Power-assisted forward feeding device control system and use method thereof

Abstract

The invention relates to a power-assisted forward conveying device control system and a using method thereof.The power-assisted forward conveying device control system comprises traction device equipment, a waistband and a handle, and the traction device equipment comprises a battery bin, a lower frame, an upper frame, a quick connector and a control system; a battery pack is placed in the battery bin, a shock-proof shaft is arranged on one side of the battery bin, the two ends of the shock-proof shaft are connected with tires through rotary switches respectively, and a first unlocking pull buckle is arranged at each rotary switch. A hub motor is arranged at each tire; a lower frame is fixedly connected to the shock-proof shaft, the top of the lower frame is connected with an upper frame through a first rotating joint, and a second unlocking pull buckle is arranged at the first rotating joint; the top of the upper frame is connected with a quick connector through a second rotary joint; the robot can penetrate through complex terrains, is intelligently carried, saves manpower and material resources, and can be widely applied to the field of industrial application.

Description

Technical Field

[0001] The present invention relates to the field of industrial application, and in particular to a control system of a power-assisted forwarding device and a use method thereof. Background Art

[0002] At present, when dealing with special scenarios such as earthquake rescue, forest fire fighting, and complex terrain survey, traditional transportation equipment has exposed significant adaptability defects. Specifically, (1) In the complex post-earthquake environment, the road system is severely damaged. Conventional wheeled vehicles cannot pass through the ruins due to limited travel radius. Although engineering machinery has a certain ability to overcome obstacles, it has problems such as large equipment size (usually more than 5 meters in length) and poor maneuverability (minimum turning radius > 8 meters), making it difficult to quickly reach the core rescue area. (2) In forest fire scenarios, there are often fallen wood obstacles with a diameter of more than 30 cm and steep slopes (slope > 35°) around the fire site. Traditional fuel-powered transportation equipment not only has the risk of fuel explosion in high temperature environments, but its average deadweight of more than 1.2 tons is more likely to cause ground collapse. (3) In complex terrains such as mountains and swamps, existing transportation equipment generally has terrain adaptability shortcomings. Wheeled equipment is prone to getting stuck on soft ground. Although tracked equipment improves passability, its energy efficiency is reduced by more than 40%. Miniaturized transportation tools in existing technologies, such as quadruped robots, have certain terrain adaptability, but their maximum load capacity is only 25kg and the motion control algorithm is complex, which cannot meet the needs of bulk material transportation. In the field of short-distance emergency transportation, existing solutions mostly use human-powered carts or small drones. The former requires 2-3 people to operate collaboratively and the flat ground transportation efficiency is less than 0.5t·km / h, while the latter is limited by battery capacity and cannot achieve continuous operation. This technical status quo has resulted in about 35% of the relief supplies being unable to be delivered to the target area in time due to transportation efficiency issues during the 72-hour golden rescue period.

[0003] Therefore, there is an urgent need for a bionic assisted traction device that can traverse complex terrain, carry intelligently, reduce basic consumption load, delay physical energy decline, and save manpower and material resources. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a control system and a method of using a power-assisted forwarding device that can traverse complex terrain, carry intelligently, reduce basic consumption load, delay physical energy decline, and save manpower and material resources.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions: on the one hand, a power-assisted forward delivery device control system is provided, comprising a traction device, a waist belt and a handle, wherein the traction device comprises a battery compartment, a lower frame, an upper frame, a quick connector and a control system, wherein the lower frame is an inwardly concave arc-shaped structure, and the upper frame is an arc-shaped structure arranged in cooperation with the lower frame; A battery pack is placed in the battery compartment, a shock-absorbing shaft is provided on one side of the battery compartment, and both ends of the shock-absorbing shaft are connected to a tire through a rotary switch, and each rotary switch is provided with a first unlocking lever for controlling the rotation of the rotary switch so that the lower frame and the battery compartment are folded or unfolded; each tire is provided with a hub motor for driving the tire to move; the lower frame is fixedly connected to the shock-absorbing shaft, and the top of the lower frame is connected to the upper frame through a first rotary joint, and the first rotary joint is provided with a second unlocking lever for controlling the rotation of the first rotary joint so that the lower frame and the upper frame are folded or unfolded; the top of the upper frame is connected to the quick connector for connecting to the waist belt through a second rotary joint; The traction device is also provided with the control system and the power switch button. The control system is electrically connected to the wheel hub motor, the power switch button and the handle respectively. The power switch button is used to send an on signal or an off signal to the control system; the handle is used to send the motion command signal of the traction device to the control system; the control system is used to control each wheel hub motor to drive the corresponding tire based on the received motion command signal and the on signal or the off signal.

[0006] Furthermore, a connecting structure is provided on the side of the battery compartment away from the tire, which is used to be fixed to a corresponding connecting structure on the battery compartment of another traction device to form a four-wheel trailer.

