Mobile chassis, method of mobile control and method of lift control thereof

Abstract

The present application relates to the technical field of chassis, and provides a mobile chassis, a mobile control method and a lifting control method thereof. The mobile chassis comprises a support, a power rudder, a lifting device and a plurality of driven casters. The power rudder is arranged at the bottom of the support and used to drive the support to move. The plurality of driven casters are arranged at the bottom of the support and surround the power rudder. The lifting device is arranged between the power rudder and the support and used to adjust the height of the power rudder. The mobile chassis provided by the present application can realize the free lifting of the power rudder through the lifting device, can realize the switching of the power rudder between the full-automatic electric control, the semi-automatic auxiliary mobile control and the pure manual control, and can effectively improve the functionality and the versatility of the mobile chassis.

Description

Technical Field

[0001] This invention relates to the field of chassis technology, and in particular to a mobile chassis and its movement control method and lifting control method. Background Technology

[0002] Mobile chassis are the basis for the movement of equipment (such as hospital beds, medical robots, etc.). As the size and weight of existing equipment continue to increase, relying solely on manual pushing of the chassis can no longer meet the actual needs.

[0003] The prior art provides a mobile chassis with a power steering wheel at the bottom of the mobile base plate, which can provide a certain amount of power. In some special cases, the operator needs to switch between fully automatic electric control, semi-automatic auxiliary movement control and pure manual control. However, the power steering wheel can only support fully automatic electric control and semi-automatic auxiliary movement control, and cannot achieve free switching between the three modes. This greatly limits the use of the mobile chassis. Summary of the Invention

[0004] The first aspect of the present invention provides a mobile chassis to solve the defect in the prior art that it is impossible to freely switch between fully automatic electric control, semi-automatic assisted movement control and pure manual control. The power steering wheel can be freely raised and lowered through a lifting device, and the power steering wheel can be switched between fully automatic electric control, semi-automatic assisted movement control and pure manual control, which can effectively improve the functionality and versatility of the mobile chassis.

[0005] A second aspect of the present invention provides a method for controlling the movement of a mobile chassis.

[0006] A third aspect of the present invention provides a method for controlling the lifting of a mobile chassis.

[0007] The mobile chassis provided by this invention includes: Support components; A power steering wheel is located at the bottom of the support member and is used to drive the support member to move. Multiple driven casters are located at the bottom of the support member and surround the power steering wheel; A lifting device is provided between the power steering wheel and the support member, and the lifting device is used to adjust the height of the power steering wheel.

[0008] According to the mobile chassis provided by the present invention, the lifting device includes: The first guide rail is located at the bottom of the support member; A lifting motor is located at the bottom of the support member; An active slider is slidably disposed on the first guide rail and connected to the output end of the lifting motor. The lifting motor is used to drive the active slider to move linearly along the first guide rail. The first connecting rod is rotatably connected at one end to the active slider and at the other end to the power steering wheel; The second link is rotatably connected at one end to the support member and at the other end to the power steering wheel.

[0009] According to the mobile chassis provided by the present invention, the lifting device further includes: A mounting plate is located on top of the power steering wheel; The second guide rail is disposed on the upper surface of the mounting plate and is arranged parallel to the first guide rail; A first driven slider is slidably disposed on the second guide rail. One end of the first driven slider is rotatably connected to the first connecting rod, and the other end is rotatably connected to the second connecting rod. The second driven slider is slidably disposed on the first guide rail and located on the side of the active slider away from the lifting motor. The second driven slider is connected to the output end of the lifting motor, and the lifting motor is used to drive the second driven slider to move linearly along the first guide rail. The third link has one end rotatably connected to the second driven slider and the other end rotatably connected to the mounting plate, and the third link is rotatably connected to the second link.

[0010] According to the mobile chassis provided by the present invention, the lifting device further includes: A sliding retainer is fixed to the support member, and a through sliding channel is formed inside the sliding retainer; An inner fixed wheel is located in the sliding channel and is connected to the end of the lifting motor's rotating shaft away from the active slider; An outer moving wheel is slidably disposed inside the sliding channel and sleeved on the outside of the inner fixed wheel. An internal gear is formed at the end of the outer moving wheel facing the lifting motor. In the working state, the internal gear meshes with the inner fixed wheel. In the non-working state, the internal gear disengages from the inner fixed wheel. A crank handle is connected to the end of the outer moving wheel away from the lifting motor. The crank handle is used to drive the outer moving wheel to move along the sliding channel, so as to switch the outer moving wheel between working and non-working states. In the working state, the crank handle is also used to drive the outer moving wheel to rotate, so as to manually adjust the height of the power steering wheel.

[0011] According to the mobile chassis provided by the present invention, the lifting device further includes a first positioning plunger and a second positioning plunger, the first positioning plunger and the second positioning plunger being spaced apart on the inner wall of the sliding channel, and the first positioning plunger being located at one end of the sliding channel facing the lifting motor, and the position of the second positioning plunger corresponding to the position of the inner fixed wheel; The outer wall of the outer moving wheel is provided with a limiting groove. In the working state, the limiting groove is used to cooperate with the second positioning plunger to determine the position of the outer moving wheel; in the non-working state, the limiting groove is used to cooperate with the first positioning plunger to determine the position of the outer moving wheel.

[0012] According to the mobile chassis provided by the present invention, the powered steering wheel includes: A reference gear is located at the bottom of the support member; A drive wheel bracket is located at the lower end of the reference gear and rotates in cooperation with the reference gear. Two hub motors are positioned opposite each other at both ends of the drive wheel bracket; A brake assembly includes a brake motor, a first clamping tooth, and a second clamping tooth. The first clamping tooth and the second clamping tooth mesh with each other and are rotatably connected to the drive wheel bracket. In a first state, the end of the first clamping tooth away from the second clamping tooth meshes with the reference gear, and the end of the second clamping tooth away from the first clamping tooth meshes with the reference gear. In a second state, the end of the first clamping tooth away from the second clamping tooth disengages from the reference gear, and the end of the second clamping tooth away from the first clamping tooth disengages from the reference gear. The brake motor is mounted on the drive wheel bracket and connected to at least one of the first clamping tooth and the second clamping tooth. The brake motor is used to drive the first clamping tooth and the second clamping tooth to switch between the first state and the second state.

[0013] According to the mobile chassis provided by the present invention, the power steering wheel further includes a spring suspension and an angle encoder; The spring suspension includes an upper base plate, a lower base plate, and multiple elastic elements. The upper base plate is located at the bottom of the support member, and a first guide rod is formed on the lower surface of the upper base plate. The lower base plate is located on the upper surface of the reference gear, and a second guide rod is formed on the upper surface of the lower base plate. One of the first guide rod and the second guide rod is sleeved on the other and the two are slidably engaged. The height of the outer ring of the first guide rod and the second guide rod is less than the natural height of the elastic element. A plurality of elastic elements are disposed between the upper base plate and the lower base plate and are arranged around the outside of the first guide rod and the second guide rod. The angle encoder is mounted on the drive wheel bracket and meshes with the reference gear. The angle encoder is used to detect the rotation direction of the drive wheel bracket relative to the reference gear.

[0014] The mobile chassis movement control method provided by this invention includes the following steps: Set the target direction of the drive wheel bracket relative to the reference gear, and detect the initial rotation direction of the drive wheel bracket relative to the reference gear; Adjust the first and second clamping teeth to the second state; Based on the initial rotation direction and the target direction, obtain the first rotational speed value of each hub motor; Each hub motor is controlled to rotate according to a first rotational speed value of each hub motor; The actual rotation direction of the drive wheel bracket relative to the reference gear is detected in real time, and the difference 'a' between the actual rotation direction and the target direction is obtained. When -15°≤a≤+15°, each hub motor is controlled to stop rotating, or the first and second clamping teeth are adjusted to the first state, and each hub motor is made to rotate at the same speed.

[0015] According to the mobile chassis movement control method provided by the present invention, before the step of adjusting the first clamping tooth and the second clamping tooth to the second state, the method further includes: detecting the initial spatial orientation of the support member; The step of adjusting the first and second gears to the first state and making each hub motor rotate at the same speed further includes: Real-time detection of the actual spatial orientation of the support component; Obtain the difference b between the actual spatial direction and the initial spatial direction; When b < -5° or +5° < b, the second rotational speed value of each hub motor is obtained based on the difference between the actual spatial direction and the initial spatial direction. The rotation of each hub motor is controlled according to the second rotational speed value of each hub motor. When -5°≤b≤+5°, the rotation of each hub motor is stopped, or each hub motor is made to rotate at the same speed.

