Electric pile power module connection transfer trolley device and connection method thereof

Abstract

The invention relates to the technical field of connection equipment, in particular to an electric pile power module connection transfer trolley device which comprises a connection base and a connection trolley assembly arranged at the upper end of the connection base, the connection trolley assembly comprises a connection frame, multiple sets of connection rods are fixedly arranged on the two sides of the connection base, and a driving platform is fixedly arranged at the upper ends of the connection rods; a plurality of sets of driving worms are arranged between the connection base and the driving platform, the driving worms are connected with the connection frame in an inserted mode, a linkage frame is fixedly arranged on the connection frame, the linkage frame is in threaded connection with the driving worms, and a driving assembly driving the multiple sets of driving worms to rotate at the same time is arranged at the upper end of the driving platform. The lifting height of a traditional hydraulic cylinder is limited by the proportion of the length and the inner diameter of a cylinder barrel, large-stroke lifting driving cannot be achieved within the limited height, and multiple points of an oil cylinder cannot be completely synchronized. The driving worm system achieves vertical displacement through spiral transmission, and the theoretical lifting height of the driving worm system only depends on the length of the worm and the thread stroke design of the connection frame.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of docking equipment, in particular to a power module docking transfer vehicle device and a docking method thereof. BACKGROUND

[0002] In an automated production line, the interface heights of different devices (such as robots, conveyors and AGV trolleys) may differ. A docking device can dynamically adjust its height to match the target device through a lifting function, ensuring smooth transfer of materials or workpieces. For example, when a robot grasps a workpiece, the docking table can be lifted to the optimal grasping position of the robot end effector, avoiding grasping failure or collision due to height differences. In a modular production line, the docking device needs to work with different types of devices. Through the height adjustment function, the same docking table can adapt to multiple device interfaces, reducing downtime caused by device replacement. For example, the docking table on an automobile assembly line can be lifted to the height of the chassis of different vehicle models, realizing flexible production.

[0003] The lifting method in the prior art is to lift by means of a hydraulic cylinder. Due to the limitation of the hydraulic cylinder itself, when the lifting stroke is large within a limited height range, the hydraulic cylinder cannot be effectively arranged, and the application range is limited. Therefore, the power module docking transfer vehicle device and the docking method thereof are used to solve the technical problem. SUMMARY

[0004] In view of the deficiencies in the prior art, the purpose of the application is a power module docking transfer vehicle device and a docking method thereof, which are used to solve the technical problems in the background art.

[0005] The above purpose of the application is achieved by the following technical solution: a power module docking transfer vehicle device, comprising a docking base and a docking vehicle assembly arranged at the upper end of the docking base, the docking vehicle assembly comprising a docking frame, a plurality of connecting rods are fixedly arranged on both sides of the docking base, a driving platform is fixedly arranged at the upper end of the connecting rod, a plurality of driving worms are arranged between the docking base and the driving platform, and the driving worm is inserted into the docking frame, a linkage frame is fixedly arranged on the docking frame, the linkage frame is threadedly connected with the driving worm, and a driving assembly for simultaneously driving a plurality of driving worms to rotate is arranged at the upper end of the driving platform.

[0006] By adopting the technical scheme, when a large lifting stroke is needed, the traditional hydraulic cylinder cannot be effectively arranged in a limited height range, and the driving worm system realizes vertical displacement through screw transmission, and the theoretical lifting height only depends on the length of the worm and the thread stroke design of the adapter frame. For example, in the wind power equipment assembly scene, if the power module needs to be connected to the 10-meter-high fan cabin, the length of the worm can be extended and the thread parameters of the adapter frame can be matched to realize this without segmented relay or equipment replacement. In the ship outfitting, high-rise building curtain wall installation and other scenes, the traditional hydraulic cylinder needs to build multiple platforms due to insufficient stroke, resulting in a sharp increase in equipment complexity and cost.

[0007] Meanwhile, the thread engagement of the driving worm and the linkage frame has self-locking characteristics, and when driven by the servo motor, 0.1mm level displacement feedback can be realized through the encoder. In the semiconductor equipment connection scene, the power module needs to be accurately connected with the wafer transmission system, and the traditional hydraulic cylinder is prone to ±1mm error due to the compressibility of the oil, while the driving worm system can control the connection error within ±0.05mm, meeting the ultra-precision manufacturing demand.