[0007] Furthermore, the rotary switch includes a first adapter, a second adapter, a slider, a phase-changing slider, a locker, a locking gear and a first spring; The first adapter is rigidly connected to the lower frame, and the second adapter is rigidly connected to the battery compartment. The first unlocking lever is arranged above the first adapter and the second adapter. The slider, the changing slider, the lock, the locking gear and the first spring are arranged between the first adapter and the second adapter. A structure for meshing with the locking gear is arranged on the first adapter. The first unlocking lever is connected to one end of the slider, and the slider is also connected to the changing slider. The first unlocking lever controls the sliding of the slider. When the slider reaches a predetermined position, the lock pops out and fixes the slider, so that the changing slider pushes the locking gear. The first adapter and the second adapter are unlocked and can rotate with each other. After rotating a certain angle, the locking gear toggles the lock. The locking gear is pushed by the first spring and meshes with the first adapter again. At this time, the first adapter and the second adapter are meshed with each other.

[0008] Furthermore, the lower frame includes three lower frame connecting tubes and a protective plate, wherein each of the lower frame connecting tubes is an arc-shaped structure, and the protective plate is an inwardly concave special-shaped structure; The bottoms of the three lower frame connecting tubes are spaced apart on the shock-absorbing shaft, and the tops of the three lower frame connecting tubes are connected to the first rotating joint; the outer sides of the three lower frame connecting tubes are provided with the protective plates to form the lower frame with an accommodating space, and the accommodating space is used to place the upper frame and the quick connector.

[0009] Furthermore, the upper frame includes two or three upper frame connecting tubes, wherein each of the upper frame connecting tubes is a broken line arc structure; The bottoms of two or three upper frame connecting tubes arranged at intervals are all connected to the first rotating joint, and the tops of two or three upper frame connecting tubes are gathered together and connected to the second rotating joint.

[0010] Furthermore, the upper frame is folded into the accommodating space of the lower frame or folded and arranged on the outer side of the protective plate through the second rotating joint.

[0011] Furthermore, the control system comprises: A command receiving module, used to receive the motion command signal sent by the handle and the on signal or off signal sent by the power switch button; A motor control module, used for controlling each of the wheel hub motors to drive the corresponding tire based on a motion command signal and an on signal or an off signal; A power management module, used to supply power to various electrical components of the traction device based on the power of the battery pack; A CAN interface, used to connect to the CAN interface of another traction device when forming a four-wheel trailer, and send a corresponding movement command signal and an opening signal or a closing signal to the other traction device; A mode switching module is used to switch between a master state and a slave state when a four-wheel trailer is formed, wherein when the traction device is in the master state, the handle corresponding to the traction device controls the movement of the entire four-wheel trailer; when the traction device is in the slave state, the signal sent by the traction device connected thereto is received.

[0012] Furthermore, a detachable connecting component is provided on the back of the belt, and a ring-shaped connecting component is provided on the detachable connecting component, and two arc-shaped connecting components are movably provided on the outer side of the ring-shaped connecting component, and a through hole formed when the two arc-shaped connecting components are closed coincides with the through hole of the ring-shaped connecting component, and a second spring is provided at the short ends of the two arc-shaped connecting components, and the long ends of the two arc-shaped connecting components are used to form a closure to clamp the quick connecting head; a card slot is provided at one end of the quick connecting head, and the quick connecting head is also provided with a third unlocking buckle, and the third unlocking buckle is used to make the card slot fit into the two arc-shaped connecting components and the ring-shaped connecting component after being pressed to lock the quick connecting head, thereby completing the connection between the traction device and the belt.

[0013] Furthermore, the handle includes a handle shell, a circuit board is arranged in the handle shell, and a power button, a forward or reverse switch key and a cruise control button are arranged on the handle shell, the power button, the forward or reverse switch key and the cruise control button are electrically connected to the circuit board respectively, the power button is used to control the driving speed of the traction device equipment, the forward or reverse switch key is used to switch the traction device equipment into a forward state or a reverse state, the cruise control button is used to switch the traction device equipment into a cruise control state, and the circuit board is used to send corresponding motion command signals to the control system based on signals of the power button, the forward or reverse switch key and the cruise control button.

[0014] On the other hand, a method for using a control system based on a power-assisted forwarding device is provided, comprising: Step on or press the first unlocking trigger to unlock the rotary switch, lift up to make the traction device stand up, and preliminarily adjust the first rotary joint and the second rotary joint to unfold the lower frame and the upper frame; Attach the belt tightly to the waist of the user; Press the second unlocking button and adjust the first rotating joint and the second rotating joint again so that the angle of the traction device meets the height of the user; Insert the quick connector of the traction device into the removable connecting part of the waist belt; Press the power switch button to start the traction device; The control system controls each wheel hub motor to drive the corresponding tire based on the received motion command signal and the on signal of the power switch button, so that the traction device moves; When the traction device needs to be stored, the second unlocking button is pressed, and the first rotating joint and the second rotating joint are adjusted to completely fold the upper frame. Then, the first unlocking button is stepped on or pressed to lock the rotating switch to completely fold the traction device.

[0015] The present invention adopts the above technical solution, which has the following advantages: 1. The present invention is an assistive product for single-person load-bearing operations in complex terrain environments. It can achieve assistive traction, cross complex terrain, overcome obstacles, and carry things intelligently, thereby reducing basic consumption loads and delaying physical energy attenuation.

[0016] 2. The present invention is suitable for a single person to carry equipment and materials and walk quickly. It can realize human-machine integration, squatting and lying are flexible and convenient, and the human-machine separation can be achieved with one button, so as to effectively deal with emergencies.

