CN217396531U - Intelligent power-assisted carry-on vehicle - Google Patents

Abstract

The utility model provides an intelligent power-assisted portable vehicle, which relates to the technical field of transportation. The solution includes a frame, an axle position adjustment device and a sensing device, the frame includes a chassis and a backrest, the axle position adjustment device is fixedly arranged at the bottom of the chassis, a mounting bracket is fixedly arranged on the backrest, and the transmission The sensing device is arranged on the mounting bracket. The utility model connects the intelligent power-assisted portable vehicle with the waist connecting belt of the operator's waist, which is suitable for use in various application scenarios. An axle position adjustment device is fixedly arranged at the bottom of the chassis, and the relative position of the axle can be adjusted by an electric push rod. It can reduce the pressure on the operator's waist and is easy to use. The speed and steering of the intelligent power-assisted portable vehicle are controlled by the manual controller, and the multi-directional data collection is carried out through the sensor device, which realizes the intelligent power-assisted portable vehicle and the operator. Interaction, so as to control the intelligent power-assisted portable vehicle to follow the operator's movement.

Description

Smart Power Assisted Car

technical field

The utility model relates to the technical field of transportation technology, in particular to an intelligent power-assisted portable vehicle.

Background technique

The cart is a transport vehicle that is pushed and pulled by manpower, and it is the ancestor of all vehicles. Although trolley material handling technology continues to develop, trolleys are still used today as an indispensable handling tool. Trolleys are widely used in production and life because of their low cost, simple maintenance, convenient operation, and light weight. They can work in places where motor vehicles are inconvenient to use, and are very convenient when carrying lighter items over short distances.

There are two major problems with traditional carts, whether they have electric power assist or not:

1. It needs to occupy at least one hand. When the load is large, it must be controlled by two hands, which is inconvenient to control.

2. It can only deal with relatively flat roads and cannot be used in a variety of different environments, especially on muddy and bumpy roads, and it is difficult to operate on mountain roads. For people with less strength, the effectiveness of the cart is limited.

The information disclosed in this Background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Utility model content

The purpose of the utility model is to provide an intelligent power-assisted portable vehicle, so as to alleviate the problems existing in the prior art that the control is inconvenient and cannot be used in a variety of different environments.

In order to achieve the above object, the utility model adopts the following technical solutions:

The intelligent power-assisted portable vehicle provided by the utility model includes a frame, an axle position adjustment device and a sensing device, the frame includes a chassis and a backrest, the axle position adjustment device is fixedly arranged at the bottom of the chassis, and the chassis and the The backrest is connected in rotation, and an adjusting mechanism for adjusting the inclination of the backrest is provided at the connection between the chassis and the backrest, a placing frame is fixedly arranged at the bottom of the chassis, and a control box is fixedly arranged in the placing frame. A mounting bracket is fixedly arranged on the backrest, the sensing device is arranged on the mounting bracket, and a quick connector is arranged on the sensing device.

On the basis of the above solution, further, the axle position adjustment device includes an electric push rod and a carriage, two sets of the electric push rods are arranged opposite to each other, and the carriages correspond to the electric push rods one-to-one. They are all fixed at the bottom of the chassis, the carriages are all provided with guide grooves, the output shafts of the electric push rods are all hingedly provided with spring shock absorbers, and one end of each spring shock absorber is connected to the corresponding The guide grooves are slidably connected, the bottom of the chassis is hingedly provided with two wheel brackets, the ends of the wheel brackets are provided with wheels, and the other ends of the spring shock absorbers are respectively hinged with the corresponding ends of the wheel brackets .

What needs to be added is that the stroke path of the electric push rod output shaft matches the length of the guide groove, a hub motor is fixed in the wheel, and the rotating shaft of the hub motor is fixed to the end of the wheel bracket. Connection, the electric push rod is provided with a limit switch, the output shaft of the electric push rod will automatically stop after being stretched to the apex, and the electric push rod is provided with a self-locking device with a power-off self-locking function within the range of travel , the chassis is a steel frame, and the electric push rod is fixedly connected with the chassis by means of bolts.

On the basis of the above solution, further, the intelligent power-assisted carry-on vehicle further includes a weight-bearing vest used in conjunction therewith, the weight-bearing vest includes a vest body and a waist connecting belt, the vest body includes a front panel and a back panel, and all The front panel and the top of the back panel are connected by two shoulder connecting straps, a chest connecting strap is fixed on the back of the back panel, a No. 1 Velcro is fixed on the front of the front panel, and both ends of the chest connecting strap are A No. 2 velcro is fixedly arranged, a No. 1 cover is fixed on the front of the front panel and is located opposite to the No. 1 velcro, a No. 3 velcro is fixed on the back of the No. 1 cover, and the No. 2 magic The stickers are respectively matched with the No. 1 Velcro and the No. 3 Velcro; the No. 4 Velcro and the No. 2 cover are fixed on the front of the back plate, and the No. 5 magic stick is fixed on the back of the No. 2 cover There is a force guide plate fixed on the waist connecting belt, a No. 6 magic sticker is fixed on the force guide plate, and the No. 5 magic sticker is respectively connected with the No. paste to match.

What needs to be added is that the shoulder connecting belt is provided with an elastic adjustment mechanism, and the elastic adjustment mechanism is a Japanese-shaped buckle, and the No. 2 Velcro and the No. 5 Velcro are double-sided Velcro, so The end of the waist connecting belt is provided with a buckle, the center of the back of the waist connecting belt is fixed with a quick release joint, and the quick release joint is matched with the quick joint, and the fabric of the waist connecting belt is a breathable mesh material, and the inner core of the waist connecting belt is provided with a hard plate, and the number of the No. 2 cover plate is two.