[0008] Further, the driving assembly comprises a driving motor fixedly connected to the driving platform, a first linkage device is arranged on the output end of the driving motor and fixedly connected to the input end of the first linkage device, two output ends are further arranged on the first linkage device, and driving rods are fixedly arranged on the output ends, a second linkage device is arranged at the end of each driving rod and fixedly connected to the input end of the second linkage device, the second linkage device is also provided with two output ends, and linkage rods are fixedly arranged on the output ends, a third linkage device is arranged at the end of each linkage rod and fixedly connected to the input end of the third linkage device, and the output end of the third linkage device is fixedly connected to the driving worm downward.

[0009] By adopting the above technical scheme, the linkage principles of the first linkage device, the second linkage device and the third linkage device in the application are all realized through bevel gears.

[0010] The driving motor on the driving platform is powered on and rotates to generate horizontal rotary power at the output end. The motor adopts a servo control technology, which can adjust the speed and torque in real time to adapt to different working conditions, The output end of the driving motor is fixed to the input end bevel gear of the first linkage device through key connection. When the motor rotates, the input end bevel gear drives the two output end bevel gears vertically engaged therewith to rotate synchronously. And respectively transmitted to the driving rods on both sides. The input end bevel gear of the second linkage device is fixedly connected to the end of each driving rod. When the driving rod rotates, the input end bevel gear drives two vertically intersecting output end bevel gears to rotate, forming a secondary power distribution. For example, the left driving rod distributes power to the front and rear linkage rods through the second linkage device to realize the "one-in-two-out" transmission layout.

[0011] The end of the linkage rod is connected to the input end bevel gear of the third linkage. The third linkage again distributes power to two output ends through meshing bevel gears, each of which is fixedly connected to the upper end of the drive worm through a shaft coupling. At this time, the single power output by the drive motor has been converted into synchronous rotation input of four groups of drive worms through a three-stage bevel gear linkage.

[0012] During bevel gear transmission, the gear ratios of each linkage are strictly matched (such as a 1:1 transmission ratio), ensuring that the rotational speeds and directions of the four groups of drive worms are completely consistent. At the same time, the encoder built into the servo motor feeds back the rotational speed signal to the control system in real time. If it is detected that the rotational speed deviation of a group of worms exceeds the threshold value (such as ±0.5%), the system will automatically adjust the motor output torque to maintain the synchronization accuracy of the four axes.

[0013] Thus driving the drive worm to rotate, so as to lift the docking rack.

[0014] Further, the drive worm is further provided with a lifting guide rod on one side, the upper end of the lifting guide rod is rotationally connected to the driving platform, and the lower end of the lifting guide rod is rotationally connected to the docking base, the docking rack is inserted into the lifting guide rod, and the docking rack is further provided with a guide frame fixedly arranged.

[0015] By adopting the above technical scheme, when the docking platform bears an asymmetric load (such as placing a heavy workpiece on one side), the lifting guide rod forms a four-bar mechanism through the rotational connection structure (hinged to the driving platform at the upper end and hinged to the docking base at the lower end), and converts the eccentric load force into radial pressure of the guide rod, rather than directly acting on the worm. This design makes the worm only bear the axial force in the vertical direction, and the torque fluctuation is reduced by 70%, effectively avoiding the bending or thread wear of the worm caused by eccentric load.

[0016] Further, the docking rack is further provided with a sliding frame fixedly arranged at both ends, a plurality of groups of sliding wheels are rotationally arranged between the sliding frames, an anti-slip layer is arranged outside the sliding wheels, and a pushing mechanism for pushing materials is further arranged in the docking rack.

[0017] By adopting the above technical scheme, the docking rack of the present application is provided with sliding frames, a plurality of groups of sliding wheels and an anti-slip layer at both ends, and integrates a pushing mechanism, thereby constructing a multifunctional system integrating stable bearing, low-resistance conveying, safety anti-slip and active pushing of materials, and achieving significant optimization in material conveying efficiency, equipment adaptability and operation reliability. The sliding frame adopts a multi-wheel group distributed support system, and the wheel group spacing is matched with the width of the material.

[0018] Furthermore, the pushing mechanism includes a guide rail fixedly connected to the connecting frame, a sliding disk slidably disposed on the guide rail, a pushing plate for pushing materials fixedly disposed on one side of the sliding disk, a servo motor fixedly disposed on the sliding disk, a reducer fixedly disposed on the output end of the servo motor, the output end of the reducer facing downwards, and a drive gear fixedly disposed on the output end, and a drive rack fixedly disposed on the connecting frame, the drive gear and the drive rack meshing.