[0016] The lifting control method for a mobile chassis provided by this invention includes the following steps: Acquire control information and select either a descent or an ascent condition based on the control information; Under descent operating conditions: Set the initial target position, safe position, and target pressure F of the powered steering wheel; control the rotation of the lifting motor; and obtain the actual position of the powered steering wheel in real time, as well as the actual resistance F experienced by the powered steering wheel during descent. i ; Compare the actual position with the first target position, and set the F i Compare with F; When the actual position is equal to the first target position, if F i If F ≥ 0.9F, control the lifting motor to stop rotating; if F i If the value is less than 0.9F, control the lifting motor to continue rotating until F is reached. i ≥0.9F and the actual position is higher than the safe position; When the actual position is higher than the first target position, if F i ≥F, control the lifting motor to stop rotating; Under conditions of increased operating speed: Set the second target position of the power steering wheel, control the lifting motor to rotate in reverse, and obtain the actual position of the power steering wheel in real time; The actual position is compared with the second target position. When the actual position is equal to the second target position, the lifting motor is controlled to stop rotating.

[0017] The mobile chassis provided by this invention features multiple driven casters that provide stable support to the support members from all sides during use. This ensures the mobile chassis maintains balance under different postures and movement states, preventing it from tilting or tipping over due to instability. This enhances the overall static stability of the mobile chassis and provides a reliable foundation for the normal operation of other devices or equipment mounted on it. The powered steering wheel enables fully automatic, omnidirectional directional adjustment, as well as forward and backward movements. When the mobile chassis is manually pushed, the driving action of the powered steering wheel assists in efficiently completing the movement operation, thus ensuring the mobile chassis's movement efficiency and response speed, while effectively reducing the operator's workload.

[0018] Compared to existing technologies, the mobile chassis provided by this invention allows for the free lifting and lowering of the powered steering wheel via a lifting device. This means that the powered steering wheel can be selected to be in contact with the ground, and can switch between fully automatic electric control, semi-automatic assisted movement control, and pure manual control. This effectively improves the functionality and versatility of the mobile chassis, enabling it to adapt to more complex working environments. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the axonal structure of the mobile chassis provided in an embodiment of the present invention.

[0021] Figure 2 This is an isometric view of the lifting device provided in an embodiment of the present invention.

[0022] Figure 3 This is an exploded structural diagram of the lifting device provided in an embodiment of the present invention.

[0023] Figure 4 This is an exploded structural diagram of the manual control component provided in an embodiment of the present invention.

[0024] Figure 5 This is a cross-sectional structural diagram of the manual control component provided in an embodiment of the present invention in the non-operating state.

[0025] Figure 6 This is a cross-sectional structural diagram of the manual control component provided in an embodiment of the present invention under working conditions.

[0026] Figure 7 This is a schematic diagram of the shaft-side structure of the power steering wheel provided in an embodiment of the present invention from a first-view perspective.

[0027] Figure 8 This is an exploded structural diagram of the power steering wheel provided in an embodiment of the present invention from a first-view perspective.

[0028] Figure 9 This is a schematic diagram of the shaft-side structure of the power steering wheel provided in an embodiment of the present invention from a second perspective.

[0029] Figure 10 This is an exploded structural diagram of the powered steering wheel provided in an embodiment of the present invention from a second perspective.

[0030] Figure 11 This is an axonal schematic diagram of the spring suspension provided in an embodiment of the present invention.

[0031] Figure 12 This is a cross-sectional structural diagram of the spring suspension provided in an embodiment of the present invention.

[0032] Figure 13 This is a schematic diagram of the brake assembly provided in an embodiment of the present invention from a first-view perspective.

[0033] Figure 14 This is a schematic diagram of the brake assembly provided in an embodiment of the present invention from a second perspective.

[0034] Figure 15 This is a schematic diagram of the axle side of the driven caster provided in an embodiment of the present invention.

[0035] Figure 16 This is a flowchart illustrating the movement control method for a mobile chassis provided in an embodiment of the present invention.

[0036] Figure 17 This is a flowchart illustrating the lifting control method for a mobile chassis provided in an embodiment of the present invention.

[0037] Figure label: 100: Support component; 200: Power steering wheel; 210: Reference gear; 220: Drive wheel bracket; 230: Brake assembly; 231: Brake motor; 232: First brake tooth; 233: Second brake tooth; 234: Cable; 235: Springback reset component; 240: Hub motor; 250: Cross roller bearing; 260: Spring suspension; 261: Upper base plate; 262: Lower base plate; 263: Elastic component; 264: First guide rod; 265: Second guide rod; 270: Angle encoder; 271: Angle detection pinion; 300: Lifting device; 301: First guide rail; 302: Lifting motor; 303: Active slider; 304: First connecting rod; 305: Second connecting rod; 306: Lead screw nut; 307: Support; 308: Mounting plate; 309: Second guide rail; 310: First driven slider; 311: Second driven slider; 312: Third connecting rod; 313: Fixed block; 314: Manual control component; 315: Sliding retainer; 316: Sliding channel; 317: Inner fixed wheel; 318: Outer moving wheel; 319: Limiting groove; 320: Crank handle; 322: First positioning plunger; 323: Second positioning plunger; 400: Driven caster; 500: Brake assembly; 510: Brake component; 511: First crossbar; 512: Brake pedal; 513: Pedal housing; 514: Front linkage; 515: Fisheye bearing linkage; 516: Rear linkage; 517: Second crossbar; 520: Unlocking component; 521: Rolling rotor; 522: Tension spring; 523: Support block; 524: Unlocking pedal. Detailed Implementation

[0038] Figure 1 This is a schematic diagram of the axonal structure of the mobile chassis provided in an embodiment of the present invention; Figure 2 This is an isometric schematic diagram of the lifting device provided in an embodiment of the present invention; Figure 3 This is an exploded structural diagram of the lifting device provided in an embodiment of the present invention.

[0039] See Figures 1 to 3 The first aspect of this invention provides a mobile chassis, which includes a support member 100, a power steering wheel 200, a lifting device 300, and a plurality of driven casters 400. The support member 100 can be configured as a support plate or a support frame, etc., and can be adapted to the actual situation. For example, when the mobile chassis is used as the chassis of a hospital bed, since the bottom of the hospital bed is generally also a frame structure, a support frame can be set as the support member 100 to improve adaptability. When the mobile chassis is used to move medical equipment, since the bottom of the equipment is generally flat, a support plate can be set as the support member 100 to improve adaptability.

[0040] A power steering wheel 200 is disposed at the bottom of the support member 100. The power steering wheel 200 is used to drive the support member 100 to move. For example, a roller with a drive motor can be used as the power steering wheel 200. Multiple driven casters 400 are disposed at the bottom of the support member 100 and surround the power steering wheel 200. In an optional embodiment of the present invention, the number of driven casters 400 can be three, four, or five, etc. In this embodiment of the present invention, four driven casters 400 are used as an example. The four driven casters 400 are arranged in a four-corner distribution around the power steering wheel 200. The driven casters 400 can be components such as casters. The number and specific form of the driven casters 400 can be adapted to the actual situation. A lifting device 300 is disposed between the power steering wheel 200 and the support member 100. The lifting device 300 is used to adjust the height of the power steering wheel 200.

[0041] See Figures 1 to 3 It is understood that, during use, the mobile chassis provided in this embodiment of the invention provides stable support for the support member 100 from all sides via multiple driven casters 400. This ensures that the mobile chassis maintains balance under different postures and movement states, preventing it from tilting or tipping over due to instability. This enhances the overall static stability of the mobile chassis and provides a reliable foundation for the normal operation of other devices or equipment mounted on it. The power steering wheel 200 enables fully automatic, omnidirectional directional adjustment, forward and backward movement of the mobile chassis. When the mobile chassis is manually pushed, the driving action of the power steering wheel 200 assists in efficiently completing the movement operation, thereby ensuring the mobility and response speed of the mobile chassis while effectively reducing the operator's burden.

[0042] Compared to existing technologies, the mobile chassis provided in this embodiment of the invention allows the power steering wheel 200 to be freely raised and lowered via the lifting device 300. This means that the power steering wheel 200 can be selected to be in contact with the ground, thereby enabling the power steering wheel 200 to switch between fully automatic electric control, semi-automatic assisted movement control, and pure manual control. This effectively improves the functionality and versatility of the mobile chassis, allowing it to adapt to more complex working environments.