On the basis of the above solution, further, the intelligent power-assisted portable vehicle further includes a manual controller used in cooperation with it, the manual controller includes a handle body, and a mounting groove is opened in the handle body, and the handle body And a trigger is arranged at the opening of the installation slot through the rotation of the rotating shaft, a fixing seat is arranged in the installation slot, a sensor base is fixedly arranged on the fixing seat, and a hall sensor cap is sleeved on the sensor base, and the The Hall sensor cap is in contact with the inner wall of the trigger, a compression groove is formed on the sensor base and the Hall sensor cap, and a pressing spring is arranged in the compression groove, and a sensor is fixed on the sensor base , a magnet is fixedly arranged on the Hall sensor cap at the opposite position of the sensor, a processor is fixedly arranged in the installation groove, a damping shaft is fixedly arranged in the handle body, and one end of the damping shaft is located in the installation slot. A steering sensor is arranged in the groove, and both the sensor and the steering sensor are electrically connected to the processor, the other end of the damping shaft is fixedly provided with a quick release support plate, and the quick release support plate is fixedly provided with a quick release clip, An aviation socket is fixed on the side wall of the handle body, and the aviation socket is electrically connected with the processor.

What needs to be added is that the inner wall of the handle body is provided with an arc-shaped chute, the end of the trigger is fixedly provided with a limit slider, and the limit slider is slidably connected with the arc-shaped chute, and the sensor A slide rail is provided on the base, a chute is provided in the Hall sensor cap at the opposite position of the slide rail, and the slide rail is slidably connected with the chute, and a damping shaft is provided on the quick release support plate Installation holes, rotation limit card slots and quick release clip installation holes, a limit block is fixedly arranged on the handle body at the opposite position of the rotation limit card slot, and the limit block and the rotation limit card slot sliding connection, the rotation limit slot is an arc slot, the arc of the rotation limit slot is 90°, the damping shaft and the quick release pallet are fixedly connected through the damping shaft mounting holes and bolts, the The quick release clip and the quick release support plate are fixedly connected through the quick release clip mounting holes and bolts, and a self-locking button is arranged on the side wall of the handle main body and located opposite to the rotating shaft, and the side wall of the handle main body is provided with a self-locking button. There is a three-speed knob switch, and the third-speed knob switch is electrically connected with the sensor, the sensor is a Hall sensor, the model is: 49E, the processor model is: ATMEGA32U4, and the steering sensor model is: GT- A, the quick release clip is a Picatinny guide rail quick release clip, and the aviation socket is a six-core aviation socket.

On the basis of the above solution, further, the sensing device includes a fixing frame, a plurality of lateral sensors are arranged on the fixing frame, and a sleeve is arranged on the inner side of the fixing frame, and one end of the sleeve is connected to the inner side of the fixing frame. The fixing frame is universally connected, the other end of the sleeve is located between several of the lateral sensors, and is fitted with the input ends of the several of the lateral sensors, the sleeve is provided with a main shaft, and the main shaft is A spindle sensor is fixed at one end, and the shown quick connector is installed on the end of the shown spindle sensor through the quick connector. A slider and a buffer spring are also arranged in the sleeve. The number of the buffer springs is two and they are located at the On both sides of the slider, one end of the sleeve is provided with an end cover, the main shaft is slidably arranged in the middle of the end cover, and the other end passes through one of the buffer springs and is fixed to the slider The other end of the sleeve is fixedly provided with a connection seat, and a universal bearing is fixedly arranged on the inner side of the fixing frame, and the fixing frame and the sleeve are universally connected to the connection seat through the universal bearing. A bracket base and a sensor installation bracket are arranged on the fixing frame, the bracket base is fixedly arranged at one end of the fixing frame, the sensor installation bracket is detachably arranged at the other end of the fixing frame, and the side The direction sensor is installed on the fixing frame through the sensor mounting bracket, the main shaft sensor is a tension-compression bidirectional sensor, the side sensor is a single-phase pressure sensor, and a connection plug is also provided on the fixing frame, and the connection The plug is electrically connected to the lateral sensor, the number of the lateral sensors is at least four, and the tubes are evenly distributed with the sleeve as the center. The slider is preferably a linear bearing, and the input end of the lateral sensor is sleeved outside. A protective cap is provided.

On the basis of any of the above solutions, further, the control box is provided with a power module, a power management module, a control module, a communication module, a motor drive module and a force signal processing module;

The output end of the manual controller is electrically connected to the input end of the control module through the communication module, the output ends of the lateral sensor and the main shaft sensor are electrically connected to the input end of the control module through the force signal processing module, and the output end of the control module is electrically connected to the input end of the control module. The output end is respectively electrically connected with the electric push rod, the power management module and the motor drive module, and the output end of the motor drive module is electrically connected with the wheel hub motor;

The input end of the power management module is electrically connected with the power supply module, and the output end of the power management module is electrically connected with the electric push rod and the wheel hub motor respectively.

The beneficial effects of the present utility model are:

The intelligent power-assisted portable vehicle provided by the utility model can obtain the following effects:

1. When the device is in use, the intelligent power-assisted portable vehicle is connected with the waist connecting belt of the operator's waist, which frees the hands and is suitable for use in various application scenarios. Easy, can meet a variety of use needs;

2. An axle position adjustment device is fixed at the bottom of the chassis, and the relative position of the axle can be adjusted through the electric push rod, so that the axle is kept directly below the center of gravity of the intelligent power-assisted portable vehicle. This setting can reduce the pressure on the operator's waist. It is easy to use, and the output shaft of the electric push rod is also hinged with a shock-absorbing spring, which can improve the driving comfort;

3. The speed and steering of the intelligent power-assisted portable car are controlled by the manual controller, which is easy to operate and can be operated with one hand, and the manual controller has strong anti-interference during use. After the trigger is released, it can be pressed under the action of the spring. Automatic reset, good safety, can meet the needs of a variety of people.

