Transportation device power system and driving method

Abstract

The invention relates to the field of transportation devices, and discloses a transportation device power system and a driving method, which can conveniently control the movement direction of a rack and can adapt to a more complex environment. The device comprises a rack, the rack comprises a rack body, a first connecting arm and a second connecting arm, and the first connecting arm and the second connecting arm extend out of the two ends of the rack body correspondingly, so that a storage groove and a first outlet are formed in the rack; the first driving power mechanism is arranged on the first connecting arm and comprises a first power assembly and a first control assembly, the first power assembly is used for driving the first connecting arm to move in the front-back direction, the first control assembly is electrically connected with the first power assembly, and the first control assembly comprises a first force sensor; the second driving power mechanism is arranged on the second connecting arm and comprises a second power assembly and a second control assembly, the second power assembly is used for driving the second connecting arm to move in the front-back direction, the second control assembly is electrically connected with the second power assembly, and the second control assembly comprises a second force sensor.

Description

Technical Field

[0001] This invention relates to the field of transportation equipment, and in particular to a power system and driving method for a transportation equipment. Background Technology

[0002] Pallets, also known as plastic pallets, are an indispensable basic piece of equipment in modern logistics warehousing. They are often used in conjunction with forklifts, racks, and other logistics equipment, primarily for storing, loading, and handling various goods. The emergence of plastic pallets is both a positive response to environmental demands—replacing traditional wooden pallets with plastic pallets effectively reduces deforestation and achieves green logistics—and an inevitable trend in the logistics industry. With food safety awareness growing and pharmaceutical companies increasingly demanding higher hygiene standards, plastic pallets, with their superior properties such as corrosion resistance, moisture resistance, rust resistance, insect resistance, and mold resistance, have gained high recognition and widespread application in the food and pharmaceutical industries. Furthermore, plastic pallets, due to their high load-bearing capacity and long service life, are also finding stellar performance in various fields such as chemicals, textiles, and manufacturing.

[0003] Pallet handling equipment is widely used in warehousing, logistics, and production line material transfer scenarios. Traditional handling equipment mainly relies on pulley structures for movement and steering, which has the following inherent drawbacks: Steering mechanism complexity and cost issues: Equipment that uses steering wheels, casters, or hydraulic steering systems requires complex mechanical transmission structures or high-precision electric actuators, significantly increasing manufacturing costs and maintenance difficulty.

[0004] Steering wheel sets occupy a large space, resulting in redundant overall equipment size and limited mobility in narrow passages or high-density storage environments.

[0005] Poor adaptability to terrain: Traditional wheeled structures are prone to slipping and getting stuck on uneven, slippery, or gap-filled surfaces (such as workshop rails), resulting in reduced steering accuracy and even the risk of overturning.

[0006] Under heavy loads, the steering wheels bear enormous lateral forces, accelerating roller wear and requiring frequent replacement. Summary of the Invention

[0007] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a power system for a transport device that can conveniently control the movement direction of the frame and adapt to more complex environments.

[0008] The present invention also proposes a driving method for having the above-mentioned power system of the transportation device.

[0009] On one hand, the power system of the transportation device according to an embodiment of the present invention includes: The frame includes a frame body, a first connecting arm and a second connecting arm, the first connecting arm and the second connecting arm extending from both ends of the frame body respectively, so that the frame forms a storage slot and a first outlet; Two lifting mechanisms are respectively provided on the two connecting arms. Each lifting mechanism includes a plug-in block, which can move up and down or move closer or further apart from each other. A first driving power mechanism is disposed on the first connecting arm. The first driving power mechanism includes a first power component and a first control component. The first power component is used to drive the first connecting arm to move in the front-back direction. The first control component is electrically connected to the first power component. The first control component includes a first force sensor. A second driving power mechanism is provided on the second connecting arm. The second driving power mechanism includes a second power component and a second control component. The second power component is used to drive the second connecting arm to move in the forward and backward direction. The second control component is electrically connected to the second power component. The second control component includes a second force sensor. When the pressure applied to the first force sensor is greater than the pressure applied to the second force sensor, the moving speed of the first drive power mechanism is less than the moving speed of the second drive power mechanism; When the pressure applied to the first force sensor is less than the pressure applied to the second force sensor, the moving speed of the first drive power mechanism is greater than the moving speed of the second drive power mechanism; When the pressure applied to the first force sensor is equal to the pressure applied to the second force sensor, the moving speed of the first drive power mechanism is equal to the moving speed of the second drive power mechanism.

