the side of the vehicle body 1.

[0033] In addition, combined Figure 8As shown, the first detection module 31 is also used to send the measured first force to the main control module 4 of the trolley, and the first detection module 32 is also used to send the measured second force to the main control module 4 of the trolley, so that the main control module 4 can control the driving device 2 of the trolley to drive the vehicle body 1 to move according to the received first force and second force.

[0034] It is not difficult to see from the above content that when the body 1 of the trolley is pushed and pulled by the power-assisting handrail 33, the first force and the second force applied to the body 1 by the power-assisting handrail 33 act on the same side of the body 1 and are away from each other along the side of the body 1. In addition, the first force and the second force can be detected by the first detection module 31 and the second detection module 32 respectively. At the same time, the first detection module 31 and the second detection module 32 can also send the measured first force and the second force to the main control module 4 respectively, and the main control module 4 controls the driving device 2 according to the obtained first force and the second force, so that the driving device 2 can drive the body 1 to move, thereby realizing the forward, backward and turning movement of the trolley. Therefore, when the staff pushes and pulls the trolley, they only need to apply a small thrust or pull force to the body 1 of the trolley, so that the driving device 2 of the trolley can drive the body 1 to move by itself, so that it can facilitate the staff to realize the push and pull operation of the trolley, and can also enable the trolley to flexibly switch between the forward, backward and turning of the trolley during the movement.

[0035] Specifically, in some embodiments, the first force and the second force applied to the vehicle body 1 by the power-assisting armrest 33 may act on the rear of the vehicle body 1. Of course, in other embodiments, the first force and the second force may also act together on the front of the vehicle body 1. Figure 1 and Figure 4 As shown, the first force is a first pulling force or a first pushing force applied by the power-assisting armrest 33 to the first detection module 31, and similarly, the second force is a second pulling force or a second pushing force applied by the power-assisting armrest 33 to the second detection module 32. Figure 1 and Figure 4 As shown, the power armrest 33 includes: an armrest assembly 331, a first force applying unit 332 and a second force applying unit 333, wherein the power armrest 331 is provided with a first force applying unit 332 and a second force applying unit 333. Figure 2 and Figure 4 As shown, the armrest assembly 331 is used to push and pull the vehicle body 1, and the first force applying unit 332 is connected to the armrest assembly 33 and the first detection module 31 respectively, and the first force applying unit 332 is used for the armrest assembly 331 to apply a first thrust or a first pull to the first detection module 31 when the vehicle body 1 is pushed and pulled, so that the first detection module 31 can detect the first force of the power armrest 33 when pushing and pulling the vehicle body 1. Figure 3 and Figure 4As shown, the second force-applying unit 333 is respectively connected to the armrest assembly 331 and the second detection module 32, and the second force-applying unit 333 is used for applying a second thrust or a second pull to the second detection module 32 when the armrest assembly 331 pushes or pulls the vehicle body 1, so that the second detection module 32 can detect the second force of the power-assisting armrest 33 when pushing or pulling the vehicle body 1.

[0036] Specifically, if Figure 1 and Figure 2 As shown, one side of the first detection module 31 relative to the first force applying unit 332 is the first detection end, and, as shown in FIG. Figure 1 , Figure 2 and Figure 4 As shown, the first force applying unit 332 includes: a first bracket 3321 and a first push-pull assembly 3322. The first bracket 3321 is connected to the first detection end of the first detection module 31. At the same time, the first push-pull assembly 3322 is elastically arranged on the first bracket 3321 and connected to the armrest assembly 331. The first push-pull assembly 3322 is used for the armrest assembly 331 to be movable relative to the first detection module 31 when the vehicle body 1 is pushed or pulled, so that the first bracket 3321 can apply a first push or a first pull to the first detection module 31.

[0037] Furthermore, in order to enable the first bracket 3321 to apply a first push force or a first pull force to the first detection module 31, Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the first bracket 3321 includes: a first force-applying portion 33211 connected to the first detection end, and a first support portion 33212 disposed on the first force-applying portion 33211. The first push-pull assembly 3322 is disposed on the first support portion 33212 and is elastically connected to the first support portion 33212, so that when the first push-pull assembly 3322 moves relative to the first detection module 31, the first force-applying portion 33211 of the first bracket 3321 can apply a first push or a first pull to the first detection module 31 through the elastic connection between the first push-pull assembly 3322 and the first support portion 33212.

[0038] It is worth noting that in order to make the first push-pull assembly 3322 move relative to the first detection module 31 when the armrest assembly 331 pushes and pulls the vehicle body 1, the first force-applying portion 33211 of the first bracket 3321 applies a first push force or a first pull force to the first detection module 31, such as Figure 2 and Figure 5As shown, the first support portion 33212 is provided with a first slide groove 33213 for mounting the first push-pull assembly 3322, and the first support portion 33212 has a first front protrusion 332121 and a first rear protrusion 332122 at both ends along the groove length direction of the first slide groove 33213. At the same time, the groove length direction of the first slide groove 33213 is the same as the movable direction of the first push-pull assembly 3322, so that the first push-pull assembly 3322 can elastically abut against the first front protrusion 332121 and the first rear protrusion 332122 respectively.