4. By arranging several lateral sensors on the fixing frame of the sensing device, and arranging sleeves between the lateral sensors, the lateral sensors are triggered by the movement of the sleeves, which is convenient for the force signal processing module to go up, down, left and right. Multi-directional data acquisition on the right and left, real-time adjustment of the output state, and at the same time through the buffer spring and the spindle sensor set in the casing, the front and rear direction signals can be collected while buffering during emergency stop or fast walking, reducing inertia generated. The impact of the impact force on the human body can effectively prevent the operator from being injured;

5. Multi-directional data collection is carried out through the sensing device, which realizes the interaction between the intelligent power-assisted portable vehicle and the operator, and the data processing is carried out through the intelligent algorithm module in the force signal processing module, and the signal output of the control module is used for control, thereby controlling The intelligent power-assisted portable car follows the movement state of the operator, realizing the movement of the car with the human, reducing the control difficulty of the intelligent power-assisted portable car, and making it more convenient to use.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the following descriptions The accompanying drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

1 is a schematic elevational structure diagram of an intelligent power-assisted portable vehicle provided by an embodiment of the present utility model;

2 is a schematic diagram of a plane structure of an intelligent power-assisted portable vehicle provided by an embodiment of the present utility model;

3 is a schematic structural diagram of the elevation of an axle position adjustment device of an intelligent power-assisted portable vehicle according to an embodiment of the present invention;

Fig. 4 is the left side view angle sectional view of the axle position adjustment device of the intelligent power-assisted handcart provided by the embodiment of the present utility model;

FIG. 5 is a schematic diagram 1 of the vertical structure of the weight vest of the intelligent power-assisted carry-on vehicle provided by the embodiment of the present utility model;

Fig. 6 is the second elevational structural schematic diagram of the weight vest of the intelligent power-assisted carry-on vehicle provided by the embodiment of the present utility model;

7 is a schematic diagram of the unfolded structure of the weight vest of the intelligent power-assisted carry-on vehicle provided by the embodiment of the present utility model;

8 is a cross-sectional view of a weight vest of an intelligent power-assisted portable vehicle provided by an embodiment of the present utility model;

9 is a schematic structural diagram of the elevation of a manual controller of an intelligent power-assisted portable vehicle provided by an embodiment of the present invention;

10 is a cross-sectional view from a front view angle of a manual controller of an intelligent power-assisted portable vehicle provided by an embodiment of the present utility model;

11 is a schematic structural diagram of a quick-release pallet of a manual controller of an intelligent power-assisted portable vehicle according to an embodiment of the present invention;

12 is a schematic structural diagram of the connection between a manual controller sensor base and a Hall sensor cap of an intelligent power-assisted portable vehicle according to an embodiment of the present invention;

13 is a schematic structural diagram of the elevation of a sensing device of an intelligent power-assisted portable vehicle according to an embodiment of the present invention;

FIG. 14 is a schematic plan view of a sensing device of an intelligent power-assisted portable vehicle according to an embodiment of the present invention;

15 is a cross-sectional view from a front perspective of a sensing device of an intelligent power-assisted portable vehicle according to an embodiment of the present invention;

Figure 16 is an enlarged view of the structure at A of Figure 15;

FIG. 17 is a main flowchart of an intelligent power-assisted portable vehicle provided by an embodiment of the present invention.

Reference number:

1. Frame; 2. Axle position adjustment device; 3. Weight vest; 4. Manual controller; 5. Sensing device; 6. Chassis; 7. Backrest; 8. Placing rack; 9. Control box; 10. Adjustment Mechanism; 11. Reinforcing plate; 12. Mounting bracket; 13. Quick connector; 14. Electric push rod; 15. Slide frame; 16. Guide groove; 17. Spring shock absorber; 18. Wheel bracket; 19. Wheel; 20 , hub motor; 21, vest body; 2101, front plate; 2102, back plate; 22, shoulder connecting belt; 2201, elastic adjustment mechanism; 23, chest connecting belt; 24, No. 1 Velcro; 25, No. 2 magic 26, No. 1 cover plate; 27, No. 3 Velcro tape; 28, No. 4 Velcro tape; 29, No. 2 cover plate; 30, Waist connecting belt; 31, No. 5 Velcro tape; 32, Power guide plate; 33 , No. 6 Velcro; 34, Buckle; 35, Quick release joint; 36, Handle body; 37, Mounting slot; 38, Shaft; 39, Trigger; 40, Arc-shaped chute; 41, Limit slider; 42 , fixed seat; 43, sensor base; 44, Hall sensor cap; 45, compression groove; 46, press spring; 47, chute; 48, slide rail; 49, sensor; 50, magnet; 51, processor; 52 , aviation socket; 53, damping shaft; 54, steering sensor; 55, quick release pallet; 56, quick release clip; 57, damping shaft mounting hole; 58, rotation limit slot; 59, limit block; 60, Quick release clip mounting hole; 61, self-locking button; 62, three-gear knob switch; 63, bracket base; 64, fixing frame; 65, connecting seat; 66, universal bearing; 67, side sensor; 68, buffer Spring; 69, main shaft; 70, main shaft sensor; 71, sleeve; 72, connecting plug; 73, end cap; 74, slider; 75, sensor mounting bracket; 76, protective cap.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "first" and "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a connectable connection. Detachable connection, or integral connection; may be mechanical connection or electrical connection; may be direct connection, or indirect connection through an intermediate medium, or internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

Example 1

As shown in Fig. 1-Fig. 17, it is the structural schematic diagram of the intelligent power-assisted portable vehicle provided by the embodiment of the present invention, and the intelligent power-assisted portable vehicle and the control method of the intelligent power-assisted portable vehicle of the present invention are described in conjunction with the accompanying drawings, and the specific structure and steps are described. as follows.