[0010] According to some embodiments of the present invention, the first control component further includes: The first drive arm is rotatably mounted on the first connecting arm; A first handle is disposed on the first drive arm, and a first force sensor is disposed on the first handle; The second control component also includes: The second drive arm is rotatably mounted on the second connecting arm; The second handle is located on the second drive arm, and the second force sensor is located on the second handle.

[0011] According to some embodiments of the present invention, the first control component further includes a first buckle, and the first connecting arm is provided with a first slot. When the first drive arm rotates to the first outlet, the first buckle can engage with the first slot, so that the first drive arm is fixed on the first connecting arm. The second control component also includes a second latch, and the second connecting arm is provided with a second slot. When the second drive arm rotates to the first outlet, the second latch can engage with the second slot, so that the second drive arm is fixed on the second connecting arm.

[0012] According to some embodiments of the present invention, the first buckle sequentially includes a first engaging portion, a first rotating portion and a first unlocking portion, wherein the first engaging portion is capable of engaging the first slot, and the first rotating portion is rotatably disposed on the first drive arm; The second buckle includes a second engaging part, a second rotating part, and a second unlocking part. The second engaging part can engage with the second slot, and the second rotating part is rotatably disposed on the second drive arm.

[0013] According to some embodiments of the present invention, the end of the first connecting arm near the first outlet is the first driving end, the first driving arm is disposed on the side of the first driving end near the first outlet, and after the first driving arm is rotated, a part of the structure of the first driving arm is located at the first outlet. The end of the second connecting arm near the first outlet is the second driving end. The second driving arm is located on the side of the second driving end near the first outlet. After the second driving arm is rotated, part of the structure of the second driving arm is located at the first outlet.

[0014] According to some embodiments of the present invention, the first handle includes a first control end and a first pressure detection end, wherein the first pressure detection end is disposed inside the first drive arm and abuts against the first force sensor; The second handle includes a second control end and a second pressure detection end, the second pressure detection end being disposed inside the second drive arm and abutting against the second force sensor.

[0015] According to some embodiments of the present invention, the first drive arm is provided with a first arc-shaped groove, and the second drive arm is provided with a second arc-shaped groove.

[0016] According to some embodiments of the present invention, a driving method for a transportation device power system, applied to a transportation device power system, includes the following steps: Straight line movement control: Apply equal thrust or pull force to the first control component and the second control component; Sensor detection: The first force sensor and the second force sensor detected equal pressure values; Control Response: Based on this signal, the first control component and the second control component control the first power component and the second power component to output the same speed, so that the frame keeps moving forward or backward in a straight line; Left turn control: Apply a larger thrust to the first connecting arm, or apply a smaller thrust to the second connecting arm; Sensor detection: The pressure detected by the first force sensor is greater than the pressure detected by the second force sensor; Control response: The first control component reduces the output speed of the first power component, or the second control component increases the output speed of the second power component. When the moving speed of the second connecting arm side is greater than the moving speed of the first connecting arm side, the entire frame turns to the left. Right turn control: Apply a larger thrust to the second connecting arm, or apply a smaller thrust to the first connecting arm; Sensor detection: The pressure detected by the second force sensor is greater than the pressure detected by the first force sensor; Control response: The second control component reduces the output speed of the second power component, or the first control component increases the output speed of the first power component, and the moving speed of the first connecting arm side is greater than the moving speed of the second connecting arm side, causing the entire frame to turn to the right.

[0017] On the other hand, the driving method according to an embodiment of the present invention includes a power system for a transportation device according to the above embodiment of the present invention.