[0039] And, corresponding to the structure of the first bracket 3321, as Figure 2 , Figure 4 and Figure 5 As shown, the first push-pull assembly 3322 includes: a first push-pull rod 33221, a first front elastic element 33222, a first rear elastic element 33223 and a first limit ring 33224. The first push-pull rod 33221 is connected to the armrest assembly 331 and is respectively passed through the first front protrusion 332121 and the first rear protrusion 332122. At the same time, the first push-pull rod 33221 is also slidably connected to the first front protrusion 332121 and the first rear protrusion 332122. Figure 2 As shown, the first front elastic element 33222 and the first rear elastic element 33223 can be springs, and are both sleeved on the first push-pull rod 33221, and the first front elastic element 33222 abuts against the first front protrusion 332121, while the first rear elastic element 33223 abuts against the first rear protrusion 332122. Figure 2 , Figure 4 and Figure 5 As shown, the first limiting ring 33224 is sleeved on the first push-pull rod 33221 and is located between the first front elastic element 33222 and the first rear elastic element 33223, and the first limiting ring 33224 is also respectively in contact with the first front elastic element 33222 and the first rear elastic element 33223. It is not difficult to see that when the first push-pull rod 33221 is pushed by the armrest assembly 331, the first limiting ring 33224 is in contact with the first front elastic element 33222 and the first rear elastic element 33223. Figure 1 and Figure 2 As shown, the first push-pull rod 33221 drives the first limit ring 33224 to compress the first front elastic element 33222, so that the first front protrusion 332121 of the first bracket 3321 can receive the first thrust from the armrest assembly 331, and apply the first force to the first detection end of the first detection module 31 through the first force applying portion 33211, so that the first detection module 31 can detect the first thrust. Conversely, when the first push-pull rod 33221 receives the pulling force from the armrest assembly 331, combined with Figure 1 and Figure 2As shown, the first push-pull rod 33221 drives the first limit ring 33224 to compress the first rear elastic element 33223, so that the first rear protrusion 332121 of the first bracket 3321 can be subjected to the first pulling force from the armrest assembly 331, and the first force applying portion 33211 applies the force to the first detection end of the first detection module 31, so that the first detection module 31 can detect the first pulling force. And, it should be noted that in order to realize the connection between the first push-pull rod 33221 and the armrest assembly 331, as shown in FIG. Figure 2 and Figure 5 As shown, one end of the first push-pull rod 33221 connected to the armrest assembly 331 protrudes radially to form a first protrusion 33225 connected to the armrest assembly 331, and the first protrusion 33225 can be detachably connected to the armrest assembly 331 by means of locking members such as bolts.

[0040] Similarly, in order to enable the second bracket 3331 to apply a second push force or a second pull force to the second detection module 32, as shown in FIG. Figure 1 , Figure 2 , Figure 4 and Figure 6 As shown, the second bracket 3331 includes: a second force-applying portion 33311 connected to the second detection end, and a second support portion 33312 disposed on the second force-applying portion 33311. The second push-pull assembly 3332 is disposed on the second support portion 33312 and is elastically connected to the second support portion 33312, so that when the second push-pull assembly 3332 moves relative to the second detection module 32, the second force-applying portion 33311 of the second bracket 3331 can apply a second push force or a second pull force to the second detection module 32 through the elastic connection between the second push-pull assembly 3332 and the second support portion 33312.

[0041] It is worth noting that in order to make the second push-pull assembly 3332 move relative to the second detection module 32 when the armrest assembly 331 pushes and pulls the vehicle body 1, the second force-applying portion 33311 of the second bracket 3331 applies a second push force or a second pull force to the second detection module 32, such as Figure 3 and Figure 6 As shown, the second support portion 33312 is provided with a second slide groove 33313 for mounting the second push-pull assembly 3332, and the two ends of the second support portion 33312 along the groove length direction of the second slide groove 33313 are respectively a second front end protrusion 333121 and a second rear end protrusion 333122. At the same time, the groove length direction of the second slide groove 33313 is the same as the movable direction of the second push-pull assembly 3332, so that the second push-pull assembly 3332 can elastically abut against the second front end protrusion 333121 and the second rear end protrusion 333122 respectively.

[0042] And, corresponding to the structure of the second bracket 3331, as Figure 3 , Figure 4 and Figure 6 As shown, the second push-pull assembly 3332 includes: a second push-pull rod 33321, a second front elastic element 33322, a second rear elastic element 33323 and a second limit ring 33324. The second push-pull rod 33321 is connected to the armrest assembly 331 and is respectively passed through the second front protrusion 333121 and the second rear protrusion 333122. At the same time, the second push-pull rod 33321 is also slidably connected to the second front protrusion 333121 and the second rear protrusion 333122. Figure 3 As shown, the second front elastic element 33322 and the second rear elastic element 33323 can be springs, and are both sleeved on the second push-pull rod 33321, and the second front elastic element 33322 abuts against the second front protrusion 333121, and the second rear elastic element 33323 abuts against the second rear protrusion 333122. Figure 3 , Figure 4 and Figure 6 As shown, the second limiting ring 33324 is sleeved on the second push-pull rod 33321 and is located between the second front elastic element 33322 and the second rear elastic element 33323, and the second limiting ring 33324 is also respectively in contact with the second front elastic element 33322 and the second rear elastic element 33323. It is not difficult to see that when the second push-pull rod 33321 is pushed by the armrest assembly 331, the second limiting ring 33324 is in contact with the second front elastic element 33322 and the second rear elastic element 33323. Figure 1 and Figure 2 As shown, the second push-pull rod 33321 drives the second limit ring 33324 to compress the second front elastic element 33322, so that the second front protrusion 333121 of the second bracket 3331 can receive the second thrust from the armrest assembly 331, and apply the second force to the second detection end of the second detection module 32 through the second force applying part 33311, so that the second detection module 32 can detect the second thrust. Figure 1 and Figure 2As shown, the second push-pull rod 33321 will drive the second limiting ring 33324 to compress the second rear elastic element 33323, so that the second rear end protrusion 333121 of the second bracket 3331 can be subjected to the second pulling force from the armrest assembly 331, and the second force-applying portion 33311 applies the force to the second detection end of the second detection module 32, so that the second detection module 32 can detect the second pulling force. In addition, it should be noted that in order to realize the connection between the second push-pull rod 33321 and the armrest assembly 331, the end of the second push-pull rod 33321 connected to the armrest assembly 331 protrudes radially to form a second protrusion 33325 connected to the armrest assembly 331, and the second protrusion 33325 can be detachably connected to the armrest assembly 331 with the aid of a locking member such as a bolt.

