CN109455218B - Control armrest device for electric mobile platform - Google Patents

Abstract

A control armrest device for an electric mobile platform belongs to the technical field of electric mobile platforms. The operating handrail device for the electric moving platform has the advantages of no large-range relative rotation and moving parts in the structure, no abrasion, simple operation and excellent performance. 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 is a novel operating armrest device, which eliminates the problems of inaccurate signals, replacement of structural parts and the like caused by the abrasion of a potentiometer or the abrasion of a mechanical structure. The invention can easily control the controlled equipment or the vehicle to rotate forward and backward, turn and advance or turn in situ.

Description

Control armrest device for electric mobile platform

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)

1. An armrest apparatus for an electrically-powered mobile platform, comprising: comprises a base (1), a pulling and pressing sensor (2), a sensor mounting seat (3), a handrail type micro-motion rotatable component (4) and two handle type micro-motion rotatable components (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 tension and compression sensor (2), the tension and compression sensor (2) is fixedly arranged on the base (1) through the sensor mounting seat (3), the two handle type micro-motion rotatable components (5) are respectively arranged inside two ends of the handrail type micro-motion rotatable component (4), torque sensors (5-2) are respectively arranged in the two handle type micro-motion rotatable components (5),

The handrail 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), the outer sides of each handle core (4-1) are sleeved with the rubber handle sleeve (4-4),

The handle device for the electric moving platform also comprises a swivel base (6) and a rotating shaft (7), wherein the swivel base (6) is fixedly connected with the base (1), the middle part of the intermediate body (4-3) of the handle micro-motion rotatable component (4) is rotationally connected with the swivel base (6) through the rotating shaft (7),

The armrest type micro-motion rotatable component (4) is of a symmetrical structure taking a rotating shaft (7) as a center.

2. A manipulating armrest apparatus for an electrically-powered mobile platform as recited in claim 1, wherein: each handle type micro-motion rotatable assembly (5) comprises a handle outer sleeve (5-1) and a torque sensor (5-2), 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).

3. A manipulating armrest apparatus for an electrically-powered mobile platform as recited in claim 2, wherein: 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).

4. A manipulating armrest apparatus for an electrically-powered mobile platform as recited in claim 1, wherein: a gap is arranged between the intermediate body (4-3) of the armrest type micro-motion rotatable assembly (4) and the rotary seat (6) so as to meet the deformation requirement of the tension-compression sensor (2) and limit the rotation angle of the intermediate body (4-3).

5. A manipulating armrest apparatus for an electrically-powered mobile platform as recited in claim 1, wherein: 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).