[0017] 3. The present invention can realize multiple functions such as forward, reverse, cruise control, downhill assist, power display and fault reminder through handle control.

[0018] 4. The present invention can help delay the decline of physical fitness when carrying weight, improve the carrying capacity during weight-bearing training, transport materials and equipment in mountains and hills, and transport materials and equipment in the event of an earthquake.

[0019] 5. The four-wheel trailer formed by combining the two traction devices of the present invention can be adapted to a special stretcher for transporting the wounded.

[0020] 6. The hub motor provided in the present application does not require a traditional motor system. By integrating the motor into the wheel, the space of the wheel can be fully utilized, thereby improving the space utilization rate of the device, and at the same time being able to improve the handling performance of the device and reduce noise and vibration.

[0021] In summary, the present invention can be widely used in industrial application fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Throughout the accompanying drawings, the same reference numerals are used to represent the same components. In the accompanying drawings: Figure 1 It is a schematic diagram of the overall structure of a traction device provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the connection between the traction device and the user provided by one embodiment of the present invention; Figure 3 It is a structural schematic diagram of a traction device provided by an embodiment of the present invention when it is unfolded; Figure 4 is a side view schematic diagram of a traction device provided by an embodiment of the present invention when it is half-folded; Figure 5 is a front view schematic diagram of a traction device provided by an embodiment of the present invention when it is fully folded; Figure 6is a side view schematic diagram of a traction device provided by an embodiment of the present invention when it is fully folded; Figure 7 is a top view schematic diagram of a traction device provided by an embodiment of the present invention when it is unfolded; Figure 8 It is a schematic diagram of the structure of a four-wheel trailer composed of a traction device provided by an embodiment of the present invention; Fig. 9 is a structural schematic diagram of a connection structure on the side of a battery compartment provided by an embodiment of the present invention; Fig.10 is a structural schematic diagram of a rotary switch provided by an embodiment of the present invention; Fig.11 is a front view schematic diagram of the connection between the rotary switch and the first unlocking trigger provided by an embodiment of the present invention; Fig.12 is a three-dimensional schematic diagram of the connection between the rotary switch and the first unlocking trigger provided by an embodiment of the present invention; Fig.13 is a rear view schematic diagram of a traction device provided by an embodiment of the present invention; Fig.14 It is a schematic diagram of the skeleton structure of a traction device provided by an embodiment of the present invention; Fig.15 is a structural schematic diagram of a first rotary joint in an unlocked state provided by an embodiment of the present invention; Fig.16 is a structural schematic diagram of a first rotary joint in a locked state provided by an embodiment of the present invention; Fig.17 is a schematic diagram of the connection between a waist belt and a quick connector provided by an embodiment of the present invention; Fig.18 1 is a schematic diagram of a detachable connection component and a quick connector structure provided by an embodiment of the present invention, wherein: Fig.18 (a) is a schematic diagram of the quick connector structure. Fig.18 (b) is a schematic diagram of the detachable connection component structure. Fig.18 (c) is a schematic diagram of the connection between the detachable connection component and the quick connector; Fig.19 It is a simplified model schematic diagram of a traction device during mechanical analysis provided by an embodiment of the present invention; Fig. 20 It is a schematic diagram of the constraint mode of the traction device during the mechanical analysis provided by one embodiment of the present invention; Fig.21 It is a stress cloud diagram of the static simulation calculation result of the traction device during the mechanical analysis provided by one embodiment of the present invention; Fig. 22It is a deformation cloud diagram of the static simulation calculation results of the traction device equipment during the mechanical analysis provided by one embodiment of the present invention.

[0023] The numbers in the figure are: 1: Traction device, 2: Belt, 3: Handle; 1-1: battery compartment, 1-2: shock absorber shaft, 1-3: rotary switch, 1-4: left swing arm, 1-5: right swing arm, 1-6: tire, 1-7: first unlocking lever, 1-8: hub motor, 1-9: lower frame, 1-10: first rotary joint, 1-11: upper frame, 1-12: second unlocking lever, 1-13: second rotary joint, 1-14: quick connector, 1-15: connector; 1-1-1: connection structure, 1-3-1: first adapter, 1-3-2: second adapter, 1-3-3: slider, 1-3-4: phase-changing slider, 1-3-5: locker, 1-3-6: locking gear, 1-9-1: lower frame connecting tube, 1-9-2: protective plate, 1-10-1: latching tooth, 1-10-2: chuck, 1-10-3: torsion spring, 1-11-1: upper frame connecting tube; 1-14-1: slot, 1-14-2: third unlocking lever; 2-1: detachable connecting part, 2-2: annular connecting part, 2-3: arc-shaped connecting part, 2-4: second spring. DETAILED DESCRIPTION

[0024] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0025] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0026] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0027] For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "inside", "outside", "inner side", "outer side", "below", "above", etc. Such spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figures.