[0043] Furthermore, in some embodiments, the first detection module 31 and the second detection module 32 may both use force sensors, and the force sensors may effectively detect the first force and the second force generated by the power-assisting armrest 33 when pushing or pulling the vehicle body 1. Of course, it should be noted that in other embodiments, the first detection module 31 and the second detection module 32 may also use other detection devices, and the types of the first detection module 31 and the second detection module 32 are not specifically limited here.

[0044] In addition, it is worth noting that in order to enable the armrest assembly 331 to be connected to the first push-pull rod 33221 and the second push-pull rod 33321 respectively, and at the same time, the armrest assembly 331 can also push and pull the first push-pull rod 33221 and the second push-pull rod 33321 respectively under the action of external force. In other embodiments, such as Figure 2 and Figure 3 As shown, the armrest assembly 331 includes: an armrest body 3311 , a first connecting portion 3312 and a second connecting portion 3313 .

[0045] Among them, combined Figure 1 and Figure 2 As shown, the armrest body 3311 is arranged relative to the vehicle body 1, and secondly, the first connection part 3312 is arranged at one side of the armrest body 3311 relative to the vehicle body 1, and is connected to the first push-pull rod 33221 of the first force applying unit 332, and the second connection part 3313 is arranged at one side of the armrest body 3311 relative to the vehicle body 1, and is connected to the second push-pull rod 33321 of the second force applying unit 333. It can be seen that the armrest body 3311 can be held by an operator, and the operator can push and pull the armrest body 3311, so that the first force applying unit 332 connected to the first connection part 3312 can apply a first pulling force or a first pushing force to the first detection module 31, and at the same time, the second force applying unit 333 connected to the second connection part 3313 can apply a second pulling force or a second pushing force to the second detection module 32.

[0046] Furthermore, in order to enable the armrest body 3311 to accurately detect the first thrust or first pull applied by the first force applying unit 332 to the armrest body 3311 under the action of an external force, the first detection module 31 can also accurately detect the second pull or second thrust applied by the second force applying unit 333 to the armrest body 3311, such as Figure 1 , Figure 2 and Figure 3 As shown, the assist mechanism 3 also includes: a first limit assembly 34 and a second limit assembly 35, and combined with Figure 2 As shown, the first limiting assembly 34 is also movably connected to the first connecting portion 3312, and the first limiting assembly 34 is also used to force the first connecting portion 3312 to move linearly relative to the first detection module 31 when the armrest body 3311 is subjected to an external force. Figure 3 As shown, the second limit assembly 35 is movably connected to the second connection part 3313, and the second limit assembly 35 is used for the armrest body 3311 to force the second connection part 3313 to move linearly relative to the second detection module 21 under the action of an external force. It is not difficult to find that, through the linear movement of the first connection part 3312 and the second connection part 3313 relative to the first detection module 31 and the second detection module 32 respectively, the first detection module 31 can realize the accurate detection of the first thrust or the first pull, and the second detection module 32 can realize the accurate detection of the second thrust or the first pull.