The intelligent power-assisted portable vehicle provided by the embodiment of the present invention, as shown in Figures 1-2, includes a frame 1, an axle position adjustment device 2 and a sensing device 5. The frame 1 includes a chassis 6 and a backrest 7. The position of the axle The adjusting device 2 is fixedly arranged at the bottom of the chassis 6, the chassis 6 and the backrest 7 are rotatably connected, and the connection between the chassis 6 and the backrest 7 is provided with an adjusting mechanism 10 for adjusting the inclination of the backrest 7, the adjusting mechanism 10 is an existing product, and the utility model Without further elaboration, the backrest 7 is fixedly provided with a plurality of reinforcing plates 11 for improving the strength of the backrest 7, the bottom of the chassis 6 is fixedly provided with a placing frame 8, the placing frame 8 is fixedly provided with a control box 9, and the backrest 7 is fixedly provided with a control box 9. The mounting bracket 12 , the sensing device 5 is arranged on the mounting bracket 12 , and the sensing device 5 is provided with a quick connector 13 .

The optional solution of this embodiment is, as shown in FIG. 3-FIG. 4 , the axle position adjustment device 2 includes an electric push rod 14 and a carriage 15, and two sets of electric push rods 14 arranged opposite to each other, and one of the electric push rods 14 and the electric push rod 14. A corresponding carriage 15 is fixedly arranged at the bottom of the chassis 6 , the carriage 15 is provided with a guide groove 16 , the output shaft of the electric push rod 14 is hingedly provided with a spring shock absorber 17 , and one end of each spring shock absorber 17 is respectively In sliding connection with the corresponding guide grooves 16 , two wheel brackets 18 are hingedly arranged at the bottom of the chassis 6 , the ends of the wheel brackets 18 are provided with wheels 19 , and the other end of each spring shock absorber 17 is respectively connected with the corresponding end of the wheel bracket 18 . Hinged.

It should be added that the stroke path of the output shaft of the electric push rod 14 matches the length of the guide groove 16, the wheel 19 is fixedly provided with a hub motor 20, and the rotating shaft of the hub motor 20 is fixedly connected to the end of the wheel bracket 18, and the electric push A limit switch is provided on the rod 14, and the output shaft of the electric push rod 14 will automatically stop when it stretches to the apex. The electric push rod 14 is provided with a self-locking device with a power-off self-locking function within the stroke range, and the chassis 6 is a steel frame , the electric push rod 14 is fixedly connected with the chassis 6 by means of bolts.

The optional solution of this embodiment is that, as shown in FIGS. 5-8 , the intelligent power-assisted portable vehicle further includes a weight-bearing vest 3 used in cooperation with it. The weight-bearing vest 3 includes a vest body 21 and a waist connecting belt 30 , and the vest body 21 includes a front The board 2101 and the back board 2102, and the top of the front board 2101 and the back board 2102 are connected by two shoulder connecting straps 22, the back of the back board 2102 is fixedly provided with a chest connecting strap 23, and the front of the front board 2101 is fixedly provided with a No. 1 Velcro 24, Both ends of the chest connecting belt 23 are fixedly provided with a No. 2 Velcro 25, a No. 1 cover plate 26 is fixed on the front of the front plate 2101 and located opposite to the No. 1 Velcro 24, and a No. 3 Velcro 27 is fixed on the back of the No. 1 cover plate 26 , and the No. 2 velcro 25 is matched with the No. 1 velcro 24 and the No. 3 velcro 27 respectively; the front of the back plate 2102 is fixedly provided with a No. 4 velcro 28 and a No. 2 cover 29, and the back of the No. 2 cover 29 is fixedly arranged There is a No. 5 Velcro 31, a force guide plate 32 is fixed on the waist connecting belt 30, a No. 6 Velcro 33 is fixed on the force guide plate 32, and the No. 5 Velcro 31 and No. 4 Velcro 28 and No. 6 are respectively Velcro 33 to match.

What needs to be added is that the shoulder connecting belt 22 is provided with an elastic adjustment mechanism 2201, and the elastic adjustment mechanism 2201 is a Japanese-shaped buckle, the second velcro 25 and the fifth velcro 31 are double-sided velcro, and the waist connecting belt 30 The ends are provided with buckles 34, and the center of the back of the waist connecting belt 30 is fixedly provided with a quick release joint 35, and the quick release joint 35 is matched with the quick joint 13. The fabric of the waist connecting belt 30 is a breathable mesh material, and the waist connecting belt 30 The inner core is provided with a hard plate, and the number of the second cover plate 29 is two.

The optional solution of this embodiment is, as shown in FIG. 9-FIG. 12, the intelligent power-assisted portable vehicle further includes a manual controller 4 used in cooperation with it, the manual controller 4 includes a handle body 36, and a mounting slot is opened in the handle body 36 37. A trigger 39 is arranged on the handle main body 36 and is located at the opening of the installation slot 37 through the rotation of the rotating shaft 38. A fixing seat 42 is arranged in the installation slot 37, and a sensor base 43 is fixedly arranged on the fixing seat 42. The sensor base 43 is sleeved with a The Hall sensor cap 44 is in contact with the inner wall of the trigger 39, the sensor base 43 and the Hall sensor cap 44 are both provided with a compression groove 45, and the compression groove 45 is provided with a pressing spring 46, the sensor base 43 A sensor 49 is fixedly arranged on the upper part, a magnet 50 is fixedly arranged on the Hall sensor cap 44 opposite to the sensor 49, a processor 51 is fixedly arranged in the installation groove 37, and a damping shaft 53 is fixedly arranged in the handle body 36, and one end of the damping shaft 53 is fixedly arranged. A steering sensor 54 is arranged in the installation slot 37. The sensor 49 and the steering sensor 54 are both electrically connected to the processor 51. The other end of the damping shaft 53 is fixedly provided with a quick release support plate 55. The quick release support plate 55 is fixedly provided with a quick release support plate. The clip 56 is fixed with an aviation socket 52 on the side wall of the handle body 36 , and the aviation socket 52 is electrically connected with the processor 51 .