[0028] Miniaturized transportation tools in the prior art, such as quadruped robots, have certain terrain adaptability, but their maximum load is only 25kg and the motion control algorithm is complex, which cannot meet the transportation needs of bulk materials. In the field of short-distance emergency transportation, existing solutions mostly use human pushcarts or small drones. The former requires 2-3 people to operate collaboratively and the flat ground transportation efficiency is less than 0.5t km / h, while the latter is limited by the battery capacity and cannot achieve continuous operation. This technical status quo has led to about 35% of the rescue materials being unable to be delivered to the target area in time due to transportation efficiency issues during the 72-hour golden rescue period. The control system of the power-assisted forward delivery device in the embodiment of the present invention is inspired by a hummingbird, which is flexible and convenient, can quickly and freely shuttle through complex terrain, and has the characteristics of small size and high energy. Its "beak" is like a suction cup attached to the head, and can be flexibly adjusted at multiple angles when catching food. The arc-shaped chest occupies 2 / 3 of the volume, like a storage bag for carrying items, and its tail can swing up and down like a tray. Spread your wings and soar when moving, fold your wings when resting, and your head can be inserted under the chest feathers, making the target smaller. The present invention can realize assisted traction, cross complex terrain, overcome obstacles, and carry intelligently, thereby reducing basic consumption load and delaying physical energy decline.

[0029] Example 1 like Figures 1 to 7As shown, the present embodiment provides a control system for a power-assisted forward delivery device, including a traction device 1, a belt 2 and a handle 3, wherein the traction device 1 includes a battery compartment 1-1, a shock-absorbing shaft 1-2, a rotary switch 1-3, a left swing arm 1-4, a right swing arm 1-5, a tire 1-6, a first unlocking lever 1-7, a hub motor 1-8, a lower frame 1-9, a first rotating joint 1-10, an upper frame 1-11, a second unlocking lever 1-12, a second rotating joint 1-13, a quick connector 1-14, a connector 1-15 and a control system, the lower frame 1-9 is an inwardly concave arc-shaped structure, and the upper frame 1-11 is an arc-shaped structure arranged in conjunction with the lower frame 1-9.

[0030] A battery pack is placed in the battery compartment 1-1, and a shock-absorbing shaft 1-2 is provided on one side of the battery compartment 1-1. The two ends of the shock-absorbing shaft 1-2 are connected to the corresponding tires 1-6 through the corresponding left swing arm 1-4 and the right swing arm 1-5 through the rotary switch 1-3, and a first unlocking lever 1-7 is provided at each rotary switch 1-3. The first unlocking lever 1-7 is used to control the rotation of the rotary switch 1-3 so that the lower frame 1-9 and the battery compartment 1-1 are folded or unfolded. A hub motor 1-8 is provided at each tire 1-6 for driving the tire 1-6 to move. The shock-absorbing shaft 1-2 is fixedly connected to the lower frame 1-9, and the top of the lower frame 1-9 is connected to the upper frame 1-11 through the first rotary joint 1-10. A second unlocking lever 1-12 is provided at the first rotary joint 1-10. The second unlocking lever 1-12 is used to control the rotation of the first rotary joint 1-10 so that the lower frame 1-9 and the upper frame 1-11 are folded or unfolded. The top of the upper frame 1-11 is connected to a quick connector 1-14 for connecting to a waist belt 2 via a second rotary joint 1-13. The waist belt 2 is tightly adhered to the waist of the user. Through the set rotary switch 1-3, the first rotary joint 1-10 and the second rotary joint 1-13, the traction device 1 can be folded to reduce the volume for easy storage and transportation.

[0031] A connector 1-15 is provided at the first rotating joint 1-10, a control system and a power switch button are provided at the connector 1-15, a tension sensor is provided at the second rotating joint 1-13, and the handle 3 is connected to the control system through a connecting line or wirelessly, and the control system is electrically connected to the hub motor 1-8, the tension sensor and the power switch button respectively, and the power switch button is used to send an on signal or an off signal to the control system to turn on or off the traction device 1. The handle 3 is used to send a motion command signal of the traction device 1 to the control system. The tension sensor is used to detect the pulling force of the traction device 1 in real time to ensure a suitable speed following effect. The control system is used to control each hub motor 1-8 to drive the corresponding tire 1-6 based on the received motion command signal and the on signal or the off signal, so that the traction device 1 can move forward, backward, park or cruise.

[0032] In a preferred embodiment, the power-assisted forward delivery device control system also includes an outer box for placing the traction device equipment 1.

[0033] In a preferred embodiment, the battery compartment 1-1 can adopt a flip-up design to reduce the storage volume and facilitate packaging and transportation.

[0034] In a preferred embodiment, Figure 8 and Fig. 9 As shown, a connection structure 1-1-1 is provided on the side of the battery compartment 1-1 away from the tire 1-6, which is used to be fixed to a corresponding connection structure on the battery compartment 1-1 of another traction device 1 to form a four-wheel trailer.

[0035] In a preferred embodiment, the battery pack uses a power lithium battery with a power capacity of 48V / 20AH (larger capacity is optional). The battery pack is equipped with multiple protection designs such as over-temperature, over-current, over-voltage, and over-power, and has an independent shell and thermal management function, which is easy to disassemble and safer.

