CN109455218A - A kind of manipulation armrest system for electronic mobile platform - Google Patents
A kind of manipulation armrest system for electronic mobile platform Download PDFInfo
- Publication number
- CN109455218A CN109455218A CN201811498463.XA CN201811498463A CN109455218A CN 109455218 A CN109455218 A CN 109455218A CN 201811498463 A CN201811498463 A CN 201811498463A CN 109455218 A CN109455218 A CN 109455218A
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- China
- Prior art keywords
- turn
- component
- mobile platform
- electronic mobile
- armrest system
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 230000033001 locomotion Effects 0.000 claims abstract description 34
- 238000007906 compression Methods 0.000 claims abstract description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 17
- 230000007423 decrease Effects 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 8
- 239000007787 solid Substances 0.000 claims 1
- 238000005299 abrasion Methods 0.000 abstract description 6
- 230000006835 compression Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of manipulation armrest system for electronic mobile platform, belongs to electronic mobile platform technical field.It provide in a kind of structure without it is a wide range of relatively rotate, mobile components, do not wear, easy to operate, the manipulation armrest system for electronic mobile platform of function admirable.The handrail-type fine motion can turn to be rotatablely connected in the middle part of component with pedestal, handrail-type fine motion can turn component and connect with tension-compression sensor, tension-compression sensor is fixedly mounted on the base by sensor installation seat, described two handle type fine motions can turn component and be separately mounted to handrail-type fine motion can to turn component both ends, and two handles decline and dynamic can turn to be equipped with torque sensor in component.The problems such as present invention is new-type manipulation armrest system, eliminates inaccurate signal caused by the abrasion by potentiometer abrasion or mechanical structure, structural member replacement.The present invention can easily manipulate controlled device or vehicle turns to advance, retreat, and turning is advanced or pivot turn.
Description
Technical field
The invention belongs to electronic mobile platform technical fields, help more particularly to a kind of manipulation for electronic mobile platform
Arm device.
Background technique
It is generally used in the mode that control vehicle etc. is advanced or turned to, common armrest system all uses speed to pull out handle cooperation
The mode of armrest member direction controlling, such as certain type of logistics carrier control direction with the rotation of manipulation armrest member,
And rotation direction and the corner size of handle are pulled out to control travel speed with speed.Or such as another kind of seat drives formula towing vehicle,
The speed of forward-reverse is controlled by sagittal push rod.The armrest system of the above-mentioned type, because of the presence of relative motion feature, with
Using the increase of time, inevitably there is the abrasion of sensor, mechanical structure, even if contactless Hall member can be used
Part detects the variation of signal, there is also relatively rotate, the abrasion of moving structure and magnetic gap adjust problem.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of a wide range of relative rotations of nothing in structure, movement
Components, do not wear, easy to operate, the manipulation armrest system for electronic mobile platform of function admirable.
The technical solution used in the present invention is: a kind of manipulation armrest system for electronic mobile platform, including pedestal,
Tension-compression sensor, sensor installation seat, handrail-type fine motion, which can turn component, and two handles decline dynamic can turn component；The handrail-type
Fine motion can turn to be rotatablely connected in the middle part of component with pedestal, and handrail-type fine motion can turn component and connect with tension-compression sensor, tension-compression sensor
It is fixedly mounted on the base by sensor installation seat, described two handle type fine motions can turn component and be separately mounted to handrail to decline
Dynamic to turn component both ends, two handles, which decline to move, can turn to be equipped with torque sensor in component.
The beneficial effects of the present invention are:
The present invention is new-type manipulation armrest system, does not detect speed signal using the potentiometer of conventional handle, Hall element, or
Turn signal is not detected using potentiometer, the Hall element on manipulation armrest member, thus eliminate by potentiometer abrasion,
Or the problems such as signal caused by the abrasion of mechanical structure is inaccurate, structural member replacement.The present invention is using torque sensor and draws
Pressure sensor, so that entire handle structure is for the operators, it is believed that be a motionless entirety, do not have to laborious torsion
Operating parts is simultaneously kept, and only need to naturally be pushed or pull on, and can easily manipulate controlled device or vehicle turns to advance, retreat, turning
Traveling or pivot turn.
Detailed description of the invention
Fig. 1: schematic structural view of the invention；
Fig. 2: Fig. 1 rearview；
Fig. 3: Fig. 1 handle type fine motion can turn component structure diagram；
Wherein: 1- pedestal；2- tension-compression sensor；3- sensor installation seat；The fine motion of 4- handrail-type can turn component；4-1- is core；4-
2- locking nut；4-3- intermediate；4-4- rubber grip；The fine motion of 5- handle type can turn component；5-1- handle housing；5-2- torque
Sensor；6- swivel base；7- shaft；8- curved.