[0047] Specifically, in some embodiments, Figure 2 , Figure 5 and Figure 7 As shown, the first limit assembly 34 includes: a first longitudinal slider 341, a first transverse slider 342 and a first connecting column 343. The first longitudinal slider 341 is slidably disposed on the vehicle body 1, and the first longitudinal slider 341 is slidable relative to the second limit assembly 35. At the same time, the first transverse slider 342 is slidably disposed on the first longitudinal slider 341 and is slidable relative to the first detection module 31. In addition, in combination with Figure 2 and Figure 5 As shown, the first connecting column 343 is vertically arranged on the first transverse slider 342 and is rotatably connected to the first connecting portion 3312, so that the first connecting portion 3312 can rotate around the axis direction of the first connecting column 343. In order to realize the sliding of the first longitudinal slider 341 on the vehicle body 1, as shown in FIG. Figure 2 and Figure 5 As shown, the first limit assembly 34 also includes: a first longitudinal slide rail 346 provided on the vehicle body 1, and a first longitudinal frame 347 for fixing the first longitudinal slide rail 346. Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 7 As shown, the first longitudinal frame 347 includes: two first longitudinal side panels 3471 arranged opposite to each other along the length direction of the rear of the vehicle, and a first top panel 3472 arranged along the length direction of the rear of the vehicle, and the first top panel 3472 is respectively connected to the tops of the two first longitudinal side panels 3471. In addition, the first longitudinal slider 341 is also provided with a first longitudinal track groove (not shown in the figure) connected to the first longitudinal slide rail 346 along the length direction of the rear of the vehicle. At the same time, the first top panel 3472 is penetrated through the first longitudinal slider 341 along the length direction of the rear of the vehicle, and is slidably connected to the first longitudinal slider 341, so that the first longitudinal slider 341 can slide between the two first longitudinal side panels 3471. In order to enable the first transverse slider 342 to slide relative to the first detection module 31 on the first longitudinal slider 341, as shown in FIG. Figure 2 , Figure 5 and Figure 7 As shown, the first position-limiting assembly 34 also includes: a first transverse slide rail 348 arranged on the first longitudinal slider 341 along the vehicle length direction of the vehicle body 1, and a first transverse frame 349 for fixing the first transverse slide rail 348. The first transverse frame 349 includes: two first transverse side plates 3491 arranged opposite to each other along the vehicle length direction of the vehicle body 1, and a first bottom plate 3492 arranged along the vehicle length direction of the vehicle body 1, and the two first transverse side plates 3491 are respectively connected to the two ends of the first bottom plate 3492, and the first bottom plate 3492 is also fixedly connected to the first longitudinal slider 341 along the vehicle length direction of the vehicle body 1, so that the first transverse frame 349 can slide along the first longitudinal slider 341. In addition, as shown in FIG. Figure 5 As shown, the two first transverse side plates 3491 also extend vertically in the direction away from the vehicle body 1, and the top of the first transverse side plates 3491 can extend as far as possible beyond the upper surface of the first longitudinal slider 341. At the same time, the two ends of the first transverse slide rail 348 are respectively fixedly connected to the two first transverse side plates 3491, and the first transverse slider 348 is provided with a first transverse track groove (not marked in the figure) connected to the first transverse slide rail 348 along the vehicle length direction of the vehicle body 1, so that the first transverse slider 342 can slide between the two first transverse side plates 3491 along the vehicle length direction of the vehicle body 1, that is, the first transverse slider 342 can slide relative to the first detection module 31.

[0048] Similarly, the structure of the second limiting component 35 is the same as that of the first limiting component 34. Figure 3 , Figure 6 and Figure 7As shown, the second limit assembly 35 includes: a second longitudinal slider 351, a second transverse slider 352 and a second connecting column 353. The second longitudinal slider 351 is slidably disposed on the vehicle body 1, and the second longitudinal slider 351 is slidable relative to the first limit assembly 34. At the same time, the second transverse slider 352 is slidably disposed on the second longitudinal slider 351 and is slidable relative to the second detection module 32. In addition, in combination with Figure 3 and Figure 6 As shown, the second connecting column 353 is vertically arranged on the second transverse slider 352 and is rotatably connected with the second connecting portion 3313, so that the second connecting portion 3313 can rotate around the axis direction of the second connecting column 353. In order to realize the sliding of the second longitudinal slider 351 on the vehicle body 1, the second limit assembly 35 also includes: a second longitudinal slide rail 356 arranged on the vehicle body 1 along the length direction of the rear of the vehicle, and a second longitudinal frame 357 for fixing the second longitudinal slide rail 356. Figure 1 , Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, the second longitudinal frame 357 includes: two second longitudinal side panels 3571 arranged opposite to each other along the length direction of the rear of the vehicle, and a second top panel 3572 arranged along the length direction of the rear of the vehicle, and the second top panel 3572 is respectively connected to the tops of the two second longitudinal side panels 3571. In addition, the second longitudinal slider 351 is also provided with a second longitudinal track groove (not shown in the figure) connected to the second longitudinal slide rail 356 along the length direction of the rear of the vehicle. At the same time, the second top panel 3572 is penetrated through the second longitudinal slider 351 along the length direction of the rear of the vehicle, and is slidably connected to the second longitudinal slider 351, so that the second longitudinal slider 351 can slide between the two second longitudinal side panels 3571. In order to enable the second transverse slider 352 to slide relative to the second detection module 32 on the second longitudinal slider 351, as shown in FIG. Figure 3 , Figure 6 and Figure 7 As shown, the second position-limiting assembly 35 further includes: a second transverse slide rail 358 disposed on the second longitudinal slider 351 along the vehicle length direction of the vehicle body 1, and a second transverse frame 359 for fixing the second transverse slide rail 358. The second transverse frame 359 includes: two second transverse side plates 3591 disposed opposite to each other along the vehicle length direction of the vehicle body 1, and a second bottom plate 3592 disposed along the vehicle length direction of the vehicle body 1, and the two second transverse side plates 3591 are respectively connected to the two ends of the second bottom plate 3592, and the second bottom plate 3592 is also fixedly connected to the second longitudinal slider 351 along the vehicle length direction of the vehicle body 1, so that the second transverse frame 359 can slide along the second longitudinal slider 351. In addition, as shown in FIG. Figure 6As shown, the two second transverse side plates 3591 also extend vertically in the direction away from the vehicle body 1, and the top of the second transverse side plates 3591 can extend as far as possible beyond the upper surface of the second longitudinal slider 351. At the same time, the two ends of the second transverse slide rail 358 are respectively fixedly connected to the two second transverse side plates 3591, and the second transverse slider 358 is provided with a second transverse track groove (not marked in the figure) connected to the second transverse slide rail 358 along the vehicle length direction of the vehicle body 1, so that the second transverse slider 352 can slide between the two second transverse side plates 3591 along the vehicle length direction of the vehicle body 1, that is, the second transverse slider 352 can slide relative to the second detection module 32.