What needs to be added is that the inner wall of the handle body 36 is provided with an arc-shaped chute 40 , the end of the trigger 39 is fixedly provided with a limit slider 41 , and the limit slider 41 is slidably connected with the arc-shaped chute 40 , and the sensor base 43 is provided with There is a slide rail 48, and a chute 47 is provided in the Hall sensor cap 44 opposite to the slide rail 48, and the slide rail 48 is slidably connected with the chute 47. The position card slot 58 and the quick release clip installation hole 60, the handle body 36 is fixedly provided with a limit block 59 opposite to the rotation limit card slot 58, and the limit block 59 is slidably connected with the rotation limit card slot 58, and the rotation limit The card slot 58 is an arc-shaped slot, the arc of the rotation limit card slot 58 is 90°, the damping shaft 53 and the quick release bracket 55 are fixedly connected through the damping shaft mounting hole 57 and the bolt, and the quick release clip 56 and the quick release bracket 55 pass through The quick release clip mounting holes 60 are fixedly connected with bolts, a self-locking button 61 is provided on the side wall of the handle main body 36 and is located opposite to the rotating shaft 38, and a third-speed knob switch 62 is provided on the side wall of the handle main body 36, and the third-speed knob switch 62 It is electrically connected to the sensor 49, the sensor 49 is a Hall sensor, the model is: 49E, the model of the processor 51 is: ATMEGA32U4, the model of the steering sensor 54 is: GT-A, the quick release clip 56 is a Picatinny rail quick release clip, aviation The socket 52 is a six-core aviation socket.

The optional solution of this embodiment is that, as shown in FIGS. 13-16 , the sensing device 5 includes a fixing frame 64 , a plurality of lateral sensors 67 are arranged on the fixing frame 64 , and a sleeve 71 is arranged on the inner side of the fixing frame 64 One end of the sleeve 71 is universally connected with the fixing frame 64, the other end of the sleeve 71 is located between several lateral sensors 67, and fits with the input ends of the several lateral sensors 67, and the sleeve 71 is provided with a main shaft 69 , one end of the main shaft 69 is fixedly provided with a main shaft sensor 70, the quick connector 13 shown is installed on the end of the shown main shaft sensor 70 through the quick connector, and a slider 74 and a buffer spring 68 are also arranged in the sleeve 71. The number of buffer springs 68 There are two and are located on both sides of the slider 74, one end of the sleeve 71 is provided with an end cover 73, the main shaft 69 is slidably arranged in the middle of the end cover 73, and the other end passes through one of the buffer springs 68 and the slider. 74 is fixedly connected, the other end of the sleeve 71 is fixedly provided with a connecting seat 65, and a universal bearing 66 is fixed on the inner side of the fixing frame 64, and the fixing frame 64 and the sleeve 71 are universally connected with the connecting seat 65 through the universal bearing 66, The fixing frame 64 is provided with a bracket base 63 and a sensor mounting bracket 75, the bracket base 63 is fixedly arranged at one end of the fixing frame 64, the sensor installation bracket 75 is detachably arranged at the other end of the fixing frame 64, and the lateral sensor 67 passes through the sensor installation bracket 75 is installed on the fixed frame 64, the main shaft sensor 70 is a tension-compression bidirectional sensor, the model is: DYZ-101-70, the side sensor 67 is a single pressure sensor, the model is: DYZ-101-69, and the fixing frame 64 is also set There are connecting plugs 72, the connecting plugs 72 are electrically connected to the lateral sensors 67, the number of lateral sensors 67 is at least four, and the sleeves 71 are evenly distributed. The slider 74 is preferably a linear bearing, and the A protective cap 76 is provided on the outer sleeve of the input end.

The optional solution of this embodiment is, as shown in FIG. 17 , the control box 9 is provided with a power supply module, a power supply management module, a control module, a communication module, a motor drive module and a force signal processing module, and the control module is an embedded control module. The chip, the model is: STM32F407, the communication module is the communication chip, the model is: MAX232 RS232, the motor drive module is a customized product of Shenzhen Jinbaoguan Technology Co., Ltd., the force signal processing module model is: AD7124, the power supply The module is a 36V, 1Kw lithium battery;

The output end of the manual controller 4 is electrically connected with the input end of the control module through the communication module, the output ends of the lateral sensor 67 and the main shaft sensor 70 are electrically connected with the input end of the control module through the force signal processing module, and the output ends of the control module are respectively The electrical connection with the electric push rod 14, the power management module and the motor drive module, the output end of the motor drive module is electrically connected with the hub motor 20;

The input end of the power management module is electrically connected to the power module, the output end of the power management module is electrically connected to the electric push rod 14 and the hub motor 20 respectively, and the power management module outputs the power module to the electric push rod 14, the hub motor 20 and the respective outputs The voltage and current of the port are limited to ensure that the electrical appliances can work normally.

The intelligent power-assisted portable car provided by the embodiment of the present invention can obtain the following effects: when the device is used, the intelligent power-assisted portable car is connected with the waist connecting belt 30 of the operator's waist, which frees the hands and is suitable for use in various application scenarios. At the same time, the main body 21 of the vest is used to share the force, so that the operator can operate more easily and can meet various needs. The axle is kept just below the center of gravity of the intelligent power-assisted portable vehicle. This setting can reduce the pressure on the operator's waist and is convenient to use, and the output shaft of the electric push rod 14 is also hinged with a shock-absorbing spring 17, which can improve driving comfort. The speed and steering of the intelligent power-assisted portable vehicle are controlled by the manual controller 4, which is easy to operate and can be operated with one hand, and the manual controller 4 has strong anti-interference during use. After the trigger 39 is released, the spring 46 is pressed. Under the action of the sensor, it can be automatically reset, with good safety, and can meet the needs of various groups of people; by setting a number of lateral sensors 67 on the fixing frame 64 of the sensing device 5, and setting the sleeve 71 between the lateral sensors 67, through the The movement of the sleeve 71 triggers the lateral sensor 67, which is convenient for the force signal processing module to perform data acquisition in up, down, left and right directions, and adjust the output state in real time. While collecting front and rear direction signals, it can buffer in emergency stop or fast walking, reduce the impact of inertial impact force on the human body, and effectively avoid operator injury.