[0018] The embodiments of this invention have at least the following beneficial effects: The frame system covers the target stack by moving as a whole, and uses the storage slot at its bottom to accommodate the stack. Two lifting mechanisms work together to precisely insert the plug into the gap at the bottom of the stack, and then simultaneously lift the stack, achieving a stable connection and synchronous transport between the stack and the frame body. The core innovation lies in its unique steering wheel-less mechanism: the first and second drive power mechanisms independently drive the left and right connecting arms to move in the forward and backward directions. The operator only needs to apply differentiated pressure to the first and second force sensors on the left and right connecting arms (for example, by pushing / pulling the left and right handrails to generate different forces), and the system can intelligently sense and respond to this force difference. When the pressure sensed by the left and right sensors is not equal, the system will dynamically adjust the output speed of the left and right power mechanisms, so that the moving speed of the connecting arm on the side with greater force is less than that of the connecting arm on the side with less force, thereby generating a controllable steering friction torque at the contact point between the frame body and the ground. This differential steering method based on the left and right speed difference allows the entire frame system to achieve flexible forward and backward straight movement and precise left and right steering without relying on traditional steerable wheel sets. Compared to traditional wheel steering mechanisms, this design significantly simplifies the mechanical structure, reduces manufacturing costs and maintenance complexity, and is especially suitable for material handling scenarios with demanding turning space requirements, complex ground conditions, or the need for high rigidity support.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the overall structure of the power system of the transportation device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the control components of the power system of the transportation device in use according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the first control component according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the control module according to an embodiment of the present invention; Figure 5 for Figure 4 The circuit connection diagram in the diagram; Figure label: Frame 100, first connecting arm 110, second connecting arm 120, storage slot 130, first outlet 140; Lifting mechanism 200; The first drive power mechanism 300, the first control component 320, the first drive arm 321, the first handle 322, the first control end 322a, the first pressure detection end 322b, the first buckle 323, the first latching part 323a, the first rotating part 323b, the first unlocking part 323c, and the first slot 324. Second drive power mechanism 400, second control component 420, second drive arm 421, second handle 422; Third drive power mechanism 500; The fourth drive power mechanism is 600. Detailed Implementation

[0021] The following will describe several embodiments of the present invention, including embodiments corresponding to the accompanying drawings. It should be understood that the drawings are used to assist in understanding the technical features and technical solutions of the present invention, and should not be construed as limiting the scope of protection of the present invention.

[0022] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0023] It should be noted that, unless otherwise explicitly defined, when a feature is referred to as "fixed," "connected," or "installed" on another feature, it can be directly fixed or connected to the other feature, or it can be indirectly fixed or connected to the other feature. The terms "fixed," "connected," and "installed" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0024] It should be noted that the descriptions of orientations or positional relationships indicated by terms such as up, down, left, right, top, bottom, front, back, inside, and outside used in this invention are based on the orientations or positional relationships indicated by the accompanying drawings or embodiments. They are only for the purpose of facilitating the description of this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] It should be noted that the term "and / or" as used in this invention includes any combination of one or more of the related listed items, "several" means one or more, "multiple" means two or more, "greater than", "less than", "exceeding" are understood to exclude the number itself, and "above", "below", "within" are understood to include the number itself.

[0026] It should be noted that the use of "first" and "second" in this invention is only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features or the order of the technical features.

[0027] It should be noted that, unless otherwise expressly defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention.