[0049] It is not difficult to find from the above content that the armrest body 3311 can make use of the sliding characteristics between the first longitudinal slider 341 and the first transverse slider 342, and the sliding characteristics between the second longitudinal slider 351 and the second transverse slider 352. Therefore, when the armrest body 3311 is pushed or pulled, it can achieve a certain translational movement relative to the vehicle body 1, so that the directions of the forces applied to the vehicle body 1 detected by the first detection module 31 and the second detection module 32 are the same, that is, both are thrust or pull, so as to achieve the forward or backward straight movement of the vehicle body 1. At the same time, the armrest body 3311 also cooperates with the sliding characteristics of the first longitudinal slider 341 and the second longitudinal slider 351 on the vehicle body 1, and the rotation characteristics of the first connecting part 3312 and the second connecting part 3313, so that the armrest body 3311 can also produce a certain twist after being subjected to external force, that is, when the first connecting part 3312 of the armrest assembly 3311 moves in the direction close to the first detection module 31, the second connecting part 3313 can move in the direction away from the second detection module 32. Alternatively, when the first connection part 3312 of the armrest assembly 3311 moves in a direction away from the first detection module 31, the second connection part 3313 can move in a direction close to the second detection module 32, so that the directions of the forces applied to the vehicle body 1 detected by the first detection module 31 and the second detection module 32 are different, that is, when the first force is the first pulling force, the second force is the second thrust. Conversely, when the first force is the first thrust, the second force is the second pulling force, so that the vehicle body 1 can turn forward and in the direction of the pulling force, or turn backward and in the direction of the thrust.

[0050] In order to allow the first connecting portion 3312 to rotate around the axis of the first connecting column 343, as shown in FIG. Figure 1 , Figure 4 and Figure 5As shown, the first limit assembly 34 also includes: a first rotating disk 344 and a first bearing 345. The first rotating disk 344 is sleeved on the first connecting column 343 and connected to the first connecting portion 3312. At the same time, the first bearing 345 is arranged between the first rotating disk 344 and the first connecting column 343, and the first rotating disk 344 can rotate relative to the first connecting column 343 through the first bearing 345. Similarly, in order to allow the second connecting portion 3313 to rotate around the axis direction of the second connecting column 353, as shown in FIG. Figure 1 , Figure 4 and Figure 6 As shown, the second limit assembly 35 further includes: a second rotating disk 351 and a second bearing 352. The second rotating disk 354 is sleeved on the second connecting column 353 and connected to the second connecting portion 3312. Meanwhile, the second bearing 355 is disposed between the second rotating disk 354 and the second connecting column 353, and the second rotating disk 354 can rotate relative to the second connecting column 353 through the second bearing 355.

[0051] Embodiment 2

[0052] Embodiment 3 of the present invention relates to a driving system of a trolley, such as Figure 1 and Figure 8 As shown, it includes: the power assist mechanism 3, the driving device 2 and the main control module 4 as described in the first embodiment.

[0053] Among them, Figure 1 As shown, the driving device 2 is arranged on the body 1 of the trolley. Figure 8 As shown, the main control module 4 is respectively connected to the first detection module 31 , the second detection module 32 and the driving device 2 for communication, and the main control module 4 is used to obtain the first force measured by the first detection module 31 and the second force measured by the second detection module 32 .

[0054] In addition, the main control module 4 is also used to control the driving device 2 according to the obtained first force and second force, so that the driving device 2 drives the body 1 of the trolley to move.

[0055] It is not difficult to see from the above content that, when pushing and pulling the body 1 of the trolley, the first force and the second force applied to the body by the power-assisting handrail 33 act on the same side of the body 1 and move away from each other along the side of the body 1. In addition, the first detection module 31 and the second detection module 32 can detect the first force and the second force respectively. At the same time, the first detection module 31 and the second detection module 32 can also send the measured first force and the second force to the main control module 4 of the trolley respectively, and the main control module 4 controls the driving device 2 of the trolley according to the obtained first force and the second force, so that the driving device 2 can drive the body 1 of the trolley to move, thereby realizing the forward, backward and turning movement of the trolley. Therefore, when pushing and pulling the trolley, the staff only needs to apply a small thrust or pull force to the body 1 of the trolley, so that the driving device 2 of the trolley can drive the body 1 to move by itself, so that the staff can realize the push and pull operation of the trolley conveniently, and the trolley can also flexibly switch the forward, backward and turning of the trolley during the movement.

[0056] Specifically, in some embodiments, in combination Figure 8 As shown, the driving device 2 includes: a first motor driving assembly 21 and a second motor driving assembly 22. The first motor driving assembly 21 is used to drive the first wheel on one side of the vehicle body 1 to roll, and the second motor driving assembly 22 is used to drive the second wheel on the other side of the vehicle body 1 to roll.

[0057] And, if Figure 8 As shown, the main control module 4 is also communicatively connected with the first motor drive component 21 and the second motor drive component 22 respectively. The main control module 4 is used to control the rolling direction and rolling speed of the first wheel driven by the first motor drive component 21 and to control the rolling direction and rolling speed of the second wheel driven by the second motor drive component 22 according to the obtained first force and second force.