[0043] Continue reading Figure 2 and Figure 3 In an optional embodiment of the present invention, the lifting device 300 includes a first guide rail 301, a lifting motor 302, an active slider 303, a first connecting rod 304, and a second connecting rod 305. The first guide rail 301 is laid on the bottom of the support member 100, and its specific direction can be selected adaptively. The lifting motor 302 is fixed to the bottom of the support member 100 by a motor mounting plate and is located at one end of the first guide rail 301. The lifting motor 302 can take many forms, such as a screw motor or a linear motor. In some optional cases, the lifting motor 302 can also be replaced by a telescopic cylinder or a hydraulic cylinder. The figure shows an example of the lifting motor 302 using a screw motor. For ease of explanation, this article uses the lifting motor 302 using a screw motor as an example for illustration. Based on the embodiments given in this invention, those skilled in the art can deduce the usage of other optional components. Therefore, the specific implementation methods of other optional components will not be described in detail here.

[0044] The lead screw of the lifting motor 302 (i.e., the output end of the lifting motor 302) extends in the same direction as the first guide rail 301 and is arranged parallel to each other at intervals. The active slider 303 is located on the first guide rail 301 and slides with the first guide rail 301. The active slider 303 is also threadedly connected to the lead screw of the lifting motor 302. Specifically, the connection between the two can be achieved through the lead screw nut 306. When it is necessary to monitor the downward pressure of the lifting device 300 (i.e., the actual resistance encountered during the descent), a force sensor can also be set between the lead screw nut 306 and the active slider 303 for detection.

[0045] One end of the first connecting rod 304 is rotatably connected to the active slider 303, and the other end of the first connecting rod 304 is rotatably connected to the power steering wheel 200; one end of the second connecting rod 305 is rotatably connected to the support 307, the support 307 is fixedly connected to the support member 100, and the other end of the second connecting rod 305 is also rotatably connected to the power steering wheel 200; wherein, the first connecting rod 304 and the second connecting rod 305 can be arranged on the same side (not shown in the figure), or they can be arranged on opposite sides (e.g., Figure 2 As shown in the figure, the lengths of the first link 304 and the second link 305 can be adapted to actual needs.

[0046] During use, when the lifting motor 302 rotates, it will drive the active slider 303 to move along the length of the first guide rail 301. During this process, the active slider 303 will rotate relative to the first connecting rod 304. The first connecting rod 304 will transmit the power of the active slider 303 to the power steering wheel 200. However, due to the restriction of the second connecting rod 305, the linear motion of the active slider 303 along the first guide rail 301 will eventually be converted into the lifting motion of the power steering wheel 200.

[0047] See Figure 2 and Figure 3 It is understood that in the mobile chassis provided in the embodiments of the present invention, by setting the first link 304 and the second link 305, the lateral propulsion motion of the horizontally set lifting motor 302 can be converted into the linear motion of the power steering wheel 200 in the vertical direction. Compared with the scheme of setting the lifting motor 302 vertically, this method can effectively reduce the height occupied by the lifting device 300 in the vertical space. For a mobile chassis, which has strict requirements on height, this setting method can make the structure of the mobile chassis more compact in terms of spatial layout.

[0048] Secondly, during the power transmission process, the downward pressure of the lifting motor 302 on the power steering wheel 200 is equal to the thrust of the lifting motor 302 multiplied by the tangent of the angle between the first connecting rod 304 and the horizontal plane. Therefore, with the power of the lifting motor 302 remaining constant, the closer the angle between the first connecting rod 304 and the horizontal plane is to 90°, the greater the downward pressure. Based on this, in this embodiment of the invention, when the angle between the first connecting rod 304 and the horizontal plane is 90°, that is, when the first connecting rod 304 is perpendicular to the horizontal plane, the first connecting rod 304 can provide a very large thrust amplification factor. This structural design can effectively reduce the load on the lifting motor 302 while providing the same downward pressure.

[0049] Continue reading Figure 2 and Figure 3 In an optional embodiment of the present invention, the lifting device 300 further includes a mounting plate 308, a second guide rail 309, a first driven slider 310, a second driven slider 311, and a third connecting rod 312; the mounting plate 308 is fixedly disposed on the top of the power steering wheel 200; the second guide rail 309 is laid on the top of the mounting plate 308, the first driven slider 310 is slidably disposed on the second guide rail 309, and the first connecting rod 304 and the second connecting rod 305 are rotatably connected to the first driven slider 310, thereby realizing indirect rotational cooperation with the power steering wheel 200.

[0050] The second driven slider 311 is slidably disposed on the first guide rail 301 and located at the end of the active slider 303 away from the lifting motor 302. The second driven slider 311 is also connected to the lead screw of the lifting motor 302. One end of the third connecting rod 312 is rotatably connected to the second driven slider 311, and the other end is rotatably connected to the fixed block 313 protruding from the surface of the mounting plate 308. The third connecting rod 312 and the second connecting rod 305 are rotatably connected. The two are a cross-link structure, which is a double-link structure that rotates around the center.

[0051] In use, in addition to the transmission process described in the aforementioned embodiments, the first connecting rod 304 first transmits the power of the lead screw to the first driven slider 310. However, due to the restriction of the first driven slider 310 by the second connecting rod 305, the first driven slider 310 causes the mounting plate 308 and the power steering wheel 200 to move up and down. In this process, in the previous embodiment, the power steering wheel 200 may move along the length direction of the first guide rail 301 during the up and down movement. However, in this embodiment, the presence of the second guide rail 309, the third connecting rod 312, and the second driven slider 311 restricts the movement of the mounting plate 308 and the power steering wheel 200 along the length direction of the first guide rail 301. This ensures that during the rotation of the lead screw, the mounting plate 308 and the power steering wheel 200 only move in the vertical direction and do not move on the horizontal plane, thus achieving vertical lifting.

[0052] Understandably, the power steering wheel 200 is a key component for supporting and transmitting power to the mobile chassis. In some cases, if the power steering wheel 200 is relatively displaced on the horizontal plane with the support member 100 during the lifting and lowering process, it may affect the force balance of the mobile chassis, causing the mobile chassis to bear uneven forces in different directions. This will increase the stress on the support member 100 and the connecting rod components. Long-term or large-scale positional changes may cause structural deformation of the support member 100 and the connecting rod structure, thereby affecting the overall strength and stability of the mobile chassis and reducing its service life.

[0053] The present invention provides a mobile chassis in which a second guide rail 309, a first driven slider 310, a second driven slider 311, and a third connecting rod 312 are added on the basis of the aforementioned embodiments. Through the coordinated cooperation of these components, unnecessary displacement of the power steering wheel 200 in other directions during the lifting process can be limited, the precision and accuracy of the lifting control of the power steering wheel 200 can be improved, and the influence caused by the displacement of the power steering wheel 200 in other directions can be avoided.

[0054] Continue reading Figure 2 and Figure 3In an optional embodiment of the present invention, the first link 304, the second link 305, the second guide rail 309, and the third link 312 in the aforementioned embodiments can be provided in two sets. These two sets of power transmission structures are symmetrically arranged on both sides of the first guide rail 301. It is understood that when the lifting device 300 is working, it may be subjected to forces in various directions. This symmetrical structure can form a stable mechanical support structure on both sides of the first guide rail 301, which can effectively disperse and balance these forces and prevent structural deformation or damage due to excessive force on one side. In addition, when the lifting device 300 is subjected to lateral impact or uneven load during operation, this symmetrical design ensures the stability of the power steering wheel 200 and ensures the normal operation of the mobile chassis.

[0055] In addition, this symmetrical design, through the cooperation of the two-sided components, can more precisely control the lifting and lowering trajectory of the mounting plate 308 and the power steering wheel 200; furthermore, the coordinated movement of this two-sided design can reduce movement deviations caused by factors such as manufacturing errors, assembly errors, or component wear.

[0056] In an optional embodiment of the present invention, unlike the previous embodiment, the transmission system between the lifting motor 302 and the power steering wheel 200 can also adopt a gear and rack mechanism. In other words, the linkage structure in the previous embodiment can be replaced by a gear and rack mechanism, so that the lifting motor 302 drives the power steering wheel 200 to lift and lower through the gear and rack structure. The gear and rack mechanism can be referred to the existing technology for adaptive design, which will not be described in detail here. Users can choose according to actual needs.

[0057] Figure 4 This is an exploded structural diagram of the manual control component provided in an embodiment of the present invention; Figure 5 This is a cross-sectional structural diagram of the manual control component provided in an embodiment of the present invention in the non-operating state; Figure 6 This is a cross-sectional structural diagram of the manual control component provided in an embodiment of the present invention under working conditions.

[0058] See Figures 4 to 6 In an optional embodiment of the present invention, the lifting device 300 further includes a manual control component 314, which is disposed on the support member 100 and located at the end of the lifting motor 302 away from the active slider 303. Specifically, the manual control component 314 includes a sliding retainer 315, an inner fixed wheel 317, an outer moving wheel 318, and a crank handle 320.