Example 2

The intelligent power-assisted portable vehicle control method provided by the embodiment of the present invention,

The operator puts on the weight vest 3, and is connected with the quick joint 13 on the sensing device 5 through the quick release joint 35 on the waist connecting belt 30;

During the process of the operator pulling the intelligent power-assisted portable vehicle to accelerate to a stable speed, the input end of the spindle sensor 70 is pulled during acceleration, the spindle sensor 70 transmits the signal to the force signal processing module, and the force signal processing module processes the signal to the control module for processing. For data transmission, the control module controls the acceleration of the hub motor 20 through the motor drive module. After the operator stops accelerating, the input end of the spindle sensor 70 is no longer subjected to tension, and the spindle sensor 70 no longer transmits signals to the force signal processing module. At this time, the operator and the The speed of the intelligent power-assisted car is the same;

During the process of decelerating the intelligent power-assisted portable vehicle to a stable speed by the operator, the input end of the spindle sensor 70 is under pressure during the deceleration, and the spindle sensor 70 transmits the signal to the force signal processing module, and the force signal processing module processes the signal and sends it to the control module. For data transmission, the control module controls the wheel hub motor 20 to decelerate through the motor drive module. After the operator stops accelerating, the input end of the spindle sensor 70 is no longer under pressure, and the spindle sensor 70 no longer transmits signals to the force signal processing module. The speed of the intelligent power-assisted car is the same;

When the load of the backrest 7 increases during the use of the intelligent power-assisted portable vehicle, the lateral sensor 67 at the top is under pressure, the lateral sensor 67 at the bottom is under tension, and the lateral sensors 67 at the top and the bottom transmit signals to the force signal processing module, and the force The signal processing module transmits the data to the control module after signal processing, and controls the extension of the output shaft of the electric push rod 14 through the control module, and adjusts the position of the axle of the intelligent power-assisted carry-on car to be just below the center of gravity of the intelligent power-assisted carry-on car, reducing the back of the operator. pressure;

When the load of the backrest 7 is reduced during the use of the intelligent power-assisted portable vehicle, the lateral sensor 67 at the top is subjected to tension, the lateral sensor 67 at the bottom is subjected to pressure, and the lateral sensors 67 at the top and bottom transmit signals to the force signal processing module, and the force The signal processing module transmits data to the control module after the signal processing, and controls the output shaft of the electric push rod 14 to shorten through the control module, and adjusts the axle position of the intelligent power-assisted portable vehicle to be just below the center of gravity of the intelligent power-assisted portable vehicle to reduce the back tension of the operator ;

When the operator pulls the intelligent power-assisted portable vehicle to turn left, the lateral sensor 67 on the left is under pressure, the lateral sensor 67 on the right is under tension, and the lateral sensors 67 on the left and right transmit signals to the force signal processing module. The force signal processing module transmits data to the control module after signal processing, and the control module controls the left wheel hub motor 20 to decelerate through the motor drive module, the right wheel hub motor 20 accelerates, and the intelligent power-assisted portable vehicle turns left with the person;

When the operator pulls the intelligent power-assisted portable vehicle to turn right, the lateral sensor 67 on the left is pulled, the lateral sensor 67 on the right is under pressure, and the lateral sensors 67 on the left and right transmit signals to the force signal processing module. The force signal processing module transmits data to the control module after signal processing, and the control module controls the left wheel hub motor 20 to accelerate through the motor drive module, the right wheel hub motor 20 decelerates, and the intelligent power-assisted portable vehicle turns right with the person;

When the operator presses the trigger 39 on the manual controller 4, the relative position of the magnet 50 and the sensor 49 changes, and the change of the relative position is recorded by the sensor 49 and transmits the signal to the processor 51 in the form of an analog voltage. The communication module transmits the signal to the control module, and the control module controls the acceleration of the wheel hub motor 20 through the motor drive module;

When the operator releases the trigger 39 on the manual controller 4, the relative position of the magnet 50 and the sensor 49 changes, and the change in the relative position will be recorded by the sensor 49 and the signal will be transmitted to the processor 51 in the form of an analog voltage. The communication module transmits the signal to the control module, and the control module controls the deceleration of the in-wheel motor 20 through the motor drive module;

It should be added that the signal output of the sensor 49 can be controlled by the three-speed rotary switch 62, and the options of stop, forward and reverse can be selected. When the stop option is selected, the sensor 49 cannot output a signal; when the forward option is selected, the sensor 49 outputs a signal and controls The module controls the in-wheel motor 20 to rotate in the forward direction of the intelligent power-assisted portable vehicle through the motor drive module; when the backward option is selected, the sensor 49 outputs a signal, and the control module controls the in-wheel motor 20 to rotate in the backward direction of the intelligent power-assisted portable vehicle through the motor drive module;

When the operator turns the handle body 36 to the left, the steering sensor 54 records the rotation angle value of the handle body 36 and the quick release pallet 55, and transmits the signal to the processor 51 in the form of an analog voltage, and the processor 51 transmits the signal through the communication module. To the control module, the control module controls the left wheel hub motor 20 to decelerate through the motor drive module, the right wheel hub motor 20 accelerates, and the intelligent power-assisted portable car turns left;

When the operator turns the handle body 36 to the right, the steering sensor 54 records the angle value of the rotation of the handle body 36 and the quick release pallet 55, and transmits the signal to the processor 51 in the form of an analog voltage, and the processor 51 transmits the signal through the communication module. To the control module, the control module controls the in-wheel motor 20 on the left to accelerate, the in-wheel motor 20 on the right decelerates through the motor drive module, and the intelligent power-assisted car turns right.

The intelligent power-assisted portable vehicle provided by the embodiment of the present invention can obtain the following effects:

The multi-directional data collection is carried out through the sensing device 5 to realize the interaction between the intelligent power-assisted portable vehicle and the operator. The data processing is carried out through the intelligent algorithm module in the force signal processing module, and the signal output of the control module is used for control, so as to control the intelligent The power-assisted portable vehicle follows the movement of the operator, realizing the movement of the vehicle with the person, reducing the control difficulty of the intelligent power-assisted portable vehicle and making it more convenient to use.

