CN110733569A

CN110733569A - Double-drive electric carrying equipment

Info

Publication number: CN110733569A
Application number: CN201911243598.6A
Authority: CN
Inventors: 吕鸿钧; 林尚雷; 黄乐军; 吕鸿雁; 黄勇军
Original assignee: Foshan Yuanyuan Automation Equipment Technology Co Ltd
Current assignee: Foshan Yuanyuan Automation Equipment Technology Co Ltd
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-01-31

Abstract

The invention relates to double-drive electric carrying equipment which comprises a frame, a power device, a main control circuit and a battery, wherein the power device, the main control circuit and the battery are arranged on the frame, the power device comprises two sets of walking driving mechanisms, each walking driving mechanism comprises a driving wheel and a walking driving motor, the driving wheels of the two sets of walking driving mechanisms are positioned at the bottom of the frame and distributed on the left and the right , the driving wheels are in transmission connection with the walking driving motors, the main control circuit is electrically connected with the battery, and the walking driving motors of the two sets of walking driving mechanisms are respectively and electrically connected with the main control circuit.

Description

Double-drive electric carrying equipment

Technical Field

The invention relates to kinds of vehicles, in particular to kinds of double-drive electric carrying equipment.

Background

The prior delivery tool comprises a trolley, a medical transfer bed and the like, wherein the medical transfer bed is taken as an example and mainly comprises a lower bed frame, an upper bed frame and universal casters, the universal casters are arranged at the bottom of the lower bed frame, the upper bed frame is arranged above the lower bed frame, the upper bed frame is mainly used for placing a mattress and lying for a patient, and the lower bed frame can be used for placing medical instruments and equipment.

In addition, for example, the power-assisted baggage cart in an airport has two power wheels, and although the two power wheels are driven by an electric pool and have a power-assisted function, the two power wheels are in a linkage state and can only rotate synchronously, so that a user still needs to provide a large auxiliary turning force during turning to realize the turning of the power-assisted baggage cart.

Furthermore, as in the case of a flat-bed cart, there is no power assistance and the pulling of heavy objects is laborious.

Disclosure of Invention

The invention aims to provide double-drive electric carrying equipment which has a reasonable structure and is driven by electric power and two wheels.

The purpose of the invention is realized as follows:

double-drive electric carrying equipment comprises a frame, a power device, a master control circuit and a battery, wherein the power device, the master control circuit and the battery are arranged on the frame, and the double-drive electric carrying equipment is characterized in that the power device comprises two sets of walking driving mechanisms, each walking driving mechanism comprises a driving wheel and a walking driving motor, the driving wheels of the two sets of walking driving mechanisms are positioned at the bottom of the frame and distributed at left right, the driving wheels are in transmission connection with the walking driving motors, the master control circuit is electrically connected with the battery, the walking driving motors of the two sets of walking driving mechanisms are respectively electrically connected with the master control circuit, the master control circuit respectively controls the two walking driving motors to realize differential operation of the two driving wheels, when the two driving wheels are synchronous, a linear driving manipulator can be realized, and when the two driving wheels are in differential operation.

The aim of the invention can also be solved by the following technical measures:

as a more specific scheme, the axes of the driving wheels of the two sets of walking driving mechanisms are positioned on the same straight line, the walking driving motors are servo motors, the speed regulation range of the servo motors is more , and multiple speed regulation is realized.

As a scheme for advancing , the power device further comprises a wheel frame, the wheel frame is directly or indirectly connected with the frame, and the two sets of walking driving mechanisms are respectively arranged at the bottom of the wheel frame.

As a scheme for advancing , the walking driving mechanism further comprises a motor base and a shaft seat, the motor base and the shaft seat are arranged at the bottom of the wheel carrier, the walking driving motor is arranged on the motor base, rotating shafts are rotatably arranged on the shaft seat, the end of each rotating shaft is in transmission connection with the driving wheel, and the other end of each rotating shaft is in transmission connection with the walking driving motor through a -th belt pulley transmission pair.

As a scheme for step , the wheel carrier is horizontally and rotatably disposed on the frame, a steering driving mechanism for controlling the rotation of the wheel carrier is disposed on the frame, the steering driving mechanism includes a steering driving motor, and the steering driving motor is electrically connected to the main control circuit.

As a scheme for , the steering driving mechanism comprises a steering driving motor, a gear pair and a gear carrier, the gear carrier is arranged on the frame, the steering driving motor is in transmission connection with the gear pair and is arranged on the gear carrier, a steering driving tooth groove is arranged on the power device around the rotating axis of the power device, and the steering driving tooth groove is in transmission connection with the gear pair.