[0028] Reference Figures 1-5 A basic embodiment of the first aspect of the present invention provides a power system for a transportation device, comprising: The rack 100 includes a rack 100 body, a first connecting arm 110 and a second connecting arm 120. The first connecting arm 110 and the second connecting arm 120 extend from both ends of the rack 100 body, so that the rack 100 forms a storage slot 130 and a first outlet 140. A first driving power mechanism 300 is disposed on the first connecting arm 110. The first driving power mechanism 300 includes a first power component 310 and a first control component 320. The first power component 310 is used to drive the first connecting arm 110 to move in the front-back direction. The first control component 320 is electrically connected to the first power component 310 and includes a first force sensor. The second drive power mechanism 400 is disposed on the second connecting arm 120. The second drive power mechanism 400 includes a second power component 410 and a second control component 420. The second power component 410 is used to drive the second connecting arm 120 to move in the front-back direction. The second control component 420 is electrically connected to the second power component 410 and includes a second force sensor. When the pressure applied to the first force sensor is greater than the pressure applied to the second force sensor, the moving speed of the first drive power mechanism 300 is less than the moving speed of the second drive power mechanism 400. When the pressure applied to the first force sensor is less than the pressure applied to the second force sensor, the moving speed of the first drive power mechanism 300 is greater than the moving speed of the second drive power mechanism 400. When the pressure applied to the first force sensor is equal to the pressure applied to the second force sensor, the moving speed of the first drive power mechanism 300 is equal to the moving speed of the second drive power mechanism 400.

[0029] A basic embodiment of the second aspect of the present invention provides a driving method, comprising the following steps: Straight line movement control: The operator applies equal thrust to the first control component 320 and the second control component 420; The first force sensor and the second force sensor detected equal pressure values; According to this signal, the first control component 320 and the second control component 420 control the first power component 310 and the second power component 410 to output the same speed, so that the frame 100 keeps moving forward or backward in a straight line. Left turn control: The operator applies a large thrust to the first connecting arm 110, or a small thrust to the second connecting arm 120; Sensor detection: The pressure detected by the first force sensor is greater than the pressure detected by the second force sensor.

[0030] Control response: The first control component 320 reduces the output speed of the first power component 310 according to the pressure difference, or the second control component 420 increases the output speed of the second power component 410. When the moving speed of the second connecting arm 120 side is greater than the moving speed of the first connecting arm 110 side, the frame 100 turns to the left as a whole. Right turn control: The operator applies a larger thrust to the second connecting arm 120, or a smaller thrust to the first connecting arm 110; Sensor detection: The pressure detected by the second force sensor is greater than the pressure detected by the first force sensor.

[0031] Control response: The second control component 420 reduces the output speed of the second power component 410 according to the pressure difference, or the first control component 320 increases the output speed of the first power component 310. When the moving speed of the first connecting arm 110 side is greater than the moving speed of the second connecting arm 120 side, the frame 100 turns to the right as a whole.

[0032] According to an embodiment of the present invention, by such a configuration, at least the following effects can be achieved: the rack 100 system covers the target stack by moving as a whole, and uses the storage slot 130 at its bottom to accommodate the stack. Two lifting mechanisms 200 work together to precisely insert the plug block 210 into the gap at the bottom of the stack, and then simultaneously lift the stack, achieving a stable connection and synchronous transport between the stack and the rack 100 body. The core innovation lies in its unique steering wheel-less mechanism: the first drive power mechanism 300 and the second drive power mechanism 400 independently drive the left and right connecting arms to move in the front-back direction. The operator only needs to apply differentiated pressure to the first force sensor and the second force sensor on the left and right connecting arms (for example, by pushing / pulling the left and right handrails to generate different forces), and the system can intelligently sense and respond to this force difference. When the pressure sensed by the left and right sensors is not equal, the system will dynamically adjust the output speed of the left and right power mechanisms, so that the moving speed of the connecting arm on the side with greater force is less than the moving speed of the connecting arm on the side with less force, thereby generating a controllable steering friction torque at the contact point between the rack 100 body and the ground. This differential steering method, based on the speed difference between the left and right sides, allows the entire Frame 100 system to achieve flexible forward and backward straight-line movement and precise left and right steering without relying on traditional steerable wheel sets. Compared to traditional wheel steering mechanisms, this design significantly simplifies the mechanical structure, reduces manufacturing costs and maintenance complexity, and is particularly suitable for material handling scenarios with demanding turning space requirements, complex ground conditions, or the need for high rigidity support.