[0019] By adopting the above technical solution, the drive gear meshes with the drive rack fixed on the connecting frame, converting the rotational motion of the servo motor into the linear motion of the sliding disk. The gear and rack transmission method has the characteristics of zero backlash and high repeatability (typically up to ±0.1mm), ensuring that the displacement error of the push plate is extremely small each time it moves, meeting the stringent requirements for material positioning in precision machining or assembly scenarios.

[0020] The servo motor has a built-in encoder that can provide real-time feedback of rotation angle and speed information to the PLC control system. Through a closed-loop control algorithm, the system can dynamically adjust the motor's output torque and speed, so that the sliding disk moves along a preset trajectory (such as a constant speed, acceleration, and deceleration curve), avoiding positioning deviations caused by inertia or load changes. It is especially suitable for complex connection processes that require multi-speed control.

[0021] The servo motor output is connected to a reducer, which converts the high-speed, low-torque output of the motor into a low-speed, high-torque output through gear reduction ratio. For example, when the rated torque of the motor is 2Nm, after being amplified by the reducer, the drive gear can provide a torque of 20-100Nm, which is sufficient to push heavy materials (such as 5-ton workpieces) or overcome frictional resistance during the connection process, ensuring the reliability of the pushing action.

[0022] The drive gear and rack are made of high-strength materials (such as alloy steel) and heat-treated to achieve a surface hardness of HRC50 or higher, enabling them to withstand long-term meshing wear under heavy loads. Meanwhile, the clearance between the sliding disc and the guide rail is precisely controlled within the range of 0.02-0.05mm to prevent vibration or jamming caused by excessive clearance under heavy loads, thus improving system stability.

[0023] Furthermore, a height laser sensor and front and rear laser sensors are also fixedly installed at the end of the connecting frame.

[0024] By employing the above technical solution, the height laser sensor emits a laser beam, and the distance from the material surface to the sensor is calculated by measuring the time or phase difference of the reflected light. For example, when the material height fluctuates by ±10mm due to stacking or deformation, the sensor can output the height value to the PLC control system in real time.

[0025] Front and rear laser sensors (such as through-beam or reflector type) are horizontally mounted at the end of the connecting worktable, forming a "virtual light curtain". When the front end of the material enters the light curtain area, the sensor outputs a signal to the PLC, triggering the push mechanism to decelerate; when the material completely reaches the target position (such as the inlet of the processing equipment), the light curtain is completely blocked, and the system immediately stops pushing the material to avoid the material rushing or colliding with the equipment.

[0026] Furthermore, the outer sides of the first, second, and third actuators are all provided with sealed shells that are fixedly connected to the drive platform.

[0027] Furthermore, a connection method for a fuel cell power module connection and transfer vehicle device includes the following steps: S1. When the drive motor is powered on, it drives the input bevel gear of the first linkage to rotate via a key connection. The input bevel gear meshes vertically with the two output bevel gears, transmitting power synchronously to the drive rods on both sides. The input bevel gear of the second linkage at the end of the drive rod drives the two vertically intersecting output bevel gears, forming a "one-in, two-out" layout, distributing power to the front and rear linkages. The third linkage at the end of the linkage engages again via bevel gears, distributing power to the upper ends of the four drive worm gears. S2. Drive the worm gear to rotate, which drives the connecting frame to rise vertically through the threaded transmission. The connecting frame slides along the lifting guide rod. The guide frame converts the eccentric load into the radial pressure of the guide rod, avoiding the worm gear from bearing the lateral force. S3. Front and rear laser sensors detect the material position. When the front end of the material enters the "virtual light curtain" area, a deceleration signal is triggered on the pushing mechanism. S4. The height laser sensor monitors the material surface height in real time to compensate for fluctuations caused by stacking or deformation. S5. The servo motor drives the gear to rotate through the reducer. The gear meshes with the drive rack on the connecting frame, converting the rotational motion into the linear motion of the sliding disk. S6. The sliding disk slides along the guide rail, causing the push plate to contact the material and apply a pushing force. When the material reaches the target position (such as the inlet of the processing equipment), the front and rear laser sensors detect that the light curtain is completely blocked and immediately stop pushing the material to avoid overshoot or collision.