As a scheme for steps, a reduction box is further arranged on the gear carrier, the gear pair comprises a pinion and a bull gear, the steering driving motor is in transmission connection with the pinion through the reduction box, the pinion is meshed with the bull gear, and the bull gear is meshed with a steering driving tooth groove of the gear carrier.

As a scheme for , a steering wheel is arranged on the wheel frame, the periphery of the steering wheel is provided with the steering driving tooth groove, a dragon frame is arranged on the frame, a vertical shaft is arranged on the inner top surface of the dragon frame, the steering wheel is connected with the vertical shaft through a bearing, and an elastic piece is arranged between the wheel frame and the steering wheel, so that the wheel frame has a downward movement tendency, and the driving wheel is better in contact with the ground.

The vehicle frame is rectangular, the four trundles are respectively arranged at four corner positions of the bottom of the vehicle frame, the power device is positioned in the middle of the bottom of the vehicle frame, the power device is positioned in the center of the bottom of the vehicle frame, so that the center of the carrying equipment is more centered, the center of gravity is lower, and the vehicle frame is more stable in use.

As a scheme for the step , the frame is provided with a handrail, the handrail is provided with a controller for controlling signals of the main control circuit, and the controller is electrically connected with the main control circuit, and/or the frame further comprises a remote controller for sending control signals to the main control circuit, and the remote controller is electrically connected with the main control circuit.

The invention has the following beneficial effects:

(1) the double-drive electric carrying equipment is driven by the power device, labor is saved, and the two driving wheels of the power device are controlled by walking driving motors respectively, so that the two driving wheels can be controlled independently, when the two driving wheels are synchronous, a frame can be driven linearly, and when the two driving wheels run in a differential mode, the frame can be steered to walk.

(2) The double-drive electric carrying equipment can be suitable for medical beds, flat plate carts and other occasions.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is another angle structure diagram of fig. 1.

Fig. 3 is a schematic structural diagram of the power device after 90-degree steering.

Fig. 4 is a schematic structural view of the steering driving mechanism of the present invention.

Fig. 5 is another angle structure diagram of fig. 4.

Fig. 6 is a schematic top view of the power unit, the steering wheel and the dragon rack of the present invention.

FIG. 7 is a schematic sectional view A-A of FIG. 6.

FIG. 8 is a schematic sectional view of the structure of FIG. 6B-B.

Fig. 9 is a schematic view of a connection structure of a power unit and a steering wheel in the present invention.

Fig. 10 is another angle configuration diagram of fig. 9.

FIG. 11 is a schematic structural diagram of another embodiment of the present invention.

Detailed Description

The invention is further described with reference to the following figures and examples.

Referring to fig. 1, 2 and 6-10, kinds of double-drive electric carrying equipment comprises a vehicle frame 100 and a power device 200, wherein the power device 200 is arranged on the vehicle frame 100, the power device 200 comprises two sets of walking driving mechanisms, each walking driving mechanism comprises a driving wheel 1 and a walking driving motor 2, the driving wheels 1 of the two sets of walking driving mechanisms are positioned at the bottom of the vehicle frame 100 and distributed at the left and the right of , and the driving wheels 1 are in transmission connection with the walking driving motors 2.

The axes of the driving wheels 1 of the two sets of walking driving mechanisms are positioned on the same straight line, and the walking driving motor 2 is a servo motor.

The power device 200 further comprises a wheel frame 3, the wheel frame 3 is directly or indirectly connected with the frame 100, and the two sets of walking driving mechanisms are respectively arranged at the bottom of the wheel frame 3.

The walking driving mechanism further comprises a motor base 21 and a shaft seat 17, the motor base 21 and the shaft seat 17 are arranged at the bottom of the wheel carrier 3, the walking driving motor 2 is arranged on the motor base 21, rotating shafts 16 are arranged on the shaft seat 17 in a rotating mode, the end of each rotating shaft 16 is in transmission connection with the driving wheel 1, the other 0 end of each rotating shaft 16 is in transmission connection with the walking driving motor 2 through a 1 pulley transmission pair, the 2 th pulley transmission pair comprises a 3 th walking driving gear 20, a th synchronous pulley 18 and a th synchronous belt 19, the th walking driving gear 20 is arranged on the motor shaft of the walking driving motor 2, the th synchronous pulley 18 is arranged at the other end of the rotating shaft 16, and the th synchronous belt 19 is wound outside the th walking driving gear 20 and the th synchronous pulley 18.