[0033] It also includes two lifting mechanisms located on the first connecting arm 110 and the second connecting arm 120. Each lifting mechanism 200 includes a plug-in block 210, a second drive assembly 220, and a third drive assembly 230. The second drive assembly 220 drives the plug-in block 210 to move between the two connecting arms, and the third drive assembly 230 drives the plug-in block 210 to move vertically. (The lifting mechanism structure can refer to the existing palletizer structure. The method of lifting the pallet involves using a combination of multiple power structures (such as linear motors, telescopic motors, or a combination of rotary motors and linkage structures) to move the plug-in block vertically and horizontally. This patent primarily protects the drive power system; therefore, the lifting mechanism will not be described in detail.) It should be noted that the force applied to the first and second force sensors is either a pushing force or a pulling force. It can be understood that the pushing and pulling forces are in opposite directions. The user can apply the pushing and pulling forces as needed to make the power system move in the forward and backward directions respectively. Furthermore, in some embodiments, during general use, force is applied in the same direction, i.e., both arms push or pull simultaneously, enabling the power system to move forward, turn left, or turn right; pushing or pulling only one side will not drive the device, resulting in a stopped or braked state. A value of 0 can be considered both positive and negative; that is, if force is applied on one side and not on the other, the side with the applied force will rotate. When force is applied on one side in the same direction (e.g., only pushing left, only pushing right), the driving component on that side activates, and the device turns in place; when force is applied on one side in different directions (left push, right pull / left pull, right push), the controller cuts off the power, and the device stops. Furthermore, regarding the determination of thrust and pull forces, two force sensors can be installed at the front and rear of the handle, respectively. The direction of the force can be determined by triggering different force sensors. Alternatively, only one sensor can be used. When no force is applied, the sensor value is 0. Since the thrust and pull force values ​​differ in direction, they can be positive or negative, and the direction of the force is determined based on the sign. In this embodiment, both the first and second force sensors can be single-axis pressure sensors. The value is 0 when no force is applied, a positive value corresponds to thrust, and a negative value corresponds to pull. The controller determines the direction of movement of the power component (positive for forward, negative for backward) based on the sign of the sensor values. Reference Figure 4 and Figure 5 The motion adjustment process of the device of the present invention mainly adopts a first force sensor (left arm sensor), a second force sensor (right arm sensor), a controller, a first power component (including a driver and a left wheel motor), and a second power component (including a driver and a right wheel motor), wherein each component is connected by a circuit. When an external force is applied, the left and right wheel motors stop working. By applying external force to the left and right arm sensors, the sensors transmit signals to the corresponding numerical displays, obtaining the pressure values ​​on both sides. The pressure value signals of both arms are then transmitted to the controller. The controller controls the two actuators according to the driving method. If the pressure on the left and right sides is the same or similar, the actuators control the left and right wheel motors to rotate forward (both values ​​are positive) or reverse (both values ​​are negative), with equal speeds on both sides. If the pressure on the left side is greater and positive, the actuators control the left and right wheel motors to rotate forward, with the right wheel motor moving faster. If the pressure on the right side is greater and positive, the actuators control the left and right wheel motors to rotate forward, with the left wheel motor moving faster. If the pressure on the left side is greater and negative, the actuators control the left and right wheel motors to rotate in reverse, with the right wheel motor moving faster. If the pressure on the right side is greater and negative, the actuators control the left and right wheel motors to rotate in reverse, with the left wheel motor moving faster.

[0034] It should be noted that "equal pressure" here does not mean perfectly equal, because operators cannot achieve perfectly equal force from both. Therefore, "pressure" here refers to approximation, allowing for a certain margin of error, i.e., a dead zone threshold. The difference in pressure must be greater than or less than this margin of error for the two power mechanisms to achieve a difference in movement speed. Furthermore, it should be noted that the pressure applied to the first force sensor and the pressure applied to the second force sensor must both exceed a certain threshold for the power mechanism to operate. That is, if the pressure on both arms is low or even nonexistent, the power mechanism will not operate. The aforementioned dead zone threshold can be determined based on the operator's usage habits.