Example 3

The method for using the intelligent power-assisted portable vehicle provided by the embodiment of the present utility model,

The first step, preparation, the specific steps are as follows:

Vest wear:

Adjust the extension length of the rear guide plate 32 of the waist connecting belt 30 and the length of the shoulder connecting belt 22 according to the body of the operator, so that the quick release joint 35 on the waist connecting belt 30 is flush with the operator's waist, and fasten the waist connecting belt The buckle 34 of 30 adjusts the tightness of the chest connecting strap 23, so that the main body 21 of the vest wraps the human body tightly and avoids relative sliding.

Manual controller connection:

Use a cable to connect the manual controller 4 to the control box 9, and make sure the "stop" option with the manual controller 4 knob at level.

Power on:

Check whether there are any obstacles around the smart assisted portable car, especially under the wheels 19, and check that the "emergency stop" switch on the control box 9 is in the off state. After confirming, press the power button. After the indicator light flashes once, the smart assisted portable car starts completely. , at this time, check whether only the green indicator light is on, if the red light is on, it means that the connection of manual controller 4 is loose, check whether it is firm;

The operator connects the quick-release joint 35 on the waist connecting belt 30 on the weight vest 3 to the quick-release joint 13 on the sensing device 5. Note: Only when a "click" sound is heard, it means that an effective and firm connection is formed.

The second step, the member rides, the specific steps are as follows:

The operator will stand naturally after connecting with the smart power-assisted carry-on car. Passengers will ride on the side of the smart power-assisted carry-on car. When riding, they should sit down first and then lean back.

According to the force of the backrest, the signal is transmitted to the force signal processing module through the lateral sensor 67, the length of the telescopic rod of the electric push rod 14 is controlled by the control module, and the axle position of the intelligent power-assisted portable car is adjusted to be directly below the center of gravity of the intelligent power-assisted portable car. , reduce the pressure or tension on the operator's back.

The third step is to operate the equipment. The specific steps are as follows:

Rotate the knob of the manual controller 4 to the "forward" option upwards, gently press the trigger 39 until the vehicle starts, and then you can adjust the pressing degree of the trigger 39 to control the forward speed of the intelligent power-assisted portable vehicle. Note: Although the device has acceleration and deceleration restrictions, However, it is still recommended that the operator try to avoid pressing or releasing the trigger 39 violently if possible, so as to avoid danger caused by the speed change too fast;

When it is necessary to turn, turn the handle body 36 in the corresponding direction to realize turning, and the greater the turning degree, the smaller the turning radius;

When you need to go back, turn the 4 knob of the manual controller to the "back" option downward, and press the trigger 39 to go back. For the sake of driving safety, the speed of the smart assist car is fixed and cannot turn;

The fourth step is to end the operation. The specific steps are as follows:

After using the intelligent power-assisted portable car, be sure to turn the 4 knob of the manual controller to the "Stop" option at the horizontal position. At this time, the device is locked and no longer receives commands;

Note: When the device is passively moving for a long distance (more than one meter), if it is towed, it is necessary to press the "emergency stop" switch on the control box 9 to prevent the back EMF generated by the hub motor 20 from burning other electronic components of the vehicle during passive movement. .

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, but not to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention .

Claims (9)