[0036] In a preferred embodiment, Figures 10 to 12As shown, the rotary switch 1-3 includes a first adapter 1-3-1, a second adapter 1-3-2, a slider 1-3-3, a phase-changing slider 1-3-4, a lock 1-3-5, a locking gear 1-3-6 and a first spring. The first adapter 1-3-1 is rigidly connected to the lower frame 1-9, the second adapter 1-3-2 is rigidly connected to the battery compartment 1-1, a first unlocking lever 1-7 is arranged above the first adapter 1-3-1 and the second adapter 1-3-2, a slider 1-3-3, a changing slider 1-3-4, a locker 1-3-5, a locking gear 1-3-6 and a first spring are arranged between the first adapter 1-3-1 and the second adapter 1-3-2, a structure for engaging with the locking gear 1-3-6 is arranged on the first adapter 1-3-1, the first unlocking lever 1-7 is connected to one end of the slider 1-3-3, and the slider 1-3-3 is also connected to the changing slider 1-3-3. The first unlocking trigger 1-7 controls the sliding of the slider 1-3-3. When the slider 1-3-3 reaches the predetermined position, the locker 1-3-5 pops out of the fixed slider 1-3-3, forcing the direction-changing slider 1-3-3 to push the locking gear 1-3-6. At this time, the locking gear 1-3-6 no longer engages with the first adapter 1-3-1. The first adapter 1-3-1 and the second adapter 1-3-2 are unlocked and can rotate with each other. After rotating a certain angle, the locking gear 1-3-6 moves the locker 1-3-5. The locking gear 1-3-6 is pushed by the first spring at the back and engages with the first adapter 1-3-1 again. At this time, the first adapter 1-3-1 and the second adapter 1-3-2 are engaged with each other and cannot rotate. Press the first unlocking trigger 1-7 again to repeat the above operation.

[0037] In a preferred embodiment, the tire 1-6 can be a rubber off-road tire 1-6 or a solid airless explosion-proof off-road tire 1-6.

[0038] In a preferred embodiment, the hub motors 1-8 can be DC brushless gear hub motors or DC brushless gearless hub motors with a voltage power of 48V / 400W*2.

[0039] In a preferred embodiment, Fig.13 and Fig.14 As shown, the lower frame 1-9 includes three lower frame connecting tubes 1-9-1 and a protective plate 1-9-2, wherein each lower frame connecting tube 1-9-1 is an arc-shaped structure, and the protective plate 1-9-2 is an inwardly concave special-shaped structure. The bottoms of the three lower frame connecting tubes 1-9-1 are spaced apart on the shock-absorbing shaft 1-2, and the tops of the three lower frame connecting tubes 1-9-1 are connected to the first rotating joint 1-10. The outer sides of the three lower frame connecting tubes 1-9-1 are provided with protective plates 1-9-2 to form a lower frame 1-9 with a storage space, and the storage space is used to place the upper frame 1-11 and the quick connector 1-14.

[0040] In a preferred embodiment, Fig.13 and Fig.14 As shown, the upper frame 1-11 includes two or three upper frame connecting tubes 1-11-1, wherein each upper frame connecting tube 1-11-1 is a broken line arc structure. The bottoms of the two or three upper frame connecting tubes 1-11-1 arranged at intervals are connected to the first rotation joint 1-10, and the tops of the two or three upper frame connecting tubes 1-11-1 are gathered together and connected to the second rotation joint 1-13.

[0041] Specifically, Figure 4 and Figure 6 As shown, the upper frame 1-11 can be folded into the accommodating space of the lower frame 1-9 or folded and set on the outside of the protective plate 1-9-2 through the second rotating joint 1-13.

[0042] In a preferred embodiment, Fig.15 and Fig.16 As shown, the first rotary joint 1-10 includes a latch 1-10-1, a chuck 1-10-2 and a torsion spring 1-10-3, and the latch 1-10-1 and the chuck 1-10-2 are relatively rigidly connected to the upper frame connecting tube 1-11-1 and the lower frame connecting tube 1-9-1 respectively. When not subject to external force, the latch 1-10-1 and the chuck 1-10-2 are engaged with each other through the action of the torsion spring 1-10-3, and a locking effect is achieved, that is, at this time, the upper frame connecting tube 1-11-1 and the lower frame connecting tube 1-9-1 are locked with each other. The latch 1-10-1 and the chuck 1-10-2 are separated or engaged by the second unlocking button 1-12. When the second unlocking buckle 1-12 is rotated, the latch tooth 1-10-1 is forced to separate from the chuck 1-10-2. At this time, the upper frame connecting tube 1-11-1 and the lower frame connecting tube 1-9-1 can rotate relative to each other to a predetermined angle, and the second unlocking buckle 1-12 can be released to lock it.

[0043] Specifically, the first rotary joint 1 - 10 can adopt a lever handle and can be operated with one hand, which is more convenient and labor-saving.

[0044] In a preferred embodiment, a warning light is also provided at the connecting member 1-15 to indicate whether the traction device 1 is turned on.

[0045] In a preferred embodiment, the control system includes a data receiving module, a command receiving module, a motor control module, a power management module, a CAN interface and a mode switching module, wherein the controller is electrically connected to the data receiving module, the command receiving module, the motor control module, the power control module, the CAN interface and the mode switching module respectively.

[0046] The data receiving module is used to receive the tension data sent by the tension sensor.

[0047] The command receiving module is used to receive the motion command signal sent by the handle and the on signal or off signal sent by the power switch button.

