CN109455218B - A control armrest device for electric mobile platform - Google Patents
A control armrest device for electric mobile platform Download PDFInfo
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- CN109455218B CN109455218B CN201811498463.XA CN201811498463A CN109455218B CN 109455218 B CN109455218 B CN 109455218B CN 201811498463 A CN201811498463 A CN 201811498463A CN 109455218 B CN109455218 B CN 109455218B
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- handle
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- armrest
- motion
- mobile platform
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- 238000007906 compression Methods 0.000 claims abstract description 10
- 230000006835 compression Effects 0.000 claims abstract description 9
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 239000000543 intermediate Substances 0.000 description 7
- 238000005299 abrasion Methods 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K21/00—Steering devices
- B62K21/12—Handlebars; Handlebar stems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Rehabilitation Tools (AREA)
- Mechanical Control Devices (AREA)
Abstract
一种用于电动移动平台的操纵扶手装置，属于电动移动平台技术领域。它提供一种结构中无大范围相对转动、移动的零部件，没有磨损，操作简单，性能优良的用于电动移动平台的操纵扶手装置。所述扶手式微动可转组件中部与基座转动连接，扶手式微动可转组件与拉压传感器连接，拉压传感器通过传感器安装座固定安装在基座上，所述两个把手式微动可转组件分别安装在扶手式微动可转组件两端，两个把手式微动可转组件内均设有扭矩传感器。本发明是新式操纵扶手装置，消除了由电位器磨损，或是机械结构的磨损而引起的信号不准、结构件更换等问题。本发明即可轻松操控被控设备或车辆转前进、后退，转弯行进或是原地转弯。
A control armrest device for an electric mobile platform belongs to the technical field of electric mobile platforms. It provides a control armrest device for an electric mobile platform that has no parts that rotate or move relative to each other in a large range in the structure, is wear-free, is easy to operate, and has excellent performance. The middle part of the armrest-type micro-motion rotatable component is rotatably connected to the base, the armrest-type micro-motion rotatable component is connected to the tension and compression sensor, the tension and compression sensor is fixedly mounted on the base through a sensor mounting seat, and the two handle-type micro-motion rotatable components are respectively mounted at both ends of the armrest-type micro-motion rotatable component, and torque sensors are provided in the two handle-type micro-motion rotatable components. The present invention is a new type of control armrest device, which eliminates the problems of inaccurate signals and replacement of structural parts caused by wear of potentiometers or wear of mechanical structures. The present invention can easily control the controlled equipment or vehicle to turn forward, backward, turn or turn on the spot.
Description
Technical Field
The invention belongs to the technical field of electric mobile platforms, and particularly relates to an operating handrail device for an electric mobile platform.
Background
In general, in a manner of controlling running or steering of a vehicle, a common handrail device adopts a manner of matching a speed pulling handle with a direction control of a handrail component, such as a certain type of logistics carrier, that is, a rotation control direction of the handrail component is controlled, and a running speed is controlled by using a rotation direction and a rotation angle of the speed pulling handle. Or another type of a ride-on traction vehicle, the forward and reverse speeds are controlled by forward and reverse pushrods. The above-mentioned handrail device inevitably requires a sensor and a mechanical structure to be worn with the increase of the service time due to the existence of the relative movement structure, and even if a contactless hall element can be used for detecting the change of a signal, the problems of relative rotation, wear of the movement structure and magnetic gap adjustment exist.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the operating handrail device for the electric moving platform, which has the advantages of no part which rotates and moves relatively in a large range in the structure, no abrasion, simple operation and excellent performance.
The technical scheme adopted by the invention is as follows: a handle device for an electric mobile platform comprises a base, a pulling and pressing sensor, a sensor mounting seat, a handle micro-motion rotatable component and two handle micro-motion rotatable components; the middle part of the handrail type micro-motion rotatable component is rotationally connected with the base, the handrail type micro-motion rotatable component is connected with the pulling pressure sensor, the pulling pressure sensor is fixedly installed on the base through the sensor installation seat, the two handle type micro-motion rotatable components are respectively installed at two ends of the handrail type micro-motion rotatable component, and torque sensors are arranged in the two handle type micro-motion rotatable components.