[0059] The sliding retainer 315 is a block structure, and its shape is not limited. It can be any other suitable shape, such as a cylindrical structure. The upper surface of the sliding retainer 315 is fixedly connected to the lower surface of the support 100. The sliding retainer 315 is located at the end of the lifting motor 302 away from the active slider 303. Along the length of the lead screw, a through sliding channel 316 is formed inside the slider retainer. The inner fixed wheel 317 is located in the sliding channel 316 and at the end of the sliding channel 316 away from the lifting motor 302. In this embodiment, the main shaft of the lifting motor 302 extends a certain length on the back side of the lifting motor 302. In other words, a section of the main shaft extends out of the lifting motor 302 on the side away from the active slider 303. The inner fixed wheel 317 is fixedly connected to this back-extending main shaft, so that the inner fixed wheel 317 can rotate synchronously with the lifting motor 302.

[0060] The outer driven wheel 318 is slidably disposed inside the sliding channel 316 and sleeved on the outside of the inner fixed wheel 317. An internal gear is formed on the end of the outer driven wheel 318 facing the lifting motor 302, and the internal gear is used to mesh with the external gear of the inner fixed wheel 317. The crank handle 320 is connected to the end of the outer driven wheel 318 away from the lifting motor 302. The crank handle 320 is used to drive the outer driven wheel 318 to rotate, so as to manually adjust the height of the power steering wheel 200.

[0061] In the non-operating state, the internal gear of the outer driving wheel 318 is located on the side of the inner fixed wheel 317 facing the lifting motor 302. At this time, the two have no contact relationship and cannot rotate synchronously. Figure 5 As shown; in the working state, the internal gear of the outer driving wheel 318 is sleeved on the outside of the inner fixed wheel 317 and meshes with the inner fixed wheel 317. At this time, the two can rotate synchronously, as shown. Figure 6 As shown, the position change of the outer driving wheel 318 can be achieved by pushing or pulling the handle 320 to drive the outer driving wheel 318 to move linearly within the sliding channel 316. It should be noted that the shape of the internal gear is not limited to the standard tooth profile, and can be square, triangular, etc. The meshing state does not need to be fully meshed, and there can be a large gap between the tooth tips. Specifically, it can be selected adaptively according to the actual situation.

[0062] See Figures 4 to 6 It is understood that in an optional embodiment of the present invention, the inner fixed wheel 317 and the outer moving wheel 318 are not engaged in the non-working state, and the equipment is controlled by the lifting motor 302. In case of emergency such as power failure, pulling the rocker handle 320 outward will connect the inner fixed wheel 317 and the outer moving wheel 318, thereby transmitting the power generated by manual operation to the lifting device 300, realizing manual lifting control of the power steering wheel 200.

[0063] In the event of a sudden power outage or short circuit in the mobile chassis, the powered steering wheel 200 can be manually raised via the manual control component 314. This function ensures that the mobile chassis can still make necessary position adjustments in emergency situations such as power outages, preventing the internal power system of the powered steering wheel 200 from hindering the movement of the mobile chassis. This greatly improves the mobile chassis's ability to cope with emergencies and ensures unimpeded movement and operability in special circumstances. Secondly, when the mobile chassis is not in operation or requires maintenance, compared to non-manual direct adjustment, the manual raising and lowering via the manual control component 314 allows for quick and direct raising and lowering of the powered steering wheel 200, effectively improving the flexibility of the mobile chassis.

[0064] Continue reading Figures 4 to 6 In an optional embodiment of the present invention, the manual control component 314 further includes a first positioning plunger 322 and a second positioning plunger 323. The first positioning plunger 322 and the second positioning plunger 323 are spaced apart on the inner wall of the sliding channel 316, and the first positioning plunger 322 is located at one end of the sliding channel 316 facing the lifting motor 302, and the position of the second positioning plunger 323 corresponds to the position of the inner fixed wheel 317; correspondingly, a limit groove 319 is provided on the outer wall of the outer moving wheel 318. In the working state, the limit groove 319 is used to cooperate with the second positioning plunger 323. Figure 6 As shown), to facilitate determining the position of the outer moving wheel 318, in the non-working state, the limiting groove 319 is used to cooperate with the first positioning plunger 322 (as shown). Figure 5 (as shown), so as to determine the position of the outer driving wheel 318.

[0065] Specifically, the first positioning plunger 322 includes a ball and a spring. The inner wall of the sliding channel 316 is provided with a mounting hole. One end of the spring is connected to the bottom wall of the mounting hole, and the other end is connected to the ball. The spring can drive the ball to move in and out of the mounting hole. In the first state, the ball extends out of the mounting hole partly under the support of the spring. The limiting groove 319 provided on the outer wall of the outer driving wheel 318 is an arc-shaped limiting groove 319. When the limiting groove 319 passes the position of the ball, the ball will extend into the limiting groove 319 under the support of the spring. During this process, a noticeable jerking sensation can be felt when the handle 320 is turned. The operator can clearly determine whether the position of the outer driving wheel 318 is in place by feeling this jerking sensation.

[0066] In an optional embodiment of the present invention, the ball can also be replaced by a protrusion or a hemispherical ball with an outer arc surface, and the spring can be a helical spring or a rubber spring, etc., specifically, it can be selected according to the actual situation. The structure of the second positioning plunger 323 is similar to the structure of the first positioning plunger 322, and the structure of the first positioning plunger 322 can be referred to in detail, which will not be repeated here.

[0067] See Figure 5 and Figure 6 It is understood that in the mobile chassis provided in this embodiment of the invention, under different operating states of the equipment, the first positioning plunger 322 and the second positioning plunger 323 cooperate with the limiting groove 319 on the outer wall of the outer moving wheel 318 to accurately determine the position of the outer moving wheel 318. Furthermore, in the non-operating state, the cooperation between the first positioning plunger 322 and the limiting groove 319 prevents the outer moving wheel 318 from sliding arbitrarily, ensuring that the manual components are in a stable position when the equipment is controlled by the lifting motor 302, and avoiding interference with the normal operation of the equipment due to the displacement of the outer moving wheel 318. In the operating state, the cooperation between the second positioning plunger 323 and the limiting groove 319 allows the outer moving wheel 318 to accurately reach the predetermined power transmission position during manual operation, ensuring a reliable connection between the inner fixed wheel 317 and the outer moving wheel 318, achieving stable manual power transmission, thereby improving the accuracy and reliability of the equipment during emergency manual operation.

[0068] Secondly, during the interaction between the ball bearings of the first positioning plunger 322 and the second positioning plunger 323 and the limiting groove 319 under the action of the elastic element 263, the crank handle 320 will produce a noticeable jerking sensation. This jerking sensation provides the operator with clear operational feedback, allowing the operator to accurately judge whether the outer driving wheel 318 has reached the correct position. In this way, there is no need to rely on complex detection equipment or visual observation, which improves the convenience and intuitiveness of operation and reduces the difficulty of operation. Especially in emergency situations, it can help the operator to quickly and accurately complete the operation of the manual power lifting device 300, effectively improving the emergency response capability and operational efficiency of the equipment.

[0069] Figure 7 This is a schematic diagram of the shaft-side structure of the powered steering wheel provided in an embodiment of the present invention from a first-view perspective; Figure 8 This is an exploded structural diagram of the power steering wheel provided in an embodiment of the present invention from a first-view perspective; Figure 9 This is a schematic diagram of the shaft-side structure of the powered steering wheel provided in an embodiment of the present invention from a second perspective; Figure 10 This is an exploded structural diagram of the powered steering wheel provided in an embodiment of the present invention from a second perspective.

[0070] See Figures 7 to 10In an optional embodiment of the present invention, the power steering wheel 200 includes a reference gear 210, a drive wheel bracket 220, a brake assembly 230, and two hub motors 240. The reference gear 210 is connected to the bottom of the aforementioned mounting plate 308. The drive wheel bracket 220 is located at the lower end of the reference gear 210 and rotates with the reference gear 210. The rotational engagement between the two can be achieved by a crossed roller bearing 250. The two hub motors 240 are located opposite each other at both ends of the drive wheel bracket 220. In this embodiment, the hub motors 240 are used as the drive wheels of the moving chassis. The structure of the hub motors 240 can be referred to in the prior art, and will not be described in detail here.