[0048] The motor control module is used to control each wheel hub motor 1-8 to drive the corresponding tire 1-6 based on the tension data, the motion command signal and the on signal or the off signal.

[0049] The power management module is used to supply power to various electrical components of the traction device 1 based on the power supply of the battery pack.

[0050] The CAN interface is used to connect to the CAN interface of another traction device 1 when forming a four-wheel trailer, and send a corresponding movement command signal and an opening signal or a closing signal to the other traction device 1.

[0051] The mode switching module is used to switch between the master state and the slave state when forming a four-wheel trailer, wherein when the traction device device 1 is in the master state, the handle 3 corresponding to the traction device device 1 controls the movement of the entire four-wheel trailer; when the traction device device 1 is in the slave state, it receives the signal sent by the traction device device 1 (in the master state) connected thereto.

[0052] In a preferred embodiment, the folded size of the traction device 1 can be 900*840*420 mm, the unfolded size can be 1134*910*1400 mm, and the load capacity is 70 kg.

[0053] In a preferred embodiment, the main body of the traction device 1 is made of high-strength aluminum alloy profiles, carbon fiber materials, magnesium alloys, engineering plastics, etc. Specifically, the battery compartment 1-1, the rotary switch 1-3, the left swing arm 1-4 and the right swing arm 1-5 can be made of aluminum alloy profiles, the shock absorber shaft 1-2 can be made of spring steel, the lower frame connecting pipe 1-9-1 can be made of carbon fiber tubes, the protective plate 1-9-2 can be made of blister boards, the upper frame connecting pipe 1-11-1 can be made of PVC tubes, and the quick connector 1-14 can be made of TPU material.

[0054] In a preferred embodiment, Figure 2 As shown, the waist belt 2 tightens the waist of the user by cross-tying the straps. Fig.17 and Fig.18As shown, the back of the waist belt 2 is provided with a detachable connecting part 2-1, and the detachable connecting part 2-1 is provided with an annular connecting part 2-2. Two arc-shaped connecting parts 2-3 are movably provided on the outer side of the annular connecting part 2-2. The through hole formed by the two arc-shaped connecting parts 2-3 after closing coincides with the through hole of the annular connecting part 2-2. The short ends of the two arc-shaped connecting parts 2-3 are provided with a second spring 2-4, and the long ends of the two arc-shaped connecting parts 2-3 are used to form a closure to clamp the quick connector 1-14. A card slot 1-14-1 is provided at one end of the quick connector 1-14, and the quick connector 1-14 is also provided with a third unlocking lever 1-14-2. The third unlocking lever 1-14-2 is used to press the card slot 1-14-1 to fit into the two arc-shaped connecting parts 2-3 and the annular connecting part 2-2, and lock the quick connector 1-14, thereby completing the connection between the traction device 1 and the waist belt 2.

[0055] In a preferred embodiment, when the handle 3 is a wired handle, the connector 1 - 15 is also provided with an interface for connecting to a connecting wire of the wired handle 3 .

[0056] In a preferred embodiment, the handle 3 includes a handle housing, a circuit board is arranged in the handle housing, and a connector for matching with the connecting line is arranged on the circuit board. A power button, a forward or backward switching key, a power light and a cruise control button are arranged on the handle housing, and the power button, the forward or backward switching key, the power light, the cruise control button and the connector are electrically connected to the circuit board respectively, the power button is used to control the driving speed of the traction device 1, the forward or backward switching key is used to switch the traction device 1 into the forward state or the backward state, the power light is used to display the power of the handle 3 in real time, the cruise control button is used to switch the traction device 1 into the cruise control state, and the circuit board is used to send corresponding motion command signals to the control system based on the signals of the power button, the forward or backward switching key and the cruise control button.

[0057] The following is a mechanical analysis of the control system of the power-assisted forward delivery device of the present invention through a specific embodiment: Ignore the small-sized structures such as bolt holes, fillets, chamfers, etc. in the components of the power-assisted forward delivery control system and other local structures that have little effect on the overall results. Simplify the model as follows Fig.19 As shown. The simplified model of the power-assisted forward delivery device control system is divided into finite element meshes with free meshes, with a total of 429,836 units. The power-assisted forward delivery device control system is a static simulation, and the requirements for the connection are not very high. The contact between all components is set to binding contact. The material properties of the main components of the power-assisted forward delivery device control system are shown in Table 1 below: Table 1: Main component material properties

[0058] Apply a force of 800N on the loading platform of the power-assisted forward delivery device control system (i.e., the top of the battery compartment 1-1). Tire 1-6 is in contact with the ground, and the bottom of tire 1-6 and the ground are used as fixed constraints; since the top of the power-assisted forward delivery device control system is tied to the person, in a static state, the top is also defined as a fixed constraint, and the constraint method is as follows: Fig. 20 The Static Structured module in the workbench is used to perform static simulation calculations on the bionic power-assisted cart device. The stress cloud diagram and deformation cloud diagram of the static simulation calculation results are shown in Fig.21 and 22 As shown, it can be seen that when the load is 80kg, the maximum stress is 79Mpa and the maximum deformation is 6mm. In summary, the material strength is bearable when a force of 800N is applied to the bionic power-assisted stroller device.