[0035] Force difference detection and speed difference generation: The core logic of the control system is to compare F1 (pressure from the first force sensor) and F2 (pressure from the second force sensor) in real time.

[0036] If F1≈F2 (within the set threshold)->V1=V2 (left and right velocities are equal)->linear motion.

[0037] If F1>F2+ΔF (ΔF is the dead zone threshold)->V2>V1->Turn left.

[0038] If F2>F1+ΔF->V1>V2->Turn right.

[0039] In some embodiments, the first control component 320 further includes: The first drive arm 321 is rotatably mounted on the first connecting arm 110; The first handle 322 is located on the first drive arm 321, and the first force sensor is located on the first handle 322; The second control component 420 also includes: The second drive arm 421 is rotatably mounted on the second connecting arm 120; The second handle 422 is located on the second drive arm 421, and the second force sensor is located on the second handle 422.

[0040] In this configuration, by rotating the first drive arm 321 and the second drive arm 421, the two drive arms can be rotated to a suitable position, which is convenient for the operator to operate. By controlling the first handle 322 and the second handle 422, the operator can apply a pushing force to the handle, so that the operator can control the movement of the frame 100.

[0041] In some embodiments, the first control component 320 further includes a first buckle 323, and the first connecting arm 110 is provided with a first slot. When the first drive arm 321 rotates to the first outlet 140, the first buckle 323 can engage with the first slot, so that the first drive arm 321 is fixed on the first connecting arm 110. The second control component 420 also includes a second buckle, and the second connecting arm 120 is provided with a second slot. When the second drive arm 421 rotates to the first outlet 140, the second buckle can engage with the second slot, so that the second drive arm 421 is fixed on the second connecting arm 120.

[0042] In this configuration, the rotating drive arm can be fixed to the connecting arm by the first latch 323 and the second latch, preventing the drive arm from swinging and facilitating control of the operating force.

[0043] In some embodiments, the first buckle 323 includes a first engaging portion 323a, a first rotating portion 323b, and a first unlocking portion 323c in sequence. The first engaging portion 323a can engage with the first slot, and the first rotating portion 323b is rotatably disposed on the first drive arm 321. The second buckle includes a second engaging part, a second rotating part, and a second unlocking part. The second engaging part can engage with the second slot, and the second rotating part is rotatably disposed on the second drive arm.

[0044] In this configuration, the rotatable buckle structure allows the buckle to engage with the slot, fixing the drive arm to the connecting arm. By operating the unlocking part, the buckle can be unlocked, separating the buckle from the slot and thus separating the drive arm from the connecting arm.

[0045] In some embodiments, the end of the first connecting arm 110 near the first outlet 140 is the first driving end, and the first driving arm 321 is located on the side of the first driving end near the first outlet 140. After the first driving arm 321 is rotated, part of the structure of the first driving arm 321 is located in the first outlet 140. The end of the second connecting arm 120 near the first outlet 140 is the second driving end. The second driving arm 421 is located on the side of the second driving end near the first outlet 140. After the second driving arm 421 is rotated, part of the structure of the second driving arm is located at the first outlet 140.

[0046] In this configuration, after rotation, parts of the first drive arm 321 and the second drive arm 421 are located in the first outlet 140, which is convenient for operators to use and control. Operators do not need to extend their arms to operate the drive arms, which is convenient for control. Furthermore, the drive arm is located at the first outlet 140, and the drive arm abuts against the stack, which can prevent the stacked stack from tipping over.

[0047] In some embodiments, the first handle 322 includes a first control end 322a and a first pressure detection end 322b, wherein the first pressure detection end 322b is disposed in the first drive arm 321 and abuts against the first force sensor. The second handle 422 includes a second control end and a second pressure detection end. The second pressure detection end is located inside the second drive arm 421 and abuts against the second force sensor.

[0048] In this configuration, the control end is located on the outside of the drive arm, and the pressure detection end is located inside the drive arm. By applying an external force to the control end, the pressure detection end connected to the control end will also be subjected to the external force, causing the pressure detection end and the force sensor to come into contact. The force sensor can detect the external force on the pressure detection end and obtain an accurate pressure value, which is convenient for use.