[0058] In addition, in order to enable the main control module 4 to effectively control the driving device 2 according to the first force and the second force applied to the vehicle body 1, as shown in FIG. Figure 8 As shown, the drive system further includes: a signal output module 6. Moreover, the signal output module 6 is connected to the main control module 4 for communication, and the signal output module 6 is used to output an electrical signal to the main control module 4. For example, Figure 8As shown, when the main control module 4 receives the electrical signal output by the signal output module 6, the main control module 4 can switch the trolley to the backward mode, and when the main control module 4 does not receive the electrical signal output by the signal output module 6, the main control module 4 can switch the trolley to the forward mode. Moreover, when the trolley is switched to the forward mode, that is, the main control module 4 is in a state of not receiving the electrical signal, the main control module 4 can control the drive device 2 according to the obtained first force and the second force, so that the drive device 2 drives the vehicle body 1 to move forward, or stops driving the vehicle body to move. When the trolley is switched to the backward mode, that is, the main control module 4 is in a state of receiving the electrical signal, the main control module 4 can control the drive device 2 according to the obtained first force and the second force, so that the drive device 2 drives the vehicle body 1 to move backward, or stops driving the vehicle body 1 to move.

[0059] Specifically, when the main control module 4 does not receive an electrical signal, that is, when the trolley is in the forward mode, the main control module 4 is also used to obtain the directions of the first force and the second force according to the obtained first force and the second force. Figure 8 As shown, when the directions of the first and second forces obtained by the main control module 4 are thrusts applied to the vehicle body 1, the main control module 4 can control the drive device 2 to drive the vehicle body 1 to move forward straight, that is, the main control module 4 controls the first motor drive component 21 and the second motor drive component 22 respectively, so that the first motor drive component 21 and the second motor drive component 22 respectively drive the first wheel and the second wheel of the vehicle body 1 to roll forward, and the rolling speeds of the first wheel and the second wheel are the same. For another example, Figure 8 As shown, when the directions of the first force and the second force obtained by the main control module 4 are the pulling forces applied to the vehicle body 1, the main control module 4 can control the driving device 2 to stop driving the vehicle body 1 to move, that is, the main control module 4 controls the first motor driving component 21 and the second motor driving component 22 respectively to stop driving the first wheel and the second wheel of the vehicle body 1 to roll, so that the vehicle body 1 stays at the current position. For another example, Figure 8As shown, when the main control module 4 determines that the direction of the first force or the second force is the thrust applied to the vehicle body 1, the main control module 4 can control the drive device 2 so that the drive device drives the vehicle body 1 forward and turns toward the side subjected to the pulling force, that is, when the first force is the thrust and the second force is the pulling force, the main control module 4 controls the first motor drive component 21 and the second motor drive component 22 respectively so that the speed at which the first motor drive component 21 drives the first wheel to roll forward is greater than the speed at which the second motor drive component 22 drives the second wheel to roll forward, thereby enabling the vehicle body 1 to turn toward the direction subjected to the second force. Conversely, when the second force is the thrust and the first force is the pulling force, the main control module 4 controls the first motor drive component 21 and the second motor drive component 22 respectively so that the speed at which the second motor drive component 22 drives the second wheel to roll forward is greater than the speed at which the first motor drive component 21 drives the first wheel to roll forward, thereby enabling the vehicle body 1 to turn toward the direction subjected to the first force.

[0060] Similarly, when the main control module 4 receives the electrical signal, that is, when the trolley is in the backward mode, the main control module 4 is also used to obtain the directions of the first force and the second force according to the obtained first force and the second force. Figure 8 As shown, when the directions of the first and second forces obtained by the main control module 4 are the pulling forces applied to the vehicle body 1, the main control module 4 can control the driving device 2 to make the driving device 2 drive the vehicle body 1 to move straight backward, that is, the main control module 4 controls the first motor driving component 21 and the second motor driving component 22 respectively, so that the first motor driving component 21 and the second motor driving component 22 respectively drive the first wheel and the second wheel of the vehicle body 1 to roll backward, and the rolling speeds of the first wheel and the second wheel are the same. For another example, Figure 8 As shown, when the directions of the first and second forces obtained by the main control module 4 are thrusts applied to the vehicle body 1, the main control module 4 can control the drive device 2 to stop driving the vehicle body 1 to move, that is, the main control module 4 controls the first motor drive component 21 and the second motor drive component 22 respectively to stop driving the first and second wheels of the vehicle body 1 to roll, so that the vehicle body 1 stays at the current position. For another example, Figure 8As shown, when the main control module 4 determines that the direction of the first force or the second force is the thrust applied to the vehicle body 1, the main control module 4 can control the drive device 2 so that the drive device drives the vehicle body 1 backward and turns toward the side receiving the thrust, that is, when the first force is thrust and the second force is pulling, the main control module 4 controls the first motor drive component 21 and the second motor drive component 22 respectively so that the speed at which the second motor drive component 22 drives the second wheel to roll backward is greater than the speed at which the first motor drive component 21 drives the first wheel to roll backward, thereby making the vehicle body 1 turn toward the direction receiving the first force. Conversely, when the second force is thrust and the first force is pulling, the main control module 4 controls the first motor drive component 21 and the second motor drive component 22 respectively so that the speed at which the first motor drive component 21 drives the first wheel is greater than the speed at which the second motor drive component 22 drives the second wheel, thereby making the vehicle body 1 turn toward the direction receiving the second force.

[0061] Furthermore, it should be noted that, in some embodiments, the signal output module 6 may adopt any one of a button module, a switch module, and a touch module, and in order to facilitate manual operation thereof, the signal output module 6 may be disposed on the armrest body 3311 of the armrest assembly 331, so that the staff can conveniently operate the signal output module 6 when pushing and pulling the vehicle body 1 through the armrest body 3311 of the power armrest 33.