[0028] In summary, this application offers the following beneficial technical advantages: Traditional hydraulic cylinders, within a limited height range, cannot be effectively deployed when a large lifting stroke is required. However, the drive worm gear system of this device achieves vertical displacement through helical transmission, and its theoretical lifting height depends solely on the worm length and the threaded stroke design of the connecting frame. For example, in wind power equipment assembly scenarios, if a fuel cell power module needs to be connected to a 10-meter-high wind turbine nacelle, this can be achieved by extending the worm length and matching the connecting frame thread parameters, eliminating the need for segmented relays or equipment replacement. In scenarios such as ship outfitting and high-rise building curtain wall installation, traditional hydraulic cylinders require multi-level platforms due to insufficient stroke, leading to a surge in equipment complexity and cost. This device can complete 10-meter-level vertical connections in one go (such as the hoisting of deck modules on large cruise ships), significantly reducing intermediate transfer steps. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure in the embodiment; Figure 2 This is a schematic diagram of the structure of the connecting frame in the embodiment; Figure 3 yes Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the servo motor structure in the embodiment.

[0030] Reference numerals: 1. Connecting base; 11. Connecting rod; 12. Drive worm gear; 13. Linkage frame; 14. Lifting guide rod; 15. Guide frame; 2. Drive platform; 21. Drive motor; 22. First linkage; 23. Drive rod; 24. Second linkage; 25. Linkage rod; 26. Third linkage; 27. Sealing shell; 3. Connecting frame; 31. Sliding frame; 32. Sliding wheel; 33. Guide rail; 34. Sliding disc; 35. Push plate; 36. Servo motor; 37. Reducer; 38. Drive rack; 39. Drive gear. Detailed Implementation

[0031] The present application will be further described in detail below with reference to the accompanying drawings.

[0032] Example, refer to Figures 1-4 A transfer vehicle device for connecting fuel cell power modules includes a connecting base 1 and a transfer vehicle assembly disposed on the upper end of the connecting base 1. The transfer vehicle assembly includes a connecting frame 3. Multiple sets of connecting rods 11 are fixedly disposed on both sides of the connecting base 1. A drive platform 2 is fixedly disposed on the upper end of the connecting rods 11. Multiple sets of drive worm gears 12 are disposed between the connecting base 1 and the drive platform 2, and the drive worm gears 12 are inserted into the connecting frame 3. A linkage frame 13 is fixedly disposed on the connecting frame 3. The linkage frame 13 is threadedly connected to the drive worm gears 12. A drive assembly that simultaneously drives the multiple sets of drive worm gears 12 to rotate is disposed on the upper end of the drive platform 2.

[0033] Traditional hydraulic cylinders, within a limited height range, cannot be effectively deployed when a large lifting stroke is required. However, the worm gear system achieves vertical displacement through helical transmission, and its theoretical lifting height depends solely on the worm length and the threaded travel of the connecting frame. For example, in wind turbine assembly, if a fuel cell power module needs to be connected to a 10-meter-high wind turbine nacelle, this can be achieved by extending the worm length and matching the threaded parameters of the connecting frame, eliminating the need for segmented relays or equipment replacement. In scenarios such as ship outfitting and high-rise building curtain wall installation, traditional hydraulic cylinders, due to insufficient travel, require multi-level platforms, leading to a surge in equipment complexity and cost.

[0034] Meanwhile, the threaded engagement between the drive worm gear 12 and the linkage frame 13 has a self-locking characteristic. When driven by the servo motor 36, displacement feedback at the 0.1mm level can be achieved through the encoder. In semiconductor equipment docking scenarios, the fuel cell power module needs to be precisely docked with the wafer transfer system. Traditional hydraulic cylinders are prone to ±1mm errors due to the compressibility of hydraulic fluid, while the drive worm gear 12 system can control the docking error within ±0.05mm, meeting the requirements of ultra-precision manufacturing.

[0035] The drive assembly includes a drive motor 21 fixedly connected to the drive platform 2. A first linkage 22 is provided on the output end of the drive motor 21 and is fixedly connected to the input end of the first linkage 22. The first linkage 22 is also provided with two output ends, and a drive rod 23 is fixedly provided on each output end. A second linkage 24 is provided at the end of each drive rod 23 and is fixedly connected to the input end of the second linkage 24. The second linkage 24 is also provided with two output ends, and a linkage rod 25 is fixedly provided on each output end. A third linkage 26 is provided at the end of each linkage rod 25 and is fixedly connected to the input end of the third linkage 26. The output end of the third linkage 26 faces downward and is fixedly connected to the drive worm gear 12.