[0059] Example 2 This embodiment provides a method for using a control system of a power-assisted forward delivery device, comprising the following steps: 1) Open the outer box, take out the traction device 1, step on or press the first unlocking lever 1-7 on the traction device 1 vertically to unlock the rotary switch 1-3, lift up to make the traction device 1 stand up, and preliminarily adjust the first rotary joint 1-10 and the second rotary joint 1-13 to unfold the lower frame 1-9 and the upper frame 1-11.

[0060] 2) Take out the belt 2, adhere the belt 2 closely to the waist of the user, and tighten the belts crosswise.

[0061] 3) Press the second unlocking button 1-12, and adjust the first rotating joint 1-10 and the second rotating joint 1-13 again, so that the angle of the traction device 1 is consistent with the height of the user.

[0062] 4) When handle 3 is a wired handle, insert the connection wire of handle 3 into interface 1-11-2 and rotate it to make it click inside.

[0063] 5) Insert the quick connector 1 - 14 of the traction device 1 into the detachable connecting part 2 - 1 of the waist belt 2 and confirm that the connection is tight.

[0064] 6) Press the power switch button, the indicator light comes on, and the traction device 1 is started. At the same time, the power indicator on the handle 3 displays the current power level.

[0065] 7) Sending a motion command signal of the traction device 1 to the control system through the handle 3, specifically: 7.1) The traction device 1 enters the forward state or the reverse state by the forward or reverse switch key.

[0066] 7.2) Control the travel speed of the traction device 1 by means of the power button.

[0067] 7.3) Use the cruise control button to switch the traction device 1 into the cruise control state.

[0068] 8) The pulling force of the traction device 1 is detected in real time through the pulling force sensor.

[0069] 9) The control system controls each wheel hub motor 1-8 to drive the corresponding tire 1-6 based on the real-time tension detected by the tension sensor, the received motion command signal and the on signal of the power switch button, so that the traction device 1 can move forward, backward, park or cruise, etc. Specifically: 9.1) The data receiving module receives the tension data sent by the tension sensor.

[0070] 9.2) The command receiving module receives the motion command signal sent by the handle and the start signal sent by the power switch button.

[0071] 9.3) The motor control module controls each wheel hub motor 1-8 to drive the corresponding tire 1-6 based on the received tension data, motion command signal and start signal.

[0072] 9.4) The power management module supplies power to various electrical components of the traction device 1 based on the power of the battery pack.

[0073] 10) When the traction device equipment 1 needs to be stored, press the second unlocking button 1-12, adjust the first rotating joint 1-10 and the second rotating joint 1-13 to make the upper frame 1-11 fully folded, then step vertically downward or press the first unlocking button 1-7 to lock the rotating switch 1-3 to fully fold the traction device equipment 1.

[0074] The above method further includes: The connection structures 1-1-1 of the two traction device devices 1 are connected to form a four-wheel trailer. When the four-wheel trailer is formed, the CAN interfaces of the two traction device devices 1 are connected. At this time, the handle 3 of the traction device device 1 in the host state controls the movement of the entire four-wheel trailer.

[0075] The above embodiments are only used to illustrate the present invention, wherein the structure, connection mode and manufacturing process of each component may be changed. Any equivalent transformations and improvements based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A control system for a power-assisted forwarding device, characterized in that: It includes a traction device, a belt and a handle, wherein the traction device includes a battery compartment, a lower frame, an upper frame, a quick connector and a control system, the lower frame is an inwardly concave arc structure, and the upper frame is an arc-shaped structure arranged in cooperation with the lower frame; A battery pack is placed in the battery compartment, a shock-absorbing shaft is provided on one side of the battery compartment, and both ends of the shock-absorbing shaft are connected to a tire through a rotary switch, and each rotary switch is provided with a first unlocking lever for controlling the rotation of the rotary switch so that the lower frame and the battery compartment are folded or unfolded; each tire is provided with a hub motor for driving the tire to move; the lower frame is fixedly connected to the shock-absorbing shaft, and the top of the lower frame is connected to the upper frame through a first rotary joint, and the first rotary joint is provided with a second unlocking lever for controlling the rotation of the first rotary joint so that the lower frame and the upper frame are folded or unfolded; the top of the upper frame is connected to the quick connector for connecting to the waist belt through a second rotary joint; The traction device is also provided with the control system and the power switch button. The control system is electrically connected to the wheel hub motor, the power switch button and the handle respectively. The power switch button is used to send an on signal or an off signal to the control system; the handle is used to send the motion command signal of the traction device to the control system; the control system is used to control each wheel hub motor to drive the corresponding tire based on the received motion command signal and the on signal or the off signal.

2. A power-assisted forwarding device control system as claimed in claim 1, characterized in that: A connecting structure is provided on the side of the battery compartment away from the tire, which is used to be fixed to a corresponding connecting structure on the battery compartment of another traction device to form a four-wheel trailer.