The wheel frame 3 is plate-shaped, the motor bases 21 are arranged on the left and right bisectors of the wheel frame 3, and the two motor bases 21 are distributed in the front and back direction.

The steering wheel 4 is provided with a central hole, a fixing sleeve 14 is arranged on the central hole, the bearing 15 comprises an outer ring and an inner ring which are in mutual rotating fit, the outer ring is connected with the fixing sleeve 14, and the inner ring is connected with the periphery of the vertical shaft 13.

An elastic part is arranged between the wheel carrier 3 and the steering wheel 4. A linear guide device is arranged between the wheel carrier 3 and the steering wheel 4.

Two sets of linear guide devices are arranged between the steering wheel 4 and the wheel carrier 3, are uniformly distributed around the rotating center of the steering wheel 4 and are positioned at the left side and the right side of the synchronizing shaft 29; the linear guide device comprises a longitudinal guide rod 5 and a longitudinal guide sleeve 6, the upper end of the longitudinal guide rod 5 is fixedly connected with the steering wheel 4, the lower end of the longitudinal guide rod 5 penetrates through the longitudinal guide sleeve 6, and the longitudinal guide sleeve 6 is arranged on the wheel carrier 3 and is in vertical sliding fit with the longitudinal guide rod 5. The upper end of the longitudinal guide rod 5 is fixedly connected with the steering wheel 4 through a guide rod locking cover 12.

Two adjusting bolts 8 are arranged beside the linear guide device, the adjusting bolts 8 penetrate through the wheel frame 3 from bottom to top and are in threaded connection with the wheel frame 3, and the upper ends of the adjusting bolts 8 are fixedly abutted or in rotating fit with the steering wheel 4; the elastic part is a compression spring 7, the adjusting bolt 8 is further sleeved with the compression spring 7, and the compression spring 7 is in compression joint between the steering wheel 4 and the wheel carrier 3.

Four caster wheels 11 are distributed on the bottom of the frame 100 in a rectangular shape. The frame 100 is rectangular, the four caster wheels 11 are respectively arranged at four corners of the bottom of the frame 100, and the power device 200 is located in the middle of the bottom of the frame 100.

The frame 100 is provided with a main control circuit and a battery, not shown in the figure, the main control circuit is electrically connected with the battery, and the walking driving motors 2 of the two sets of walking driving mechanisms are respectively electrically connected with the main control circuit.

The frame 100 is provided with a handrail, the handrail is provided with a controller (not shown) for controlling signals of the main control circuit, and the controller is electrically connected with the main control circuit; and/or, the remote controller sends a control signal to the main control circuit, and the remote controller is electrically connected with the main control circuit and is not shown in the figure.

The purpose of this scheme is to protect the mechanical structure of the dual-drive electric carrying device, and those skilled in the art can design the main control circuit and the controller capable of controlling the operation of the dual-drive electric carrying device by combining the structure and the operation principle described in this embodiment, so the main control circuit and the controller will not be described in step .

As a scheme for step , referring to fig. 3, fig. 4, fig. 5, and fig. 11, the frame 100 includes a lower frame 10 and an upper frame 22, the upper frame 22 is disposed above the lower frame 10, the power device 200 is disposed on the lower frame 10, the lower frame 10 is provided with a steering driving mechanism 300 for controlling the power device 200 to rotate, the steering driving mechanism 300 includes a steering driving motor, the steering driving motor is electrically connected to the main control circuit, and the steering driving motor is in transmission connection with the steering wheel 4.

The steering driving mechanism 300 comprises a steering driving motor 24, a gear pair and a gear rack 26, wherein the gear rack 26 is arranged on the frame 100, and the steering driving motor 24 is in transmission connection with the gear pair and is arranged on the gear rack 26; the periphery of the steering wheel 4 is provided with a steering driving tooth groove which is in transmission connection with the gear pair.

The gear rack 26 is also provided with a reduction box 25, the gear pair comprises a pinion 27 and a gearwheel 28, the steering driving motor 24 is in transmission connection with the pinion 27 through the reduction box 25, the pinion 27 is meshed with the gearwheel 28, and the gearwheel 28 is meshed with a steering driving tooth groove of the gear rack 3.