[0062] Embodiment 3

[0063] The fourth embodiment of the present invention further provides a trolley, such as Figure 1 As shown, it includes: a vehicle body 1 and a driving system as described in Example 3, and the driving system is arranged on the vehicle body 1, and the driving system is also used to drive the vehicle body 1 to move, so that the vehicle body 1 can realize moving forward straight, moving backward straight, turning left forward or right forward, turning left backward or turning right backward under the drive of the driving system.

[0064] It is not difficult to see from the above content that, when pushing and pulling the body 1 of the trolley, the first force and the second force applied to the body 1 by the power-assisting handrail 33 act on the same side of the body 1 and are away from each other along the side of the body 1. In addition, the first detection module 31 and the second detection module 32 can detect the first force and the second force respectively. At the same time, the first detection module 31 and the second detection module 32 can also send the measured first force and the second force to the main control module 4 of the trolley respectively, and the main control module 4 controls the driving device 2 of the trolley according to the obtained first force and the second force, so that the driving device 2 can drive the body 1 of the trolley to move, thereby realizing the forward, backward and turning movement of the trolley. Therefore, when pushing and pulling the trolley, the staff only needs to apply a small thrust or pull force to the body 1 of the trolley, so that the driving device 2 of the trolley can drive the body 1 to move by itself, so that the staff can realize the push and pull operation of the trolley conveniently, and the trolley can also flexibly switch the forward, backward and turning of the trolley during the movement.

[0065] Those skilled in the art will appreciate that the above-mentioned embodiments are specific embodiments for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A power assist mechanism, arranged on the body of a trolley, characterized in that: The power assist mechanism comprises: A power-assisting handrail, used for pushing and pulling the vehicle body; a first detection module and a second detection module, wherein the first detection module is used to detect a first force applied by the power-assisting armrest to the vehicle body when the vehicle body is pushed or pulled; and the second detection module is used to detect a second force applied by the power-assisting armrest to the vehicle body when the vehicle body is pushed or pulled; the first force and the second force applied by the power-assisting armrest to the vehicle body both act on the same side of the vehicle body and are away from each other along the side; The first detection module is further used to send the measured first force to the main control module of the trolley, and the second detection module is further used to send the measured second force to the main control module of the trolley, so that the main control module can control the driving device of the trolley to drive the vehicle body to move according to the obtained first force and second force; The first force is a first pulling force or a first pushing force applied by the power-assisting armrest to the first detection module; the second force is a second pulling force or a second pushing force applied by the power-assisting armrest to the second detection module; The power-assisting handrail comprises: An armrest assembly, used for pushing and pulling the vehicle body under the action of external force; A first force applying unit, connected to the armrest assembly and the first detection module respectively; wherein the first force applying unit is used for the armrest assembly to apply the first thrust or the first pull to the first detection module under the action of an external force; A second force applying unit is connected to the armrest assembly and the second detection module respectively; wherein the second force applying unit is used for the armrest assembly to apply the second thrust or the second pull to the second detection module under the action of an external force; A side of the first detection module relative to the first force applying unit is a first detection end, and the first force applying unit includes: A first bracket, connected to the first detection end of the first detection module; The first push-pull component is elastically arranged on the first bracket and connected to the armrest component; the first push-pull component is movable relative to the first detection module when the armrest component pushes or pulls the vehicle body, so that the first bracket applies the first pushing force or the first pulling force to the first detection module.

2. The power assist mechanism according to claim 1, characterized in that: The first bracket includes: a first force-applying portion connected to the first detection end, and a first support portion disposed on the first force-applying portion; wherein the first push-pull component is disposed on the first support portion and elastically connected to the first support portion.

3. The power assist mechanism according to claim 2, characterized in that: The first support portion is provided with a first slide groove for mounting the first push-pull assembly, and the two ends of the first support portion along the groove length direction of the first slide groove are respectively a first front protrusion and a first rear protrusion; The length direction of the first sliding groove is the same as the moving direction of the first push-pull component, and the first push-pull component is elastically abutted against the first front protrusion and the first rear protrusion respectively.

4. The power assist mechanism according to claim 3, characterized in that: The first push-pull assembly comprises: A first push-pull rod, connected to the armrest assembly, and respectively passed through the first front protrusion and the first rear protrusion, and respectively slidably connected to the first front protrusion and the first rear protrusion; A first front elastic element and a first rear elastic element are both sleeved on the first push-pull rod; wherein the first front elastic element abuts against the first front protrusion, and the first rear elastic element abuts against the first rear protrusion; The first limiting ring is sleeved on the first push-pull rod and is located between the first front elastic element and the first rear elastic element, and is respectively in contact with the first front elastic element and the first rear elastic element.

5. The power assist mechanism according to claim 1, characterized in that: A side of the second detection module relative to the second force applying unit is a second detection end, and the second force applying unit includes: A second bracket connected to the second detection end of the second detection module; The second push-pull component is elastically arranged on the second bracket and connected to the armrest component; the second push-pull component is movable relative to the second detection module when the armrest component pushes and pulls the vehicle body, so that the second bracket applies the second pushing force or the second pulling force to the second detection module.

6. The power assist mechanism according to claim 5, characterized in that: The second bracket includes: a second force-applying portion connected to the second detection end, and a second support portion disposed on the second force-applying portion; wherein the second push-pull assembly is disposed on the second support portion and elastically connected to the second support portion.