[0049] In some embodiments, the first drive arm 321 is provided with a first arc-shaped groove, and the second drive arm 421 is provided with a second arc-shaped groove. The groove structure design can reduce material usage and save costs.

[0050] In some embodiments, the system further includes a third drive power mechanism 500 and a fourth drive power mechanism 600, which are respectively located on the left and right sides of the frame body. The third drive power mechanism 500 and the fourth drive power mechanism 600 are similar to the first drive power mechanism 300 and the second drive power mechanism 400, and their implementation principles are the same. The two power structures correspond to the user controlling from the front or the user controlling from the rear, respectively. The two control systems are independent and mutually exclusive, adapting to different practical states in different environments.

[0051] It should be noted that in this specification, terms such as "one embodiment", "some embodiments", "basic embodiment", and "extended embodiment" may be used to describe several embodiments of the present invention, and the specific features, structures, materials or characteristics in the several embodiments may be combined in accordance with the principles and spirit of the present invention.

[0052] Although some embodiments of the present invention have been shown and described in this specification, the present invention should not be limited to the above embodiments. As long as they achieve the technical effects of the present invention by the same or equivalent means, any changes, modifications, equivalent substitutions and equivalent variations of these embodiments within the spirit and principles disclosed in the present invention, without departing from the principles and purpose of the present invention, should be included within the scope of protection disclosed in the present invention and should be considered to fall within the protection scope of the present invention.

Claims

1. A power system for a transport device, characterized in that, include: The frame (100) includes a frame body, a first connecting arm (110) and a second connecting arm (120), the first connecting arm (110) and the second connecting arm (120) extending from both ends of the frame body, so that the frame (100) forms a storage slot (130) and a first outlet (140). A first driving power mechanism (300) is disposed on the first connecting arm (110). The first driving power mechanism (300) includes a first power component (310) and a first control component (320). The first power component (310) is used to drive the first connecting arm (110) to move in the front-back direction. The first control component (320) is electrically connected to the first power component (310). The first control component (320) includes a first force sensor. A second drive power mechanism (400) is disposed on the second connecting arm (120). The second drive power mechanism (400) includes a second power component (410) and a second control component (420). The second power component (410) is used to drive the second connecting arm (120) to move in the forward and backward direction. The second control component (420) is electrically connected to the second power component (410). The second control component (420) includes a second force sensor. When the pressure applied to the first force sensor is greater than the pressure applied to the second force sensor, the moving speed of the first drive power mechanism (300) is less than the moving speed of the second drive power mechanism (400); When the pressure applied to the first force sensor is less than the pressure applied to the second force sensor, the moving speed of the first drive power mechanism (300) is greater than the moving speed of the second drive power mechanism (400); When the pressure applied to the first force sensor is equal to the pressure applied to the second force sensor, the moving speed of the first drive power mechanism (300) is equal to the moving speed of the second drive power mechanism (400).

2. The power system for the transport device according to claim 1, characterized in that: The first control component (320) further includes: The first drive arm (321) is rotatably mounted on the first connecting arm (110). The first handle (322) is disposed on the first drive arm (321), and the first force sensor is disposed on the first handle (322). The second control component (420) further includes: The second drive arm (421) is rotatably mounted on the second connecting arm (120). The second handle (422) is located on the second drive arm (421), and the second force sensor is located on the second handle (422).

3. The power system for the transport device according to claim 2, characterized in that: The first control component (320) further includes a first buckle (323), and the first connecting arm (110) is provided with a first slot. When the first drive arm (321) rotates to the first outlet (140), the first buckle (323) can engage with the first slot, so that the first drive arm (321) is fixed on the first connecting arm (110). The second control component (420) also includes a second buckle, and the second connecting arm (120) is provided with a second slot. When the second drive arm (421) rotates to the first outlet (140), the second buckle can engage with the second slot, so that the second drive arm (421) is fixed on the second connecting arm (120).