Specific embodiment
As shown in Fig. 1 ~ Fig. 3, a kind of manipulation armrest system for electronic mobile platform, including pedestal 1, tension-compression sensor
2, sensor installation seat 3, handrail-type fine motion, which can turn component 4, and two handles decline dynamic can turn component 5；The handrail-type fine motion can
Turn 4 middle part of component to be rotatablely connected with pedestal 1, handrail-type fine motion can turn component 4 and connect with tension-compression sensor 2, and tension-compression sensor 2 is logical
It crosses sensor installation seat 3 to be fixedly mounted on pedestal 1, described two handle type fine motions can turn component 5 and be separately mounted to handrail-type
Fine motion can turn 4 both ends of component, and two handles, which decline to move, can turn to be equipped with torque sensor 5-2 in component 5.
It includes intermediate 4-3, two one or two core 4-1, two locking nut 4-2 and two that the handrail-type fine motion, which can turn component 4,
Be rotatablely connected in the middle part of a rubber grip 4-4, the intermediate 4-3 with pedestal 1, the both ends intermediate 4-3 with it is corresponding core 4-1 it
Between be detachably connected by locking nut 4-2, it is each described being set with rubber grip 4-4 on the outside of core 4-1.
It includes handle housing 5-1 and torque sensor 5-2, the torque that each handle type fine motion, which can turn component 5,
Sensor 5-2 is mounted on corresponding described on core 4-1, and the handle housing 5-1 is sleeved on corresponding torque sensor 5-2
And it is arranged in corresponding rubber grip 4-4.
Described two handle housing 5-1 are with corresponding gap is equipped between core 4-1, to meet corresponding torque sensor
The deflection requirement of 5-2.
The manipulation armrest system for electronic mobile platform further includes swivel base 6 and shaft 7, the swivel base 6 and pedestal 1
It is fixedly connected, the handrail-type fine motion can turn to be rotatablely connected with swivel base 6 by shaft 7 in the middle part of the intermediate 4-3 of component 4.
The handrail-type fine motion can turn to be equipped with gap between the intermediate 4-3 of component 4 and the swivel base 6, to meet tension and compression
The deflection requirement of sensor 2, and limit the corner of intermediate 4-3.
The manipulation armrest system for electronic mobile platform further includes two curved 8, and the handrail-type fine motion can turn
It curved is fixedly connected 8 by corresponding between two one or two outer ends core 4-1 and pedestal 1 of component 4.
It is the symmetrical structure centered on shaft 7 that the handrail-type fine motion, which can turn component 4,.
Operating principle:
1. armrest system of the invention is in naturally, when without mode of operation: handrail-type fine motion can turn component 4 and handle when initial
Hand decline it is dynamic can turn component 5 and be in reset condition, tension-compression sensor 2 and two outputs are zero.
2. one-handed performance, it may appear that following several situations；
2.1 when one-handed performance, such as left-handed operation, if not intentional turning handle core 4-1, but holds the rubber handle in left side
When pushing in the middle part of 4-4 and forward, torque sensor 5-2 can export a lesser signal (even if because of unintentional twisting, also can be because
Force is uneven and omits turning handle core 4-1, makes handle type fine motion that can turn the rotation of component 5), while thrust can be by core 4-1, transmitting
It can turn component 4 to handrail-type fine motion, press tension-compression sensor 2, then export a biggish compression signal, can be judged by program
Out: left hand is pushing forward at this time, there is no rotating, then regards the signal magnitude of tension-compression sensor 2, and manipulates controlled device or vehicle
At different rates straight ahead.
2.2 such as left-handed operations, and 2.1 operation as above is similar and left hand pulls back, and tension-compression sensor 2 can export one
Biggish tension signal, regards the signal magnitude of tension-compression sensor 2 at this time, and manipulates controlled device or vehicle is straight at different rates
Line retreats.
2.3 such as left-handed operations, while holding left side rubber handle 4-4 and push forward, intentional turning handle core 4-1, then
Torque sensor 5-2 can export a biggish signal, can be used for manipulating controlled device or vehicle to the left or turn right (corner is big
Small and direction is depending on signal magnitude and direction)；Tension-compression sensor 2 also exports a biggish compression signal, and manipulation is controlled to be set
Standby or overall vehicle travel speed.
2.4 when such as the right hand operates, similar with left-handed operation, controlled device or vehicle at different rates straight ahead or after
It moves back.
3. both hands operate, it may appear that following several situations；
3.1 such as both hands operate simultaneously, need both hands while pushing the partially interior side the rubber grip 4-4 of left and right.At this point, due to two sides
Torque sensor 5-2 can all export a biggish signal, program can determine whether out it is in both hands mode of operation, at this time no longer
The signal of tension-compression sensor 2 is detected, only the signal magnitude judgement by the torque sensor 5-2 of two sides is such as controllable.