3. A power-assisted forwarding device control system as claimed in claim 1, characterized in that: The rotary switch comprises a first adapter, a second adapter, a slider, a phase-changing slider, a locker, a locking gear and a first spring; The first adapter is rigidly connected to the lower frame, and the second adapter is rigidly connected to the battery compartment. The first unlocking lever is arranged above the first adapter and the second adapter. The slider, the changing slider, the lock, the locking gear and the first spring are arranged between the first adapter and the second adapter. A structure for meshing with the locking gear is arranged on the first adapter. The first unlocking lever is connected to one end of the slider, and the slider is also connected to the changing slider. The first unlocking lever controls the sliding of the slider. When the slider reaches a predetermined position, the lock pops out and fixes the slider, so that the changing slider pushes the locking gear. The first adapter and the second adapter are unlocked and can rotate with each other. After rotating a certain angle, the locking gear toggles the lock. The locking gear is pushed by the first spring and meshes with the first adapter again. At this time, the first adapter and the second adapter are meshed with each other.

4. A power-assisted forwarding device control system as claimed in claim 1, characterized in that: The lower frame includes three lower frame connecting tubes and a protective plate, wherein each of the lower frame connecting tubes is an arc-shaped structure, and the protective plate is an inwardly concave special-shaped structure; The bottoms of the three lower frame connecting tubes are spaced apart on the shock-absorbing shaft, and the tops of the three lower frame connecting tubes are connected to the first rotating joint; the outer sides of the three lower frame connecting tubes are provided with the protective plates to form the lower frame with an accommodating space, and the accommodating space is used to place the upper frame and the quick connector.

5. A power-assisted forwarding device control system as claimed in claim 1, characterized in that: The upper frame includes two or three upper frame connecting tubes, wherein each of the upper frame connecting tubes is a broken line arc structure; The bottoms of two or three upper frame connecting tubes arranged at intervals are all connected to the first rotating joint, and the tops of two or three upper frame connecting tubes are gathered together and connected to the second rotating joint.

6. A power-assisted forwarding device control system as claimed in claim 5, characterized in that: The upper frame is folded into the accommodation space of the lower frame through the second rotation joint or folded and arranged on the outer side of the protective plate.

7. A power-assisted forwarding device control system as claimed in claim 2, characterized in that: The control system comprises: A command receiving module, used to receive the motion command signal sent by the handle and the on signal or off signal sent by the power switch button; A motor control module, used for controlling each of the wheel hub motors to drive the corresponding tire based on a motion command signal and an on signal or an off signal; A power management module, used to supply power to various electrical components of the traction device based on the power of the battery pack; A CAN interface, used to connect to the CAN interface of another traction device when forming a four-wheel trailer, and send a corresponding movement command signal and an opening signal or a closing signal to the other traction device; A mode switching module is used to switch between a master state and a slave state when a four-wheel trailer is formed, wherein when the traction device is in the master state, the handle corresponding to the traction device controls the movement of the entire four-wheel trailer; when the traction device is in the slave state, the signal sent by the traction device connected thereto is received.

8. A power-assisted forwarding device control system as claimed in claim 1, characterized in that: A detachable connecting component is provided on the back of the belt, and a ring-shaped connecting component is provided on the detachable connecting component. Two arc-shaped connecting components are movably provided on the outer side of the ring-shaped connecting component. The through hole formed by the two arc-shaped connecting components after closing coincides with the through hole of the ring-shaped connecting component. The short ends of the two arc-shaped connecting components are provided with a second spring, and the long ends of the two arc-shaped connecting components are used to form a closure to clamp the quick connecting head; a card slot is provided at one end of the quick connecting head, and the quick connecting head is also provided with a third unlocking buckle, and the third unlocking buckle is used to make the card slot fit into the two arc-shaped connecting components and the ring-shaped connecting component after being pressed to lock the quick connecting head, thereby completing the connection between the traction device and the belt.

9. A power-assisted forwarding device control system as claimed in claim 1, characterized in that: The handle includes a handle shell, a circuit board is arranged in the handle shell, a power button, a forward or reverse switch key and a cruise control button are arranged on the handle shell, the power button, the forward or reverse switch key and the cruise control button are electrically connected to the circuit board respectively, the power button is used to control the driving speed of the traction device equipment, the forward or reverse switch key is used to switch the traction device equipment into a forward state or a reverse state, the cruise control button is used to switch the traction device equipment into a cruise control state, and the circuit board is used to send corresponding motion command signals to the control system based on signals of the power button, the forward or reverse switch key and the cruise control button.

10. A method for using the control system of the power-assisted forwarding device according to any one of claims 1 to 9, characterized in that: include: Step on or press the first unlocking trigger to unlock the rotary switch, lift up to make the traction device stand up, and preliminarily adjust the first rotary joint and the second rotary joint to unfold the lower frame and the upper frame; Attach the belt tightly to the waist of the user; Press the second unlocking button and adjust the first rotating joint and the second rotating joint again so that the angle of the traction device meets the height of the user; Insert the quick connector of the traction device into the removable connecting part of the waist belt; Press the power switch button to start the traction device; Sending a motion command signal of the traction device to the control system via the handle; The control system controls each wheel hub motor to drive the corresponding tire based on the received motion command signal and the on signal of the power switch button, so that the traction device moves; When the traction device needs to be stored, the second unlocking button is pressed, and the first rotating joint and the second rotating joint are adjusted to fold the upper frame, and then the first unlocking button is stepped on or pressed to lock the rotating switch so that the traction device is completely folded.

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