[0036] The linkage principle of the first linkage 22, the second linkage 24 and the third linkage 26 in this application is all through bevel gear linkage.

[0037] The drive motor 21 on the drive platform 2 is powered on and operates, generating horizontal rotational force at its output. This motor employs servo control technology, allowing for real-time adjustment of speed and torque to adapt to different operating conditions. The output end of the drive motor 21 is connected to the input bevel gear of the first linkage 22 via a key. When the motor rotates, the input bevel gear drives the two output bevel gears that mesh perpendicularly with it to rotate synchronously. This power is then transmitted to the drive rods 23 on both sides. The end of each drive rod 23 is fixedly connected to the input bevel gear of the second linkage 24. When the drive rod 23 rotates, the input bevel gear drives the two perpendicularly intersecting output bevel gears to rotate, forming a secondary power split. For example, the left drive rod 23 distributes power to the front and rear linkage rods 25 through the second linkage 24, achieving a "one-in, two-out" transmission layout.

[0038] The end of the linkage 25 is connected to the input bevel gear of the third linkage 26. The third linkage 26 again distributes power to the two output ends through bevel gear meshing, and each output end is fixedly connected to the upper end of the drive worm 12 through a coupling. At this time, the single power output by the drive motor 21 has been converted into the synchronous rotation input of four sets of drive worms 12 through the three-stage bevel gear linkage.

[0039] During bevel gear transmission, the gear ratios of each actuator are strictly matched (e.g., a 1:1 transmission ratio) to ensure that the speed and direction of the four sets of drive worm gears 12 are completely consistent. At the same time, the encoder built into the servo motor 36 feeds back the speed signal to the control system in real time. If the speed deviation of a certain set of worm gears is detected to exceed the threshold (e.g., ±0.5%), the system will automatically adjust the motor output torque to maintain the synchronization accuracy of the four axes.

[0040] This causes the drive worm gear 12 to rotate, thus raising the connecting frame.

[0041] A lifting guide rod 14 is also provided on one side of the drive worm gear 12. The upper end of the lifting guide rod 14 is connected to the drive platform 2, and the lower end is connected to the docking base 1. The docking frame 3 is inserted into the lifting guide rod 14. The docking frame 3 is also fixedly provided with a guide frame 15, which is inserted into the lifting guide rod.

[0042] When the docking platform bears an asymmetrical load (such as a heavy workpiece placed on one side), the lifting guide rod 14 forms a four-bar linkage through a rotating connection structure (the upper end is hinged to the drive platform 2, and the lower end is hinged to the docking base 1). This transforms the off-center load into radial pressure on the guide rod, rather than acting directly on the worm gear. This design allows the worm gear to bear only the axial force in the vertical direction, reducing torque fluctuation by 70% and effectively preventing worm gear bending or thread wear caused by off-center loading.

[0043] The connecting frame is fixedly equipped with sliding frames 31 at both ends, and multiple sets of sliding wheels 32 are rotatably arranged between the sliding frames 31. The outer side of the sliding wheels 32 is provided with an anti-slip layer. The connecting frame is also equipped with a pushing mechanism for pushing materials.

[0044] The connecting frame of this application, by setting sliding frames 31 at both ends, multiple sets of sliding wheels 32, and anti-slip layers, and integrating a pushing mechanism, constructs a multi-functional system that integrates stable load-bearing, low-resistance conveying, safe anti-slip, and active material pushing, achieving significant optimization in material transfer efficiency, equipment adaptability, and operational reliability. The sliding frame 31 adopts a multi-wheel distributed support system, with the wheel spacing matching the material width, and achieves dynamic leveling through elastic suspension.

[0045] The pushing mechanism includes a guide rail 33 fixedly connected to the connecting frame, a sliding disk 34 slidably disposed on the guide rail 33, a push plate 35 for pushing materials fixedly disposed on one side of the sliding disk 34, a servo motor 36 fixedly disposed on the sliding disk 34, a reducer 37 fixedly disposed on the output end of the servo motor 36, the output end of the reducer 37 faces downward and a drive gear is fixedly disposed on the output end, and a drive rack 38 is fixedly disposed on the connecting frame, and the drive gear and the drive rack 38 mesh.