3.2 as both hands simultaneously push forward, at this time if the thrust difference in size of both hands is in threshold value, be steered by
It controls equipment or straight line advances；If thrust difference in size exceeds threshold value, then manipulates controlled device or vehicle turning is advanced.Both hands
When post-tensioning, mode of operation is similar.
3.3 such as left hands push forward, and the right hand pulls back, then manipulates controlled device or vehicle original place rotates clockwise；Instead
Then rotate counterclockwise.At this time because the radius of gyration is minimum, the purpose that mobile platform is quickly adjusted in limited range can achieve.
The present invention can be used in electric moving moving platform, Medical trolley, Medical mobile platform, medical operating robot, cargo fortune
Send vehicle, logistics tractor, carrier etc..
New-type manipulation armrest system of the invention, in the electronic mobile platform main body row of certain intelligent medical operating robot
Into being able to consider application in practice in control device, operation is easy to maintain naturally, laborsaving, can operate, move in small space
The dynamic electronic mobile platform position of adjustment.
In practical application, may export at the beginning is not zero because of the foozle of sensor, it can be by a program
Adjust zero-bit numerical value, or in system electrification acquire primary transducer signal, be denoted as initial value, and charge to automatically in program so as to
Sensor parameters are corrected in practical operation, can reach good manipulation effect.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of manipulation armrest system for electronic mobile platform, it is characterised in that: including pedestal (1), tension-compression sensor
(2), sensor installation seat (3), handrail-type fine motion, which can turn component (4), and two handles decline dynamic can turn component (5)；The handrail
Declining to move can turn to be rotatablely connected in the middle part of component (4) with pedestal (1), and handrail-type fine motion can turn component (4) and tension-compression sensor (2) and connect
It connects, tension-compression sensor (2) is fixedly mounted on pedestal (1) by sensor installation seat (3), and described two handle type fine motions can turn
Component (5), which is separately mounted to handrail-type fine motion, can turn component (4) both ends, and two handles, which decline to move, can turn to be equipped in component (5)
Torque sensor (5-2).
2. a kind of manipulation armrest system for electronic mobile platform according to claim 1, it is characterised in that: described to help
Hand declines, and dynamic can to turn component (4) include intermediate (4-3), two one or two cores (4-1), two locking nuts (4-2) and two rubber
Grip (4-4), intermediate (4-3) middle part are rotatablely connected with pedestal (1), and the intermediate both ends (4-3) are with corresponding core (4-
1) it is detachably connected between by locking nut (4-2), it is each described core (4-1) outside to be set with rubber grip (4-4).
3. a kind of manipulation armrest system for electronic mobile platform according to claim 2, it is characterised in that: Mei Gesuo
Stating handle type fine motion to turn component (5) includes handle housing (5-1) and torque sensor (5-2), the torque sensor (5-
2) it is mounted on corresponding described on core (4-1), the handle housing (5-1) is sleeved on corresponding torque sensor (5-2)
And setting is in corresponding rubber grip (4-4).
4. a kind of manipulation armrest system for electronic mobile platform according to claim 3, it is characterised in that: described two
A handle housing (5-1) is with corresponding gap is equipped between core (4-1), to meet the change of corresponding torque sensor (5-2)
The requirement of shape amount.
5. a kind of manipulation armrest system for electronic mobile platform according to claim 1 or 2, it is characterised in that: institute
Stating for the manipulation armrest system of electronic mobile platform further includes swivel base (6) and shaft (7), and the swivel base (6) and pedestal (1) are solid
Fixed connection, the handrail-type fine motion can turn to connect with swivel base (6) by shaft (7) rotation in the middle part of the intermediate (4-3) of component (4)
It connects.
6. a kind of manipulation armrest system for electronic mobile platform according to claim 5, it is characterised in that: described to help
Hand, which declines to move, can turn to be equipped with gap between the intermediate (4-3) of component (4) and the swivel base (6), to meet tension-compression sensor (2)
Deflection requirement, and limit the corner of intermediate (4-3).
7. a kind of manipulation armrest system for electronic mobile platform according to claim 1 or 2, it is characterised in that: institute
Stating for the manipulation armrest system of electronic mobile platform further includes two curved handles (8), and the handrail-type fine motion can turn component (4)
It is fixedly connected by corresponding curved handle (8) between the two one or two cores outer end (4-1) and pedestal (1).
8. a kind of manipulation armrest system for electronic mobile platform according to claim 5, it is characterised in that: described to help
Hand declines, and dynamic can to turn component (4) be the symmetrical structure centered on shaft (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811498463.XA CN109455218B (en) | 2018-12-08 | 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 | Control armrest device for electric mobile platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109455218A true CN109455218A (en) | 2019-03-12 |
| CN109455218B CN109455218B (en) | 2024-11-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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