The invention has the beneficial effects that:
The invention is a new-type operating handrail device, which does not adopt the potentiometer and the Hall element of the conventional handle to detect the speed signal or adopts the potentiometer and the Hall element on the operating handrail component to detect the turning signal, thereby eliminating the problems of inaccurate signal, structural member replacement and the like caused by the abrasion of the potentiometer or the abrasion of the mechanical structure. The invention adopts the torque sensor and the pulling and pressing sensor, so that the whole operation structure can be regarded as a motionless whole for operators, the operation piece is not required to be twisted and maintained by the effort, and the controlled equipment or the vehicle can be easily controlled to rotate forwards and backwards and turn to travel or turn in situ only by natural pushing or pulling.
Drawings
Fig. 1: the structure of the invention is schematically shown;
fig. 2: FIG. 1 is a rear view;
fig. 3: FIG. 1 is a schematic view of a handle-type jog rotatable assembly;
Wherein: 1-a base; 2-a pull-press sensor; 3-a sensor mount; 4-armrest micro-motion rotatable assembly; 4-1-handle core; 4-2-locking nut; 4-3-intermediates; 4-4 of a rubber handle sleeve; a 5-handle jog rotatable assembly; 5-1-handle coat; a 5-2-torque sensor; 6-rotating; 7-rotating shaft; 8-bending handle.
Detailed Description
As shown in fig. 1 to 3, an armrest controlling device for an electric moving platform comprises a base 1, a tension and compression sensor 2, a sensor mounting seat 3, an armrest micro-motion rotatable assembly 4 and two handle-type micro-motion rotatable assemblies 5; the middle part of the handrail type micro-motion rotatable component 4 is rotationally connected with the base 1, the handrail type micro-motion rotatable component 4 is connected with the pulling and pressing sensor 2, the pulling and pressing sensor 2 is fixedly installed on the base 1 through the sensor installation seat 3, the two handle type micro-motion rotatable components 5 are respectively installed at two ends of the handrail type micro-motion rotatable component 4, and torque sensors 5-2 are arranged in the two handle type micro-motion rotatable components 5.
The armrest type micro-motion rotatable assembly 4 comprises an intermediate body 4-3, two handle cores 4-1, two lock nuts 4-2 and two rubber handle sleeves 4-4, wherein the middle part of the intermediate body 4-3 is rotationally connected with the base 1, two ends of the intermediate body 4-3 are detachably connected with the corresponding handle cores 4-1 through the lock nuts 4-2, and the rubber handle sleeves 4-4 are sleeved on the outer sides of each handle core 4-1.
Each handle-type micro-motion rotatable assembly 5 comprises a handle outer sleeve 5-1 and a torque sensor 5-2, wherein the torque sensor 5-2 is installed on the corresponding handle core 4-1, and the handle outer sleeve 5-1 is sleeved on the corresponding torque sensor 5-2 and is arranged in the corresponding rubber handle sleeve 4-4.
Gaps are arranged between the two handle jackets 5-1 and the corresponding handle cores 4-1 so as to meet the deformation requirement of the corresponding torque sensor 5-2.
The handle armrest device for the electric mobile platform further comprises a swivel seat 6 and a rotating shaft 7, wherein the swivel seat 6 is fixedly connected with the base 1, and the middle part of the intermediate body 4-3 of the armrest micro-motion rotatable assembly 4 is rotatably connected with the swivel seat 6 through the rotating shaft 7.
A gap is arranged between the intermediate body 4-3 of the armrest type micro-motion rotatable component 4 and the swivel seat 6 so as to meet the requirement of the deformation of the tension-compression sensor 2 and limit the rotation angle of the intermediate body 4-3.
The handle device for the electric moving platform further comprises two bent handles 8, and the outer ends of the two handle cores 4-1 of the handle micro-motion rotatable assembly 4 are fixedly connected with the base 1 through the corresponding bent handles 8.
The armrest type micro-motion rotatable component 4 is of a symmetrical structure taking a rotating shaft 7 as a center.
Principle of action:
1. When initially, the armrest apparatus of the present invention is in a natural, non-operational state: the armrest type micro-motion rotatable component 4 and the handle type micro-motion rotatable component 5 are in an original state, and the pulling and pressing sensor 2 and the two outputs are zero.