7. The power assist mechanism according to claim 6, characterized in that: The second support portion is provided with a second slide groove for mounting the second push-pull assembly, and the two ends of the second support portion along the groove length direction of the second slide groove are respectively a second front protrusion and a second rear protrusion; The groove length direction of the second sliding groove is the same as the movable direction of the second push-pull component, and the second push-pull component is elastically abutted against the second front protrusion and the second rear protrusion respectively.

8. The power assist mechanism according to claim 7, characterized in that: The second push-pull assembly comprises: A second push-pull rod is connected to the armrest assembly and is disposed through the second front protrusion and the second rear protrusion in a direction relative to the vehicle body, and is slidably connected to the second front protrusion and the second rear protrusion respectively; A second front elastic element and a second rear elastic element are both sleeved on the second push-pull rod; wherein the second front elastic element abuts against the second front protrusion, and the second rear elastic element abuts against the second rear protrusion; The second limiting ring is sleeved on the second push-pull rod and is located between the second front elastic element and the second rear elastic element, and is respectively in contact with the second front elastic element and the second rear elastic element.

9. The power assist mechanism according to claim 1, characterized in that: The armrest assembly comprises: An armrest body, arranged relative to the vehicle body; A first connecting portion, disposed on a side of the armrest body relative to the vehicle body and connected to the first force applying unit; The second connecting portion is disposed on a side of the armrest body relative to the vehicle body and is connected to the second force applying unit.

10. The power assist mechanism according to claim 9, characterized in that: The power assist mechanism also includes: A first limiting component and a second limiting component; Wherein, the first limiting assembly is movably connected to the first connecting portion, and the first limiting assembly is used for the handrail body to force the first connecting portion to move linearly relative to the first detection module under the action of an external force; The second limiting assembly is movably connected to the second connecting portion, and the second limiting assembly is used for forcing the second connecting portion to move linearly relative to the second detection module when the armrest body is subjected to an external force.

11. The power assist mechanism according to claim 10, characterized in that: The first limiting component comprises: A first longitudinal sliding block is slidably disposed on the vehicle body and is slidable relative to the second limiting assembly; A first transverse slider is slidably disposed on the first longitudinal slider and is slidable relative to the first detection module; A first connecting column is vertically arranged on the first transverse sliding block and is rotatably connected to the first connecting portion; the first connecting portion is rotatable around the axis direction of the first connecting column; The second limiting component includes: A second longitudinal sliding block is slidably disposed on the vehicle body and is slidable relative to the first limiting assembly; A second transverse slider is slidably disposed on the second longitudinal slider and is slidable relative to the second detection module; The second connecting column is vertically arranged on the second transverse sliding block and is rotatably connected to the second connecting portion; the second connecting portion is rotatable around the axis direction of the second connecting column.

12. The power assist mechanism according to claim 11, characterized in that: The first limit assembly also includes: A first rotating disk, sleeved on the first connecting column and connected to the first connecting portion; A first bearing is disposed between the first rotating disk and the first connecting column, so that the first rotating disk can rotate relative to the first connecting column; The second limiting component also includes: A second rotating disk is sleeved on the second connecting column and coaxially connected to the second connecting portion; The second bearing is disposed between the second rotating disk and the second connecting column, so that the second rotating disk can rotate relative to the second connecting column.

13. The power assist mechanism according to any one of claims 1 to 12, characterized in that: The first detection module and the second detection module are both force sensors.

14. A driving system for a trolley, characterized in that: include: The power assist mechanism according to any one of claims 1 to 13; A driving device is arranged on the body of the trolley; A main control module, respectively connected to the first detection module, the second detection module and the driving device for communication; The main control module is used to obtain the first force measured by the first detection module and the second force measured by the second detection module; The main control module is further used to control the driving device according to the obtained first acting force and the second acting force, so that the driving device drives the body of the trolley to move.

15. The driving system of the trolley according to claim 14, characterized in that: The driving device comprises: a first motor drive assembly and a second motor drive assembly; the first motor drive assembly is used to drive the first wheel of the vehicle body to roll, and the second motor drive assembly is used to drive the second wheel of the vehicle body to roll; wherein the first wheel and the second wheel are arranged opposite to each other along a side of the vehicle body subjected to the first force and the second force; Among them, the main control module is communicatively connected with the first motor drive component and the second motor drive component respectively, and the main control module is used to control the rolling direction and rolling speed of the first wheel driven by the first motor drive component according to the obtained first force and the second force, and control the rolling direction and rolling speed of the second wheel driven by the second motor drive component.

16. The driving system of the trolley according to claim 14, characterized in that: The drive system further comprises: The signal output module is connected to the main control module for outputting an electrical signal to the main control module: Wherein, when the main control module does not receive the electrical signal, the main control module is used to control the driving device according to the obtained first force and the second force, so that the driving device drives the vehicle body to move forward, or stops driving the vehicle body to move; When the main control module receives the electrical signal, the main control module is used to control the driving device according to the obtained first force and the second force, so that the driving device drives the vehicle body to move backward, or stops driving the vehicle body to move.

17. The driving system of the trolley according to claim 16, characterized in that: The signal output module is arranged on the power-assisting armrest.

18. The driving system of the trolley according to claim 16 or 17, characterized in that: The signal output module is any one of a key module, a switch module and a touch module.

19. A trolley, characterized in that: include: Vehicle body; The driving system as described in any one of claims 14 to 18 is arranged on the vehicle body and is used to drive the vehicle body to move.

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