4. The power system for the transport device according to claim 3, characterized in that: The first buckle (323) includes a first engaging part (323a), a first rotating part (323b) and a first unlocking part (323c) in sequence. The first engaging part (323a) can engage with the first slot, and the first rotating part (323b) is rotatably disposed on the first drive arm (321). The second buckle includes a second engaging part, a second rotating part, and a second unlocking part in sequence. The second engaging part can engage with the second slot, and the second rotating part is rotatably disposed on the second drive arm (421).

5. The power system for the transport device according to claim 2, characterized in that: The end of the first connecting arm (110) near the first outlet (140) is the first driving end. The first driving arm (321) is located on the side of the first driving end near the first outlet (140). After the first driving arm (321) is rotated, part of the structure of the first driving arm (321) is located at the first outlet (140). The end of the second connecting arm (120) near the first outlet (140) is the second driving end. The second driving arm (421) is located on the side of the second driving end near the first outlet (140). After the second driving arm (421) is rotated, part of the structure of the second driving arm (421) is located at the first outlet (140).

6. The power system for the transport device according to claim 2, characterized in that: The first handle (322) includes a first control end (322a) and a first pressure detection end (322b). The first pressure detection end (322b) is located inside the first drive arm (321) and abuts against the first force sensor. The second handle (422) includes a second control end and a second pressure detection end. The second pressure detection end is located inside the second drive arm (421) and abuts against the second force sensor.

7. The power system for the transport device according to claim 2, characterized in that: The first drive arm (321) is provided with a first arc-shaped groove, and the second drive arm (421) is provided with a second arc-shaped groove.

8. The power system for the transport device according to claim 1, characterized in that: It also includes two lifting mechanisms (200) disposed on the first connecting arm (110) and the second connecting arm (120). The lifting mechanism (200) includes a plug block (210), a second drive assembly (220) and a third drive assembly (230). The second drive assembly (220) can drive the plug block (210) to move between the two connecting arms, and the third drive assembly (230) can drive the plug block (210) to move in the vertical direction.

9. A driving method for a transportation device power system, applied to the transportation device power system as described in any one of claims 1 to 8, characterized in that: Includes the following steps: Straight line movement control: Apply equal thrust or pull force to the first control component (320) and the second control component (420); Sensor detection: The first force sensor and the second force sensor detected equal pressure values; Control response: Based on this signal, the first control component (320) and the second control component (420) control the first power component (310) and the second power component (410) to output the same speed, so that the frame (100) keeps moving forward or backward in a straight line; Left turn control: A larger thrust is applied to the first connecting arm (110), or a smaller thrust is applied to the second connecting arm (120); Sensor detection: The pressure detected by the first force sensor is greater than the pressure detected by the second force sensor; Control response: The first control component (320) reduces the output speed of the first power component (310), or the second control component (420) increases the output speed of the second power component (410), the moving speed of the second connecting arm (120) side is greater than the moving speed of the first connecting arm (110) side, and the frame (100) turns to the left as a whole; Right turn control: A larger thrust is applied to the second connecting arm (120), or a smaller thrust is applied to the first connecting arm (110); Sensor detection: The pressure detected by the second force sensor is greater than the pressure detected by the first force sensor; Control response: The second control component (420) reduces the output speed of the second power component (410), or the first control component (320) increases the output speed of the first power component (310), the moving speed of the first connecting arm (110) side is greater than the moving speed of the second connecting arm (120) side, and the frame (100) turns to the right as a whole.

10. The driving method for the power system of the transportation device according to claim 9, characterized in that: During the sensor detection process, let the pressure of the first force sensor be F1 and the pressure of the second force sensor be F2, and the speed of the first driving power mechanism be V1 and the speed of the second driving power mechanism be V2. If F1≈F2, then within the set threshold, V1=V2, which means linear motion; If F1>F2+ΔF, where ΔF is the dead zone threshold, and V2>V1, then it is a left turn; If F2>F1+ΔF, where ΔF is the dead zone threshold, and V1>V2, then it is a right turn.

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