[0046] The drive gear meshes directly with the drive rack 38 fixed on the connecting frame, converting the rotational motion of the servo motor 36 into the linear motion of the sliding disk 34. The gear and rack transmission method features zero backlash and high repeatability (typically ±0.1mm), ensuring that the displacement error of the push plate 35 is minimal with each movement, meeting the stringent requirements for material positioning in precision machining or assembly scenarios.

[0047] The servo motor 36 has a built-in encoder that can provide real-time feedback of rotation angle and speed information to the PLC control system. Through a closed-loop control algorithm, the system can dynamically adjust the motor's output torque and speed, so that the sliding disk 34 moves along a preset trajectory (such as a constant speed, acceleration, and deceleration curve), avoiding positioning deviations caused by inertia or load changes. This is especially suitable for complex connection processes that require multi-speed control.

[0048] The output of the servo motor 36 is connected to the reducer 37, which converts the high-speed, low-torque output of the motor into a low-speed, high-torque output through the gear reduction ratio. For example, when the rated torque of the motor is 2Nm, after being amplified by the reducer 37, the drive gear can provide a torque of 20-100Nm, which is sufficient to push heavy materials (such as 5-ton workpieces) or overcome the frictional resistance during the connection process, ensuring the reliability of the pushing action.

[0049] The drive gear and rack are made of high-strength materials (such as alloy steel) and heat-treated to achieve a surface hardness of HRC50 or higher, enabling them to withstand long-term meshing wear under heavy loads. Meanwhile, the clearance between the sliding disc 34 and the guide rail 33 is precisely controlled within the range of 0.02-0.05mm to prevent vibration or jamming caused by excessive clearance under heavy loads, thus improving system stability.

[0050] The ends of the connector are also fixedly equipped with height laser sensors and front and rear laser sensors.

[0051] The height laser sensor emits a laser beam and calculates the distance from the material surface to the sensor by measuring the time or phase difference of the reflected light. For example, when the material height fluctuates by ±10mm due to stacking or deformation, the sensor can output the height value to the PLC control system in real time.

[0052] Front and rear laser sensors (such as through-beam or reflector type) are horizontally mounted at the end of the connecting worktable, forming a "virtual light curtain". When the front end of the material enters the light curtain area, the sensor outputs a signal to the PLC, triggering the push mechanism to decelerate; when the material completely reaches the target position (such as the inlet of the processing equipment), the light curtain is completely blocked, and the system immediately stops pushing the material to avoid the material rushing or colliding with the equipment. The outer sides of the first linkage 22, the second linkage 24, and the third linkage 26 are all provided with sealed shells 27 that are fixedly connected to the drive platform 2.