[0071] The brake assembly 230 includes a brake motor 231, a first gripping tooth 232, and a second gripping tooth 233. The brake motor 231 is mounted on the drive wheel bracket 220 and located between two hub motors 240. The first gripping tooth 232 and the second gripping tooth 233 are mounted on the same side of the drive wheel bracket 220 as the brake motor 231 and are rotatably connected to the drive wheel bracket 220. The first gripping tooth 232 and the second gripping tooth 233 are arranged at an included angle to each other and mesh with each other. The end of the first gripping tooth 232 away from the second gripping tooth 233 is used to mesh with the reference gear 210, and the end of the second gripping tooth 233 away from the first gripping tooth 232 is used to mesh with the reference gear 210. The brake motor 231 is connected to at least one of the first gripping tooth 232 and the second gripping tooth 233.

[0072] The brake motor 231 is used to drive the first gripping tooth 232 and the second gripping tooth 233 to switch between a first state and a second state. In the first state, the first gripping tooth 232 and the second gripping tooth 233 are respectively engaged with the reference gear 210 so that the reference gear 210 and the drive wheel support 220 rotate synchronously. In the second state, the first gripping tooth 232 and the second gripping tooth 233 are respectively disengaged from the reference gear 210 so that the drive wheel support 220 can rotate relative to the reference gear 210.

[0073] The connection between the brake motor 231 and the first gripping tooth 232 and the second gripping tooth 233 can be via gear transmission, cable transmission 234, or belt transmission, etc. Figure 9 The diagram shows the transmission method using the pull wire 234. In this embodiment, it is sufficient to ensure that the output end of the brake motor 231 is connected to one of the first gripping tooth 232 and the second gripping tooth 233. It should be noted that when the brake motor 231 is connected to the first gripping tooth 232 and the second gripping tooth 233 at the same time, it is necessary to ensure that the first gripping tooth 232 and the second gripping tooth 233 rotate synchronously under the drive of the brake motor 231.

[0074] Additionally, at least one of the first gripping tooth 232 and the second gripping tooth 233 needs to be equipped with a springback reset component 235 to ensure that the first gripping tooth 232 and the second gripping tooth 233 can maintain locking to the reference gear 210 when the brake motor 231 is not working. The springback reset component 235 can be an existing component such as a torsion spring, and can be adapted accordingly. Of course, in other optional embodiments, if the brake motor 231 itself has a reverse function, the springback reset component 235 can be omitted.

[0075] by Figure 9 For reference, in the first state, when the brake motor 231 is not working, the first gripping tooth 232 and the second gripping tooth 233 are respectively engaged with the reference gear 210 under the support of the torsion spring, thereby limiting the rotation of the drive wheel bracket 220 relative to the reference gear 210. In the second state, the brake motor 231 rotates, and the turntable at the drive end of the brake motor 231 drives the second gripping tooth 233 connected to it to rotate in a direction away from the reference gear 210 through the pull cable 234. During this process, the first gripping tooth 232 also rotates synchronously in a direction away from the reference gear 210 based on its engagement with the second gripping tooth 233. At this point, the first gripping tooth 232 and the second gripping tooth 233 are simultaneously disengaged from the reference gear 210, and the reference gear 210 and the drive wheel bracket 220 resume their rotational engagement based on the crossed roller bearing 250.

[0076] In the second state of the brake motor 231, the differential or synchronous rotation of the two hub motors 240 can realize the rotation of the drive wheel bracket 220 relative to the reference gear 210, that is, the rotation of the power steering wheel 200 relative to the support member 100. During this process, the spatial orientation of the support member 100 does not change with the rotation of the power steering wheel 200. In the first state, since the drive wheel bracket 220 cannot rotate relative to the reference gear 210, when the two hub motors 240 rotate differentially or synchronously, the support plate will rotate synchronously with the power steering wheel 200, that is, the change of the spatial orientation of the mobile chassis is realized.

[0077] Understandably, the application of the brake assembly 230 allows the power steering wheel 200 to freely switch between self-direction adjustment and spatial direction adjustment of the mobile chassis. This greatly enhances the mobility of the mobile chassis in complex environments, enabling it to quickly and accurately change its direction of travel in narrow spaces or scenarios with many obstacles, flexibly avoid obstacles, achieve efficient path planning and operation, and effectively expand the application range of the equipment.

[0078] Secondly, the brake assembly 230 integrates the functions of adjusting the direction of the power steering wheel 200 itself and adjusting the spatial direction of the mobile chassis, which effectively simplifies the structure of the mobile chassis. Compared with using multiple independent mechanisms to realize the adjustment of the direction of the power steering wheel 200 itself and the spatial direction of the mobile chassis, it effectively reduces the number of parts and assembly complexity, reduces manufacturing and maintenance costs, and improves the reliability and overall performance of the mobile chassis.

[0079] Figure 11 This is an axonometric schematic diagram of the spring suspension provided in an embodiment of the present invention; Figure 12 This is a cross-sectional structural diagram of the spring suspension provided in an embodiment of the present invention.

[0080] See Figure 11 and 12 In an optional embodiment of the present invention, the power steering wheel 200 further includes a spring suspension 260. The spring suspension 260 includes an upper base plate 261, a lower base plate 262, and a plurality of elastic elements 263. The upper base plate 261 is disposed at the bottom of the support member 100, the lower base plate 262 is disposed on the upper surface of the reference gear 210, and the plurality of elastic elements 263 are spaced apart between the upper base plate 261 and the lower base plate 262. In summary, in this embodiment, the spring suspension 260 is a transmission component between the support member 100 and the reference gear 210.

[0081] In an optional embodiment of the present invention, the spring suspension 260 further includes a first guide rod 264 and a second guide rod 265. The first guide rod 264 is formed on the lower surface of the upper base plate 261, and the second guide rod 265 is formed on the upper surface of the lower base plate 262. One of the first guide rod 264 and the second guide rod 265 is sleeved on the other, and the two are slidably engaged. In other words, the first guide rod 264 and the second guide rod 265 have an inner and outer nested structure. The height of the outer ring of the first guide rod 264 and the second guide rod 265 needs to be less than the height of the elastic member 263 in its natural state to avoid positional interference caused by the expansion and contraction of the elastic member 263, that is, the change in the distance between the upper base plate 261 and the lower base plate 262. The first guide rod 264 and the second guide rod 265 are used to guide the change in the distance between the upper base plate 261 and the lower base plate 262 to avoid relative displacement between the two in the radial direction.

[0082] See Figures 7 to 12 It is understandable that when the equipment moves on uneven ground, the bumps and impacts of the ground will be transmitted to the power steering wheel 200. In the mobile chassis provided in this embodiment of the invention, the spring suspension 260 is arranged between the upper base plate 261 and the lower base plate 262 through multiple elastic elements 263, which can provide excellent buffering and shock absorption function for the power steering wheel 200. The elastic elements 263 can effectively absorb and disperse these impact forces, reducing the vibration impact on the support member 100 and the equipment above.

[0083] Secondly, the mobile chassis has high requirements for its own stability. If the power steering wheel 200 makes a hard landing, the huge impact force may affect the stability and safety of the mobile chassis itself. In this embodiment, when the power steering wheel 200 descends and contacts the ground, the elastic element 263 is compressed, which will convert the impact force into elastic potential energy. The elastic element 263 can effectively buffer the impact force of the power steering wheel 200 at the moment of contact with the ground, and reduce the impact of the descent of the power steering wheel 200 on the stability of the chassis.

[0084] In addition, due to the elastic characteristics of the spring suspension 260, when the power steering wheel 200 moves to uneven ground, the spring suspension 260 can adaptively adjust its attitude according to the undulation of the ground. In other words, the elastic element 263 can extend and retract to different degrees according to the changes in ground height. In this way, all parts of the power steering wheel 200 can make good contact with the ground, ensuring that the mobile chassis can maintain stable operation under various terrain conditions and enhancing the adaptability of the mobile chassis to complex working environments.

[0085] Continue reading Figure 7 and Figure 8 In an optional embodiment of the present invention, the power steering wheel 200 further includes an angle encoder 270. The angle encoder 270 and the brake motor 231 are disposed opposite each other on both sides of the drive wheel bracket 220. The angle detection pinion 271 of the angle encoder 270 meshes with the reference gear 210. When the drive wheel bracket 220 rotates relative to the reference gear 210, the angle detection pinion 271 of the angle encoder 270 will travel on the side wall of the reference gear 210. During this process, the angle encoder 270 can determine the rotation direction of the drive wheel bracket 220 relative to the reference gear 210 by detecting the rotation angle of the angle detection pinion 271, that is, the rotation direction of the power steering wheel 200 relative to the support member 100.

[0086] In an optional embodiment of the present invention, the direction of the power steering wheel 200 relative to the support plate can also be determined by other angle detection components or direction detection components, such as existing components like angle sensors or direction sensors. Specifically, the appropriate component can be selected according to the actual situation.