2. The following situations can occur when the operation is carried out by one hand;
2.1 When the handle 4-1 is not intentionally turned by a single hand, such as a left hand operation, but the middle part of the left rubber handle 4-4 is held and pushed forward, the torque sensor 5-2 outputs a smaller signal (because the handle 4-1 is slightly turned due to uneven force application even though the handle is unintentionally twisted, the handle jog rotatable assembly 5 is rotated), and meanwhile, the pushing force is transmitted to the armrest jog rotatable assembly 4 through the handle 4-1, the pulling pressure sensor 2 is pressed, and a larger pressed signal is output, which can be judged by the program: at this time, the left hand is pushed forward and does not rotate, and the controlled device or the vehicle is controlled to linearly advance at different speeds according to the signal magnitude of the pull pressure sensor 2.
2.2 Is operated by left hand, and the pulling pressure sensor 2 outputs a larger pulling signal when the pulling pressure sensor 2 is operated by the similar operation of the left hand and pulled backwards as the operation of the left hand 2.1, the controlled equipment or the vehicle is controlled to linearly retreat at different speeds according to the signal size of the pulling pressure sensor 2.
2.3 If the left rubber handle 4-4 is held by left hand and pushed forward, and the handle core 4-1 is intentionally rotated, the torque sensor 5-2 outputs a larger signal, and the larger signal can be used for controlling the controlled equipment or the vehicle to turn left or right (the angle and the direction depend on the signal size and the direction); the tension and compression sensor 2 also outputs a larger compression signal to control the running speed of the controlled equipment or the vehicle overall.
2.4 When operating with the right hand, the device or vehicle being controlled is moving straight forward or backward at different speeds, similar to the left hand operation.
3. The following situations can occur when the two hands are operated;
3.1, if two hands operate simultaneously, the two hands are required to push the left and right rubber handle sleeves 4-4 to the inner side simultaneously. At this time, since the torque sensors 5-2 on both sides output a larger signal, the program can determine that the two-hand operation state is achieved, and the signal of the pull-press sensor 2 is not detected any more, and the signal of the torque sensors 5-2 on both sides is determined as controllable.
3.2 If the two hands push forwards simultaneously, if the difference of the push force of the two hands is within a threshold value, the controlled equipment or the vehicle is controlled to advance linearly; if the thrust difference exceeds the threshold, the controlled device or the vehicle is controlled to turn and advance. When the hands are pulled back, the operation mode is similar to that of the prior art.
3.3, If the left hand pushes forwards and the right hand pulls backwards, the controlled equipment or the vehicle is controlled to rotate clockwise in situ; and conversely, the rotation is anticlockwise. At the moment, the purpose of quickly adjusting the mobile platform in a limited range can be achieved due to the extremely small rotation radius.
The invention can be used in electric mobile platforms, medical trolleys, medical mobile platforms, medical surgical robots, cargo transportation vehicles, logistic tractors, carrier vehicles and the like.
The novel operating handrail device can be applied to the running operation device of the electric moving platform main body of an intelligent medical operation robot in practice, is natural in operation, saves labor, is easy to maintain, and can be operated and moved in a narrow space to adjust the position of the electric moving platform.
In practical application, because of the manufacturing error of the sensor, the output may not be zero at the initial time, the zero position value can be adjusted in the program, or the sensor signal is collected once when the system is powered on and recorded as an initial value, and the initial value is automatically recorded in the program so as to correct the sensor parameter in the practical operation, thus achieving good control effect.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811498463.XA CN109455218B (en) | 2018-12-08 | 2018-12-08 | A control armrest device for electric mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811498463.XA CN109455218B (en) | 2018-12-08 | 2018-12-08 | A control armrest device for electric mobile platform |
Publications (2)
| Publication Number | Publication Date |
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| CN109455218A CN109455218A (en) | 2019-03-12 |
| CN109455218B true CN109455218B (en) | 2024-11-15 |
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| CN201811498463.XA Active CN109455218B (en) | 2018-12-08 | 2018-12-08 | A control armrest device for electric mobile platform |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116439840A (en) * | 2022-01-07 | 2023-07-18 | 深圳康诺思腾科技有限公司 | Steering wheel control mechanism and medical trolley |
| WO2023143456A1 (en) * | 2022-01-27 | 2023-08-03 | 上海微创医疗机器人（集团）股份有限公司 | Control apparatus and method, storage medium, medical apparatus and surgical robot |
| CN115122312A (en) * | 2022-07-19 | 2022-09-30 | 上海擎朗智能科技有限公司 | Mobile robot and working method |
| CN115320573A (en) * | 2022-08-31 | 2022-11-11 | 佗道医疗科技有限公司 | Method and device for inhibiting shaking of mobile chassis and mobile chassis |
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| CN109455218A (en) | 2019-03-12 |
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