[0053] Specific implementation process: The shuttle transfer vehicle device consists of a shuttle base 1 and a shuttle vehicle assembly mounted on top of it. The shuttle vehicle assembly includes a shuttle frame 3. Multiple sets of fixed connecting rods 11 are mounted on both sides of the shuttle base 1. A drive platform 2 is fixed to the upper end of each connecting rod 11. Multiple sets of drive worm gears 12 are installed between the shuttle base 1 and the drive platform 2 and are inserted into the shuttle frame 3. A linkage frame 13 is fixed on the shuttle frame 3, and the linkage frame 13 is threadedly connected to the drive worm gears 12. A drive assembly capable of simultaneously driving multiple sets of drive worm gears 12 is located on the upper end of the drive platform 2. The drive assembly includes a drive motor 21 fixedly connected to the drive platform 2. The output end of the drive motor 21 is connected to the input bevel gear of the first linkage 22 via a key. After the drive motor 21 is powered on, its output end generates horizontal rotational power. Due to the use of servo control technology, the speed and torque can be adjusted in real time to adapt to different working conditions. When the motor rotates, the input bevel gear drives the two output bevel gears that mesh perpendicularly with it to rotate synchronously, and transmits the power to the drive rods on both sides respectively. 23. The end of each drive rod 23 is fixedly connected to the input bevel gear of the second linkage 24. When the drive rod 23 rotates, the input bevel gear drives the two perpendicularly intersecting output bevel gears to rotate, forming a secondary power split. For example, the left drive rod 23 distributes power to the front and rear linkage rods 25 through the second linkage 24, realizing a "one-in, two-out" transmission layout. The end of the linkage rod 25 is connected to the input bevel gear of the third linkage 26. The third linkage 26 distributes power to the two output ends through bevel gear meshing. Each output end is fixedly connected to the upper end of the drive worm 12 through a coupling. At this time, the single power output by the drive motor 21 has been converted into the synchronous rotation input of four sets of drive worms 12 through the three-stage bevel gear linkage. During the bevel gear transmission process, the gear ratio of each linkage is strictly matched (e.g., 1:1 transmission ratio) to ensure that the speed and direction of the four sets of drive worms 12 are completely consistent. At the same time, the encoder built into the servo motor 36 feeds back the speed signal to the control system in real time. If the speed deviation of a certain set of worms exceeds the threshold (e.g., ±0.(5%), the system will automatically adjust the motor output torque to maintain the four-axis synchronous accuracy, thereby driving the drive worm gear 12 to rotate. The rotation of the drive worm gear 12 will raise the connecting frame. The lifting guide rod 14 is set on one side of the drive worm gear 12, with its upper end rotatably connected to the drive platform 2 and its lower end rotatably connected to the connecting base 1. The connecting frame 3 and the lifting guide rod 14 are inserted into each other. The connecting frame 3 is also fixedly equipped with a guide frame 15, which is inserted into the lifting guide rod 14. When the connecting platform bears an asymmetrical load (such as a heavy workpiece placed on one side), the lifting guide rod 14 forms a rotating connection structure (the upper end is hinged to the drive platform 2 and the lower end is hinged to the connecting base 1) to form The four-bar linkage converts the off-center load into radial pressure on the guide rod, rather than acting directly on the worm, so that the worm only bears the axial force in the vertical direction. Torque fluctuation is reduced by 70%, effectively preventing worm bending or thread wear caused by off-center loading. Sliding frames 31 are fixedly installed at both ends of the connecting frame, and multiple sets of sliding wheels 32 are rotatably arranged between the sliding frames 31. Anti-slip layers are provided on the outer side of the sliding wheels 32. The connecting frame also includes a pushing mechanism for pushing materials. When the pushing mechanism is working, the sliding disk 34, fixedly connected to the guide rail 33 of the connecting frame, is driven by a servo motor 36 fixedly installed on it. The reducer 37 on the output end of the servo motor 36 drives the motor... The high-speed, low-torque output is converted into a low-speed, high-torque output. The drive gear fixedly mounted on the downward-facing output end of the reducer 37 meshes with the drive rack 38 fixedly mounted on the connecting frame, converting the rotational motion of the servo motor 36 into the linear motion of the sliding disk 34. This, in turn, drives the push plate 35 fixed to one side of the sliding disk 34 to move, which is used to push the material. The servo motor 36 has a built-in encoder that provides real-time feedback of the rotation angle and speed information to the PLC control system. Through a closed-loop control algorithm, the motor output torque and speed are dynamically adjusted to make the sliding disk 34 move along a preset trajectory. At the same time, the height laser sensor fixedly mounted at the end of the connecting frame emits a laser beam, which is measured by... The distance from the material surface to the sensor is calculated by measuring the time or phase difference of the reflected light, and the height value is output to the PLC control system in real time. Front and rear laser sensors (such as through-beam or reflector types) are horizontally mounted at the end of the connecting worktable to form a "virtual light curtain." When the front end of the material enters the light curtain area, the sensor outputs a signal to the PLC to trigger the push mechanism to decelerate. When the material completely reaches the target position (such as the inlet of the processing equipment), the light curtain is completely blocked, and the system immediately stops pushing the material to avoid overshooting or collision with the equipment. Additionally, the outer sides of the first linkage 22, the second linkage 24, and the third linkage 26 are all equipped with sealed shells 27 fixedly connected to the drive platform 2.

[0054] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A transfer vehicle device for connecting fuel cell power modules, characterized in that, The device includes a connecting base (1) and a connecting vehicle assembly set on the upper end of the connecting base (1). The connecting vehicle assembly includes a connecting frame (3). Multiple sets of connecting rods (11) are fixedly arranged on both sides of the connecting base (1). A driving platform (2) is fixedly arranged on the upper end of the connecting rods (11). Multiple sets of driving worm gears (12) are arranged between the connecting base (1) and the driving platform (2). The driving worm gears (12) and the connecting frame (3) are plugged in. A linkage frame (13) is fixedly arranged on the connecting frame (3). The linkage frame (13) and the driving worm gears (12) are threadedly connected. A driving assembly that simultaneously drives multiple sets of driving worm gears (12) to rotate is arranged on the upper end of the driving platform (2).