[0087] Figure 13 This is an assembly diagram of the brake assembly provided in an embodiment of the present invention from a first-view perspective; Figure 14 This is a schematic diagram of the brake assembly provided in an embodiment of the present invention from a second perspective. Figure 15 This is a schematic diagram of the axle side of the driven caster provided in an embodiment of the present invention.

[0088] See Figures 13 to 15In an optional embodiment of the present invention, the mobile chassis further includes a brake assembly 500, which includes a brake component 510 and an unlocking component 520. In this embodiment, four driven casters 400 are used as an example, and all four driven casters 400 are centrally controlled casters with locking function. The centrally controlled casters have central locking holes for controlling the locking and unlocking of the casters. The structure of the centrally controlled casters can be referred to in the prior art, and will not be described in detail here.

[0089] Specifically, the first crossbar 511 of the brake component 510 passes through and is fixed to the central locking holes of the two driven casters 400 on one side of the support member 100. The brake pedal 512 is fixedly connected to the first crossbar 511, and the pedal housing 513 is fixedly connected to the brake pedal 512. The front link 514 is located on one side of the first crossbar 511 and is fixedly connected to it. The fisheye bearing link 515 is rotatably connected to the front link 514 and rotatably connected to the rear link 516. During installation, the front link 514 and the rear link 516 need to be kept in a parallel position. The rear link 516 is fixedly connected to the second crossbar 517. The second crossbar 517 passes through and is fixed to the central locking holes of the two driven casters 400 on the other side of the support member 100. When the brake pedal housing 512 is pressed, the brake pedal 512 will rotate a certain positive angle relative to its natural state. The first crossbar 511 will rotate with the brake pedal 512, and all driven casters 400 will be locked under the action of the link.

[0090] The unlocking component 520 includes a rolling rotor 521, a tension spring 522, a support block 523, and an unlocking pedal 524. The rolling rotor 521 is located at the end of the brake pedal 512 away from the pedal housing 513 and is rotatably connected to the brake pedal 512. The support block 523 is fixed to the top of the support member 100 and is rotatably connected to the unlocking pedal 524. One end of the tension spring 522 is fixedly connected to the support block 523, and the other end is fixedly connected to the unlocking pedal 524. When the brake pedal 512 is depressed, the unlocking pedal 524 rotates downward and contacts the rolling rotor 521, thereby causing the brake pedal 512 to rotate at a certain negative angle, thus achieving the reset and unlocking of the brake pedal 512. After releasing the unlocking pedal 524, the unlocking pedal 524 will reset under the tension of the tension spring 522. In other words, pressing the unlocking pedal 524 can drive the brake pedal 512 to reset and unlock, and at the same time, the unlocking pedal 524 will also reset.

[0091] See Figures 13 to 15It is understood that in the mobile chassis provided in this embodiment of the invention, when the brake pedal 512 is pressed, all driven casters 400 on the mobile chassis can be locked through the linkage assembly, thereby preventing the mobile chassis from moving accidentally due to external forces (such as ground slope, minor collisions, etc.) when stationary. When the mobile chassis is loading and unloading goods, charging, or in a fixed working position, the brake assembly 500 can ensure the stable parking of the mobile chassis, avoiding safety accidents caused by slippage, and providing reliable stability for the mobile chassis in static working scenarios. In addition, when it is necessary to move the mobile chassis again, pressing the unlock pedal 524 resets the brake pedal 512 and unlocks the driven casters 400. The operation is simple and convenient. This design allows operators to quickly control the braking and movement status of the mobile chassis according to actual needs, improving equipment operating efficiency and adapting to different work scenario transitions.

[0092] In an optional embodiment of the present invention, the mobile chassis further includes a control component, which includes a main control unit board, a gyroscope, and a signal triggering module. The main control unit board receives real-time data transmitted by various monitoring components (such as gyroscopes, position encoders, etc.) and performs calculations, and issues motion commands to the actuators (such as the lifting motor 302, brake motor 231, and hub motor 240 mentioned above) based on the calculation results. The gyroscope is used to identify the spatial direction of the mobile chassis, that is, the spatial direction of the support plate, and feeds the results back to the main control unit board. The signal triggering module collects external operation commands and sends the commands to the central control unit board.

[0093] Figure 16 This is a flowchart illustrating the movement control method for a mobile chassis provided in an embodiment of the present invention.

[0094] See Figure 16 The second aspect of this invention also provides a mobile chassis movement control method, hereinafter referred to as the movement control method; the movement control method provided by this invention is mainly aimed at the power steering wheel 200 in the foregoing embodiments, and specifically, the movement control method includes the following steps.

[0095] S100: Set the target direction of the drive wheel bracket 220 relative to the reference gear 210, and detect the initial rotation direction of the drive wheel bracket 220 relative to the reference gear 210.

[0096] Specifically, after the power steering wheel 200 descends to the ground, the signal triggering module collects the control commands input by the external operator. When the control command is "move," the main control unit board sets the target direction of the drive wheel bracket 220 relative to the reference gear 210 according to the control command, denoted as A. i At the same time, an average speed limit of 240 km / h was set for the two hub motors, denoted as V. iThe angle encoder 270 in the aforementioned embodiment also detects the direction of the current drive wheel bracket 220 relative to the reference gear 210, i.e., the initial rotation direction, denoted as A. k .

[0097] S200: Adjust the first clamping tooth 232 and the second clamping tooth 233 to the second state.

[0098] Specifically, after the aforementioned steps are completed, if the first clamping tooth 232 and the second clamping tooth 233 are in the second state (i.e., the first clamping tooth 232 and the second clamping tooth 233 are disengaged from the reference gear 210), the next step is directly initiated. If the first clamping tooth 232 and the second clamping tooth 233 are in the first state (i.e., the first clamping tooth 232 and the second clamping tooth 233 are respectively engaged with the reference gear 210), the main control unit board starts the brake motor 231, which drives the first clamping tooth 232 and the second clamping tooth 233 to rotate until the first clamping tooth 232 and the second clamping tooth 233 release the restriction on the reference gear 210.

[0099] S300: Obtain the first rotational speed value of each hub motor 240 based on the initial rotational direction and the target direction.

[0100] Specifically, the main control unit board calculates the angle difference between the initial rotation direction and the target direction, denoted as A. d A d= A i -A k Based on historical databases or experimental records, the speed difference required by the two hub motors 240 during the process of bringing the initial rotation direction closer to the target direction is determined, and finally the first rotation speed value required by each hub motor 240 is determined based on the speed difference.

[0101] S400: Controls each hub motor 240 to rotate according to the first rotational speed value of each hub motor 240.

[0102] Specifically, the result calculated in the previous step by the main control unit board controls each hub motor 240 to rotate differentially according to its own first speed value.

[0103] S500: Real-time detection of the actual rotation direction of the drive wheel bracket 220 relative to the reference gear 210, obtaining the difference a between the actual rotation direction and the target direction. When -15°≤a≤+15°, control each hub motor 240 to stop rotating, or adjust the first clamping tooth 232 and the second clamping tooth 233 to the first state and make each hub motor 240 rotate at the same speed.

[0104] Specifically, during the rotation of the two hub motors 240, the main control unit board also needs to detect the actual rotation direction of the drive wheel bracket 220 relative to the reference gear 210 in real time through the angle encoder 270, and calculate the difference between the actual rotation direction and the target direction, denoted as a. When -15°≤a≤+15°, in other words, when the deviation between the actual rotation direction and the target direction is within ±15°, the main control unit board can control the two hub motors 240 to stop rotating, or adjust the first clamping tooth 232 and the second clamping tooth 233 to the first state and make each hub motor 240 rotate at the same speed.

[0105] It should be noted that during the above process, when the entire chassis moves, the average speed of each hub motor (240) needs to be less than or equal to V. i It should be noted that during the rotation of the drive wheel bracket 220 relative to the reference gear 210, V i There is no limit to the rotational speed of the two hub motors 240, i.e., V. i There is no limit to the reversing speed of the power steering wheel 200.

[0106] Understandably, by comprehensively processing the target direction in the external operation command and the data from the angle encoder 270, the motion control method can accurately calculate the angle difference between the initial rotation direction of the drive wheel bracket 220 relative to the reference gear 210 and the target direction, and control the differential rotation of the hub motor 240 accordingly. Based on this, in complex environments such as narrow passages or scenarios requiring precise parking, the power steering wheel 200 can quickly respond to the operator's needs, improve the working efficiency of the mobile chassis in actual operation, and adapt to dynamically changing work scenarios.

[0107] In an optional embodiment of the present invention, before step S200, the movement control method further includes S600: detecting the initial spatial orientation of the support 100.