The working principle of the power device 200 is that when the power device 200 is in a state shown in fig. 1, when the two driving wheels 1 are synchronous in the same direction, the frame can travel linearly, when the two driving wheels 1 run in the same direction and at different speeds, the frame can steer towards the outer side of the driving wheel 1 which travels slowly, when driving wheels 1 are locked and fixed, and the other driving wheels 1 rotate, the frame 100 steers by taking the locked driving wheels 1 as the center of a circle, and when the two driving wheels 1 rotate in a forward rotation reverse rotation mode, the frame 100 rotates by taking the center between the two driving wheels 1 as the center of a circle.

With the power plant 200 in the state of fig. 3: the main control circuit only allows the two sets of walking driving mechanisms to jog, and the two driving wheels 1 synchronously move to realize the transverse movement of the frame 100, so that the main control circuit is particularly suitable for parking the frame close to the side.

When the steering drive mechanism 300 controls the power unit 200 to steer, the two travel drive mechanisms of the power unit 200 are stopped, and the power unit 200 is steered with respect to the vehicle body frame 100 (the vehicle body frame 100 is not moved with respect to the ground).

Claims

The double-drive electric carrying equipment is characterized in that the power device comprises two sets of walking driving mechanisms, the walking driving mechanisms comprise driving wheels and walking driving motors, the driving wheels of the two sets of walking driving mechanisms are located at the bottom of the frame and distributed on the left and the right , the driving wheels are in transmission connection with the walking driving motors, the main control circuit is electrically connected with the batteries, and the walking driving motors of the two sets of walking driving mechanisms are respectively electrically connected with the main control circuit.
2. The double-drive electric carrying equipment as claimed in claim 1, wherein the axes of the driving wheels of the two sets of walking driving mechanisms are positioned on the same line of , and the walking driving motors are servo motors.
3. The dual drive electric vehicle of claim 1, wherein: the power device also comprises a wheel carrier, the wheel carrier is directly or indirectly connected with the frame, and the two sets of walking driving mechanisms are respectively arranged at the bottom of the wheel carrier.
4. The dual-drive electric carrier device as claimed in claim 3, wherein the traveling driving mechanism further comprises a motor base and a shaft seat, the motor base and the shaft seat are disposed at the bottom of the wheel frame, the traveling driving motor is disposed on the motor base, rotating shafts are rotatably disposed on the shaft seat, end of the rotating shaft is in transmission connection with the driving wheel, and the other end of the rotating shaft is in transmission connection with the traveling driving motor through a pulley transmission pair.
5. The dual drive electric vehicle of claim 3, wherein: the wheel carrier is horizontally and rotatably arranged on the frame, the frame is provided with a steering driving mechanism for controlling the wheel carrier to rotate, the steering driving mechanism comprises a steering driving motor, and the steering driving motor is electrically connected with the main control circuit.
6. The dual drive electric vehicle of claim 5, wherein: the steering driving mechanism comprises a steering driving motor, a gear pair and a gear carrier, the gear carrier is arranged on the frame, and the steering driving motor is in transmission connection with the gear pair and is arranged on the gear carrier; and the power device is provided with a steering driving tooth groove around the rotating axis of the power device, and the steering driving tooth groove is in transmission connection with the gear pair.
7. The dual drive electric vehicle of claim 6, wherein: the gear rack is also provided with a reduction box, the gear pair comprises a pinion and a bull gear, the steering driving motor is in transmission connection with the pinion through the reduction box, the pinion is meshed with the bull gear, and the bull gear is meshed with a steering driving tooth groove of the wheel rack.
8. The double-drive electric carrying equipment as claimed in claim 7, wherein the wheel frame is provided with a steering wheel, the periphery of the steering wheel is provided with the steering driving tooth groove, the frame is provided with a dragon frame, the inner top surface of the dragon frame is provided with a vertical shaft, the steering wheel is connected with the vertical shaft through a bearing, and an elastic element is arranged between the wheel frame and the steering wheel.
9. The dual drive electric vehicle of claim 1, wherein: four trundles are distributed on the bottom of the frame in a rectangular shape; the frame is rectangular, the four trundles are respectively arranged at four corner positions of the bottom of the frame, and the power device is positioned in the middle of the bottom of the frame.
10. The dual drive electric vehicle of claim 1, wherein: the frame is provided with a handrail, the handrail is provided with a controller for controlling signals of the main control circuit, and the controller is electrically connected with the main control circuit; and/or the remote controller is used for sending a control signal to the main control circuit and is electrically connected with the main control circuit.