2. The fuel cell power module transfer vehicle device according to claim 1, characterized in that, The drive assembly includes a drive motor (21) fixedly connected to the drive platform (2). The output end of the drive motor (21) is provided with a first linkage (22) and is fixedly connected to the input end of the first linkage (22). The first linkage (22) is also provided with two output ends, and each output end is fixedly provided with a drive rod (23). Each drive rod (23) is provided with a second linkage (24) at its end and is fixedly connected to the input end of the second linkage (24). The second linkage (24) is also provided with two output ends, and each output end is fixedly provided with a linkage rod (25). Each linkage rod (25) is provided with a third linkage (26) at its end and is fixedly connected to the input end of the third linkage (26). The output end of the third linkage (26) is fixedly connected to the drive worm gear (12) with its output end facing downward.

3. The fuel cell power module transfer vehicle device according to claim 2, characterized in that, A lifting guide rod (14) is also provided on one side of the drive worm gear (12). The upper end of the lifting guide rod (14) is connected to the drive platform (2), and the lower end is connected to the docking base (1). The docking frame (3) is inserted into the lifting guide rod (14). The docking frame (3) is also fixedly provided with a guide frame (15). The guide frame (15) is inserted into the lifting guide rod (14).

4. The fuel cell power module transfer vehicle device according to claim 3, characterized in that, The connecting frame (3) is fixedly provided with sliding frames (31) at both ends. Multiple sets of sliding wheels (32) are rotatably arranged between the sliding frames (31). The outer side of the sliding wheels (32) is provided with an anti-slip layer. The connecting frame (3) is also provided with a pushing mechanism for pushing materials.

5. The fuel cell power module transfer vehicle device according to claim 4, characterized in that, The pushing mechanism includes a guide rail (33) fixedly connected to the connecting frame (3), a sliding disk (34) slidably disposed on the guide rail (33), a pushing plate (35) for pushing materials fixedly disposed on one side of the sliding disk (34), a servo motor (36) fixedly disposed on the sliding disk (34), a reducer (37) fixedly disposed on the output end of the servo motor (36), the output end of the reducer (37) facing downwards, and a drive gear (39) fixedly disposed on the output end, and a drive rack (38) fixedly disposed on the connecting frame (3), the drive gear (39) and the drive rack (38) meshing.

6. The fuel cell power module transfer vehicle device according to claim 1, characterized in that, The end of the connector (3) is also fixedly equipped with a height laser sensor and front and rear laser sensors.

7. The fuel cell power module transfer vehicle device according to claim 2, characterized in that, The first linkage (22), the second linkage (24) and the third linkage (26) are all provided with a sealing shell (27) fixedly connected to the drive platform (2).

8. A connection method for a fuel cell power module transfer vehicle device, applied to the fuel cell power module transfer vehicle device described in any one of claims 1-7, characterized in that, Includes the following steps: S1. The drive motor (21) is powered on and drives the input bevel gear of the first linkage (22) to rotate through the key connection. The input bevel gear meshes vertically with the two output bevel gears and transmits the power synchronously to the two drive rods (23). The input bevel gear of the second linkage (24) at the end of the drive rod (23) drives the two vertically intersecting output bevel gears and distributes the power to the front and rear linkage rods (25). The third linkage (26) at the end of the linkage rod (25) meshes with the bevel gears again and distributes the power to the upper end of the four drive worm gears (12). S2. Drive the worm (12) to rotate, and drive the connecting frame (3) to rise vertically through the threaded transmission. The connecting frame (3) slides along the lifting guide rod (14). The guide frame (15) converts the eccentric load into the radial pressure of the guide rod, avoiding the worm from bearing the lateral force. S3. Front and rear laser sensors detect the material position. When the front end of the material enters the "virtual light curtain" area, a deceleration signal is triggered on the pushing mechanism. S4. The height laser sensor monitors the material surface height in real time to compensate for fluctuations caused by stacking or deformation. S5. The servo motor (36) drives the gear (39) to rotate through the reducer (37). The gear meshes with the drive rack (38) on the connecting frame (3), converting the rotational motion into the linear motion of the sliding disk (34). S6. The sliding disk (34) slides along the guide rail (33), causing the push plate (35) to contact the material and apply a pushing force. When the material reaches the target position, the front and rear laser sensors detect that the light curtain is completely blocked and immediately stop pushing the material to avoid overshoot or collision.

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