1. An intelligent power-assisted personal vehicle, characterized in that: comprising a frame (1), an axle position adjustment device (2) and a sensing device (5), the frame (1) comprising a chassis (6) and a backrest ( 7), the axle position adjustment device (2) is fixedly arranged at the bottom of the chassis (6), the chassis (6) and the backrest (7) are rotatably connected, and the chassis (6) and the backrest (7) ) An adjusting mechanism (10) for adjusting the inclination of the backrest (7) is provided at the connection, a placing frame (8) is fixedly arranged at the bottom of the chassis (6), and a control unit (8) is fixedly arranged inside the placing frame (8). A box (9), a mounting bracket (12) is fixedly arranged on the backrest (7), the sensing device (5) is arranged on the mounting bracket (12), and the sensing device (5) is arranged on the mounting bracket (12) There are quick connectors (13). 2 . The intelligent power-assisted personal vehicle according to claim 1 , wherein the axle position adjustment device ( 2 ) comprises an electric push rod ( 14 ) and a carriage ( 15 ), and two sets of oppositely arranged electric push rods ( 15 ) are provided. 3 . A rod (14), and the carriages (15) corresponding to the electric push rods (14) one-to-one are fixedly arranged at the bottom of the chassis (6), and guides are provided on the carriages (15). A groove (16), the output shaft of the electric push rod (14) is hingedly provided with a spring shock absorber (17), and one end of each spring shock absorber (17) is respectively connected with the corresponding guide groove (16) Sliding connection, two wheel brackets (18) are hingedly arranged at the bottom of the chassis (6), wheels (19) are arranged at the ends of the wheel brackets (18), and each of the spring shock absorbers (17) is separately One end is respectively hinged with the corresponding end of the wheel bracket (18). 3. The intelligent power-assisted personal vehicle according to claim 2, characterized in that the travel path of the output shaft of the electric push rod (14) matches the length interval of the guide groove (16), and the wheel (19) An in-wheel motor (20) is fixedly arranged inside, and the rotating shaft of the in-wheel motor (20) is fixedly connected with the end of the wheel bracket (18). 4. The intelligent power-assisted personal vehicle according to claim 1, characterized in that, the intelligent power-assisted personal vehicle further comprises a weight-bearing vest (3) used in conjunction therewith, the weight-bearing vest (3) comprising a vest body (21) and a A waist connecting belt (30), the vest body (21) includes a front panel (2101) and a back panel (2102), and the top of the front panel (2101) and the back panel (2102) are connected by two shoulders The belt (22) is connected, the back of the back plate (2102) is fixedly provided with a chest connection belt (23), the front of the front plate (2101) is fixedly provided with a No. 1 Velcro (24), and the chest connection belt (23) Both ends are fixedly provided with a No. 2 Velcro (25), a No. 1 cover plate (26) is fixedly arranged on the front of the front plate (2101) and located opposite to the No. 1 Velcro (24), and the No. 1 cover A No. 3 Velcro (27) is fixedly arranged on the back of the board (26), and the No. 2 Velcro (25) is respectively matched with the No. 1 Velcro (24) and the No. 3 Velcro (27); A No. 4 Velcro (28) and a No. 2 cover plate (29) are fixedly arranged on the front of the back plate (2102), and a No. 5 Velcro (31) is fixedly arranged on the back of the No. 2 cover plate (29). A force guide plate (32) is fixedly arranged on the connecting belt (30), and a No. 6 velcro (33) is fixedly arranged on the force guide plate (32), and the No. 5 velcro (31) is respectively connected to the The No. 4 Velcro (28) and the No. 6 Velcro (33) are matched. 5 . The intelligent power-assisted personal vehicle according to claim 4 , wherein an elastic adjustment mechanism ( 2201 ) is provided on the shoulder connecting belt ( 22 ), and the elastic adjustment mechanism ( 2201 ) is a Japanese-style buckle. 6 . , the No. 2 Velcro (25) and the No. 5 Velcro (31) are double-sided Velcro, the end of the waist connecting belt (30) is provided with a buckle (34), and the waist connecting belt (30) is provided with a buckle (34). (30) A quick release joint (35) is fixedly arranged at the center of the back surface, and the quick release joint (35) is matched with the quick release joint (13). 6. The intelligent power-assisted personal vehicle according to claim 3, characterized in that, the intelligent power-assisted personal vehicle further comprises a manual controller (4) used in cooperation with it, and the manual controller (4) comprises a handle body (36). ), an installation groove (37) is provided in the handle main body (36), and a trigger (39) is provided on the handle main body (36) and located at the opening of the installation groove (37) through the rotation of the rotating shaft (38). A fixing seat (42) is arranged in the installation groove (37), a sensor base (43) is fixedly arranged on the fixing seat (42), and a Hall sensor cap (44) is sleeved on the sensor base (43), And the Hall sensor cap (44) is in contact with the inner wall of the trigger (39), the sensor base (43) and the Hall sensor cap (44) are both provided with compression grooves (45), and the A pressing spring (46) is arranged in the compression groove (45), a sensor (49) is fixedly arranged on the sensor base (43), and the Hall sensor cap (44) is located opposite to the sensor (49). A magnet (50) is fixedly arranged, a processor (51) is fixedly arranged in the installation groove (37), and a damping shaft (53) is fixedly arranged in the handle body (36), and one end of the damping shaft (53) is fixedly arranged A steering sensor (54) is arranged in the installation groove (37), the sensor (49) and the steering sensor (54) are both electrically connected to the processor (51), and the other end of the damping shaft (53) A quick release support plate (55) is fixedly arranged, a quick release clip (56) is fixedly arranged on the quick release support plate (55), and an aviation socket (52) is fixedly arranged on the side wall of the handle main body (36), The aviation socket (52) is electrically connected with the processor (51). 7. The intelligent power-assisted personal vehicle according to claim 6, characterized in that, an arc-shaped chute (40) is opened on the inner wall of the handle main body (36), and a limit slide is fixed at the end of the trigger (39). block (41), and the limit slider (41) is slidably connected with the arc-shaped chute (40), the sensor base (43) is provided with a slide rail (48), and the Hall sensor cap (44) A chute (47) is provided opposite the slide rail (48), and the slide rail (48) is slidably connected to the chute (47), and the quick release pallet (55) A damping shaft installation hole (57), a rotation limit slot (58) and a quick release clip installation hole (60) are opened on the handle body (36), and the handle body (36) is located opposite the rotation limit slot (58). A limit block (59) is fixedly arranged, and the limit block (59) is slidably connected with the rotation limit slot (58), and the rotation limit slot (58) is an arc slot, and the rotation limit slot (58) is an arc-shaped slot. The arc of the limit slot (58) is 90°, the damping shaft (53) is fixedly connected with the quick release support plate (55) through the damping shaft mounting hole (57) and bolts, and the quick release clip (56) It is fixedly connected with the quick release support plate (55) through the quick release clip mounting holes (60) and bolts. 8 . The intelligent power-assisted personal vehicle according to claim 6 , wherein the sensing device ( 5 ) comprises a fixing frame ( 64 ), and several lateral sensors ( 67 ) are arranged on the fixing frame ( 64 ). 9 . , a sleeve (71) is arranged on the inner side of the fixing frame (64), one end of the sleeve (71) is universally connected with the fixing frame (64), and the other end of the sleeve (71) is universally connected It is located between a plurality of the lateral sensors (67) and fits with the input ends of the lateral sensors (67). The sleeve (71) is provided with a main shaft (69), and the main shaft (69) A spindle sensor (70) is fixedly arranged at one end of ), and the shown quick connector (13) is installed on the end of the shown spindle sensor (70) through the quick connector. 9. The intelligent power-assisted portable vehicle according to claim 8, wherein the control box (9) is provided with a power supply module, a power management module, a control module, a communication module, a motor drive module and a force signal processing module; The output end of the manual controller (4) is electrically connected with the input end of the control module through the communication module, and the output ends of the lateral sensor (67) and the spindle sensor (70) are connected through the input end of the force signal processing module and the control module The terminals are electrically connected, the output terminals of the control module are respectively electrically connected to the electric push rod (14), the power management module and the motor drive module, and the output terminals of the motor drive module are electrically connected to the wheel hub motor (20); The input end of the power management module is electrically connected with the power supply module, and the output end of the power management module is electrically connected with the electric push rod (14) and the wheel hub motor (20) respectively.

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