[0108] Specifically, the main control unit board can detect the current spatial orientation of the support component 100, i.e., the initial spatial orientation, denoted as A, through a gyroscope. abs1 Taking the load above the support member 100 as an example, such as a hospital bed, the spatial direction of the support member 100 refers to the direction of the support member 100 relative to the hospital bed.

[0109] When the result of step S500 is to adjust the first gear 232 and the second gear 233 to the first state and make each hub motor 240 rotate at the same speed, step S500 is followed by step S700: real-time detection of the actual spatial orientation of the support member 100, denoted as A. abs2 .

[0110] S800: Obtain the difference b between the actual spatial direction and the initial spatial direction.

[0111] Specifically, the main control unit board subtracts the actual spatial direction from the initial spatial direction, calculating the difference b between the actual spatial direction and the initial spatial direction. = A abs2 -A abs1 .

[0112] S900: When b < -5° or +5° < b, obtain the second rotational speed value of each hub motor 240 based on the difference between the actual spatial direction and the initial spatial direction.

[0113] Specifically, when b < -5° or +5° < b, the main control unit board calculates the angle difference between the initial spatial direction and the actual spatial direction; and determines the speed difference required by the two hub motors 240 in the process of bringing the actual spatial direction closer to the initial spatial direction based on the historical database or experimental measurement records. Finally, it determines the second rotational speed value required by each hub motor 240 based on the speed difference.

[0114] S1000: Control each hub motor 240 to rotate according to the second rotational speed value of each hub motor 240. When -5°≤b≤+5°, control each hub motor 240 to stop rotating, or make each hub motor 240 rotate at the same speed.

[0115] Specifically, the result calculated by the main control unit board in the previous step controls each hub motor 240 to rotate differentially according to its respective second speed value. During the rotation of the two hub motors 240, the main control unit board also needs to detect the actual spatial direction in real time through a gyroscope and calculate the difference between the actual spatial direction and the initial spatial direction. When -5°≤b≤+5°, in other words, when the deviation between the actual spatial direction and the initial spatial direction is within ±5°, the main control unit board can control the two hub motors 240 to stop rotating, or make each hub motor 240 rotate at the same speed.

[0116] In an optional embodiment of the present invention, S100 further includes: a signal triggering module acquiring control commands input by an external operator; when the control command is "stop moving", the main control unit board rotates the brake motor 231 according to the control command, so that the first gripping tooth 232 and the second gripping tooth 233 rotate to the second state (i.e., the first gripping tooth 232 and the second gripping tooth 233 disengage from the reference gear 210), in other words, so that the reference gear 210 and the drive wheel bracket 220 can move relative to each other, while controlling the two hub motors 240 to stop rotating.

[0117] It is understandable that in the previous embodiment, after adjusting the drive bracket relative to the reference gear 210, during the process of controlling each hub motor 240 to rotate at the same speed, due to unavoidable objective reasons, such as the center of gravity of the load above the support 100 shifting or the support 100 being subjected to an accidental collision, the support 100, i.e., the entire mobile chassis, may deflect towards a certain driven caster 400. During the rotation of the hub motors 240 at the same speed, this is very likely to affect the spatial orientation of the support 100, that is, the position of the support 100 relative to the load above changes. In other words, the spatial posture of the support 100 changes. For equipment such as hospital beds or medical devices, changes in the spatial posture of the support 100 may have serious effects and threaten the patient's life safety. In the motion control method provided by this embodiment of the invention, once the actual spatial orientation deviates from the initial spatial orientation by more than 5°, the orientation is finely adjusted by differential rotation of the hub motors 240. This effectively solves the potential threat to the spatial orientation of the support 100 caused by the rotation of the hub motors 240, and can effectively improve the safety and reliability of the mobile chassis.

[0118] Figure 17 This is a flowchart illustrating the lifting control method for a mobile chassis provided in an embodiment of the present invention.

[0119] See Figure 17 The third aspect of this invention provides a lifting control method for a mobile chassis, which specifically includes the following steps.

[0120] S10: Obtain control information and select either the descent or ascent condition based on the control information.

[0121] Specifically, the signal triggering module collects control information from external operators. When the control information is "descend", the main control unit board selects the descending mode; when the control information is "ascend", the main control unit board selects the ascending mode.

[0122] In the case of descent, the lifting control method also includes the following steps.

[0123] S20: Set the first target position, safe position, and target pressure F of the power steering wheel 200; control the rotation of the lifting motor 302; obtain the actual position of the power steering wheel 200 in real time; and obtain the actual resistance F experienced by the power steering wheel 200 during descent in real time. i .

[0124] Specifically, the main control unit board sets the first target position, which is the target position for descent, according to the control information; sets the safety position, which is the lowest position for descent (to avoid excessive descent and damage to the power steering wheel 200); sets the target pressure, which is the preset value that the aforementioned downward pressure needs to reach; in addition, the active unit board also needs to obtain the actual position of the power steering wheel 200 during the descent process through the position sensor, and obtain the actual resistance received by the power steering wheel 200 during the descent process in real time through the force sensor in the aforementioned embodiment. This actual resistance and the downward pressure are a pair of interacting forces, and the downward pressure can be determined by determining the actual resistance.

[0125] It should be noted that the first target position and the safe position are related to actual objective factors, such as the flatness of the ground, the elastic element 263 in the aforementioned spring suspension 260, and the extension limit of the lead screw. Specifically, the first target position and the safe position can be set adaptively according to the actual situation. Similarly, the setting of the target pressure is also related to the aforementioned objective factors, and the target pressure can also be set adaptively according to the actual situation. This article does not make specific limitations on this.

[0126] S30: Compare the actual position with the first target position, and set F i Compare with F.

[0127] Specifically, the main control unit board compares the actual position with the first target position in real time, and compares the actual resistance with the target pressure.

[0128] S40: When the actual position equals the first target position, if F i ≥0.9F, control the lifting motor 302 to stop rotating; if F i If the value is less than 0.9F, control the lifting motor 302 to continue rotating until the value reaches F. i ≥0.9F and the actual position is smaller than the safe position.

[0129] Specifically, when the actual position reaches the first target position first, determine F. i If the condition ≥0.9F is met, the main control unit board controls the lifting motor 302 to stop rotating; if not, the main control unit board controls the lifting motor 302 to continue rotating until F is reached. i If the judgment result is ≥0.9F and the actual position is higher than the safe position, the operation is completed; otherwise, an error code is returned.

[0130] It should be noted that although the actual position has reached the target position, the actual resistance has not yet reached the set value. Therefore, it is necessary to continue to control the rotation of the lifting motor 302 until the actual resistance meets the requirements. During this process, although the actual position will gradually be lower than the first target position, the power steering wheel 200 is safe during this movement because the first target position is still some distance from the safe position.

[0131] S40: When the actual position is less than the first target position, if F i ≥F, control the lifting motor 302 to stop rotating.

[0132] If it is F during the descent i If the condition ≥F is met first, then even if the actual position is higher than the first target position, the main control unit board will control the lifting motor 302 to stop rotating.

[0133] It should be noted that, although F i If the ≥F condition is met, the actual position has not descended to the first target position. However, the lifting motor 302 cannot be continued to rotate in order to make the actual position meet the first target position. If the lifting motor 302 continues to rotate, the actual resistance will continue to increase, which may cause damage to the power steering wheel 200. Therefore, if F i The condition ≥F must be met first. Even if the actual position has not descended to the first target position, the lifting motor 302 cannot continue to be driven. It should also be noted that in the entire lifting control method, F must be guaranteed. i ≤1.2F to ensure structural safety.

[0134] In the case of lifting operation, the lifting control method also includes the following steps.

[0135] S50: Set the second target position of the power steering wheel 200, control the lifting motor 302 to rotate in reverse, and obtain the actual position of the power steering wheel 200 in real time.

[0136] Specifically, the main control unit board sets the second target position, i.e. the target position for ascent, according to the control information; at the same time, it controls the lifting motor 302 to rotate in the opposite direction. In addition, the active unit board also needs to obtain the actual position of the power steering wheel 200 during the ascent process through the position sensor.

[0137] S60: Compare the actual position with the second target position. When the actual position is equal to the second target position, control the lifting motor 302 to stop rotating.

[0138] Specifically, the main control unit board compares the actual position with the second target position in real time. When the actual position equals the second target position, it controls the lifting motor to stop rotating.

[0139] It is understood that the lifting control method provided in this embodiment of the invention can precisely control the rising height of the powered steering wheel 200, meeting the precise height requirements of the mobile chassis for the powered steering wheel 200 in different working scenarios. Secondly, during the descent of the powered steering wheel 200, the lifting control method determines the height of the powered steering wheel 200 by judging the force detection sensor data F. i This ensures that the contact force between the steering wheel and the ground reaches an appropriate value, preventing unstable movement of the equipment due to insufficient downforce or damage to the powered steering wheel 200 and the mobile chassis due to excessive downforce. Furthermore, the lifting control method automates the lifting of the powered steering wheel 200. Operators only need to issue simple "up" or "down" commands, and the algorithm can automatically complete complex lifting operations based on preset logic. This not only improves operational efficiency but also reduces human error, effectively enhancing the automation level of the mobile chassis.

[0140] In summary, the mobile chassis movement control method and lifting control method proposed in this embodiment of the invention can achieve electric-assisted movement by lowering the power steering wheel 200 in scenarios requiring electric control, and can raise the power steering wheel 200 for direct movement by manual external force when no electric control is required. In addition, when the mobile chassis is working, all driven casters 400 can be locked by pressing the brake pedal 512 to make the working state of the equipment more stable. In the event of an emergency such as a sudden power outage, the power steering wheel 200 can be raised by cranking the handle 320 of the lifting device 300 to facilitate chassis movement in case of sudden situations.

Claims

1. A method for controlling the movement of a mobile chassis, characterized in that, The mobile chassis includes a support structure, a power steering wheel, multiple driven casters, and a lifting device; The power steering wheel is located at the bottom of the support member and is used to drive the support member to move; the power steering wheel includes: A reference gear is located at the bottom of the support member; A drive wheel bracket is located at the lower end of the reference gear and rotates in cooperation with the reference gear. Two hub motors are positioned opposite each other at both ends of the drive wheel bracket; A brake assembly includes a brake motor, a first clamping tooth, and a second clamping tooth. The first clamping tooth and the second clamping tooth mesh with each other and are rotatably connected to the drive wheel bracket. In a first state, the end of the first clamping tooth away from the second clamping tooth meshes with the reference gear, and the end of the second clamping tooth away from the first clamping tooth meshes with the reference gear. In a second state, the end of the first clamping tooth away from the second clamping tooth disengages from the reference gear, and the end of the second clamping tooth away from the first clamping tooth disengages from the reference gear. The brake motor is mounted on the drive wheel bracket and connected to at least one of the first clamping tooth and the second clamping tooth. The brake motor is used to drive the first clamping tooth and the second clamping tooth to switch between the first state and the second state. An angle encoder is disposed on the drive wheel bracket and meshes with the reference gear. The angle encoder is used to detect the rotation direction of the drive wheel bracket relative to the reference gear. The plurality of driven casters are located at the bottom of the support member and surround the power steering wheel; the lifting device is located between the power steering wheel and the support member, and the lifting device is used to adjust the height of the power steering wheel; The motion control method includes the following steps: Set the target direction of the drive wheel bracket relative to the reference gear, and detect the initial rotation direction of the drive wheel bracket relative to the reference gear; Adjust the first and second clamping teeth to the second state; Based on the initial rotation direction and the target direction, obtain the first rotational speed value of each hub motor; Each hub motor is controlled to rotate according to a first rotational speed value of each hub motor; The actual rotation direction of the drive wheel bracket relative to the reference gear is detected in real time, and the difference 'a' between the actual rotation direction and the target direction is obtained. When -15°≤a≤+15°, each hub motor is controlled to stop rotating, or the first and second clamping teeth are adjusted to the first state, and each hub motor is made to rotate at the same speed. Before the step of adjusting the first clamping tooth and the second clamping tooth to the second state, the method further includes: detecting the initial spatial orientation of the support member; The step of adjusting the first and second gears to the first state and making each hub motor rotate at the same speed further includes: Real-time detection of the actual spatial orientation of the support component; Obtain the difference b between the actual spatial direction and the initial spatial direction; When b < -5° or +5° < b, the second rotational speed value of each hub motor is obtained based on the difference between the actual spatial direction and the initial spatial direction. The rotation of each hub motor is controlled according to the second rotational speed value of each hub motor. When -5°≤b≤+5°, the rotation of each hub motor is stopped, or each hub motor is made to rotate at the same speed.

2. The mobile chassis movement control method according to claim 1, characterized in that, The lifting device includes: The first guide rail is located at the bottom of the support member; A lifting motor is located at the bottom of the support member; An active slider is slidably disposed on the first guide rail and connected to the output end of the lifting motor. The lifting motor is used to drive the active slider to move linearly along the first guide rail. The first connecting rod is rotatably connected at one end to the active slider and at the other end to the power steering wheel; The second link is rotatably connected at one end to the support member and at the other end to the power steering wheel.

3. The mobile chassis movement control method according to claim 2, characterized in that, The lifting device also includes: A mounting plate is located on top of the power steering wheel; The second guide rail is disposed on the upper surface of the mounting plate and is arranged parallel to the first guide rail; A first driven slider is slidably disposed on the second guide rail. One end of the first driven slider is rotatably connected to the first connecting rod, and the other end is rotatably connected to the second connecting rod. The second driven slider is slidably disposed on the first guide rail and located on the side of the active slider away from the lifting motor. The second driven slider is connected to the output end of the lifting motor, and the lifting motor is used to drive the second driven slider to move linearly along the first guide rail. The third link has one end rotatably connected to the second driven slider and the other end rotatably connected to the mounting plate, and the third link is rotatably connected to the second link.

4. The mobile chassis movement control method according to claim 2, characterized in that, The lifting device also includes: A sliding retainer is fixed to the support member, and a through sliding channel is formed inside the sliding retainer; An inner fixed wheel is located in the sliding channel and is connected to the end of the lifting motor's rotating shaft away from the active slider; An outer moving wheel is slidably disposed inside the sliding channel and sleeved on the outside of the inner fixed wheel. An internal gear is formed at the end of the outer moving wheel facing the lifting motor. In the working state, the internal gear meshes with the inner fixed wheel. In the non-working state, the internal gear disengages from the inner fixed wheel. A crank handle is connected to the end of the outer moving wheel away from the lifting motor. The crank handle is used to drive the outer moving wheel to move along the sliding channel, so as to switch the outer moving wheel between working and non-working states. In the working state, the crank handle is also used to drive the outer moving wheel to rotate, so as to manually adjust the height of the power steering wheel.

5. The mobile chassis movement control method according to claim 4, characterized in that, The lifting device further includes a first positioning plunger and a second positioning plunger, which are spaced apart on the inner wall of the sliding channel. The first positioning plunger is located at the end of the sliding channel facing the lifting motor, and the position of the second positioning plunger corresponds to the position of the inner fixed wheel. The outer wall of the outer moving wheel is provided with a limiting groove. In the working state, the limiting groove is used to cooperate with the second positioning plunger to determine the position of the outer moving wheel; in the non-working state, the limiting groove is used to cooperate with the first positioning plunger to determine the position of the outer moving wheel.

6. The mobile chassis movement control method according to claim 1, characterized in that, The power steering wheel also includes a spring suspension; The spring suspension includes an upper base plate, a lower base plate, and multiple elastic elements. The upper base plate is located at the bottom of the support member, and a first guide rod is formed on the lower surface of the upper base plate. The lower base plate is located on the upper surface of the reference gear, and a second guide rod is formed on the upper surface of the lower base plate. One of the first guide rod and the second guide rod is sleeved on the other and the two are slidably engaged. The height of the outer ring of the first guide rod and the second guide rod is less than the natural height of the elastic element. A plurality of elastic elements are disposed between the upper base plate and the lower base plate and are arranged around the outside of the first guide rod and the second guide rod.

7. A lifting control method for a mobile chassis, applied to the mobile chassis in the mobile chassis movement control method according to any one of claims 1 to 6, characterized in that, Includes the following steps: Acquire control information and select either a descent or ascent condition based on the control information; Under descent operating conditions: Set the initial target position, safe position, and target pressure F of the powered steering wheel; control the rotation of the lifting motor; and obtain the actual position of the powered steering wheel in real time, as well as the actual resistance F experienced by the powered steering wheel during descent. i ; Compare the actual position with the first target position, and set the F i Compare with F; When the actual position is equal to the first target position, if F i If F ≥ 0.9F, control the lifting motor to stop rotating; if F i If the value is less than 0.9F, control the lifting motor to continue rotating until F is reached. i ≥0.9F and the actual position is higher than the safe position; When the actual position is higher than the first target position, if F i ≥F, control the lifting motor to stop rotating; Under conditions of increased operating speed: Set the second target position of the power steering wheel, control the lifting motor to rotate in reverse, and obtain the actual position of the power steering wheel in real time; The actual position is compared with the second target position. When the actual position is equal to the second target position, the lifting motor is controlled to stop rotating.

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