CN109460109A - A kind of mobile platform manipulation device based on force snesor - Google Patents
A kind of mobile platform manipulation device based on force snesor Download PDFInfo
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- CN109460109A CN109460109A CN201811561665.4A CN201811561665A CN109460109A CN 109460109 A CN109460109 A CN 109460109A CN 201811561665 A CN201811561665 A CN 201811561665A CN 109460109 A CN109460109 A CN 109460109A
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- mobile platform
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- sensor
- manipulation device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
- G05G1/10—Details, e.g. of discs, knobs, wheels or handles
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Abstract
本发明公开了一种基于力传感器的移动平台操纵装置，属于电动移动平台操纵技术领域，包括基座，所述基座一侧壁的两端对称设置两个操纵手柄，每个所述操纵手柄包括外部套设有外管的把芯，且所述外管与所述把芯间设有间隙，两个传感器设置于所述把芯中间的凹槽内，且每个所述传感器的一端与所述外管的内侧相连接，与所述传感器的一端相对的另一端与所述把芯相连接。与现有技术比较，本发明没有方向盘，推杆等大范围移动、转动的部件，避免出现机械结构的磨损，寿命长；通过外管与把芯间间隙的适当设计，使得其中的拉压传感器可靠的工作在其有效行程范围内，传感器也不会因过载而损坏，结构紧凑，操作容易。
The invention discloses a mobile platform manipulation device based on a force sensor, which belongs to the technical field of electric mobile platform manipulation. It includes a handle core with an outer tube sleeved on the outside, and a gap is set between the outer tube and the handle core, two sensors are arranged in the groove in the middle of the handle core, and one end of each sensor is connected with the handle. The inner side of the outer tube is connected, and the other end opposite to one end of the sensor is connected with the handle core. Compared with the prior art, the present invention has no large-scale moving and rotating parts such as a steering wheel and a push rod, which avoids the wear of the mechanical structure and has a long service life; Reliable work within its effective travel range, the sensor will not be damaged due to overload, compact structure, easy to operate.
Description
Technical field
The present invention relates to electronic mobile platform manipulation technology fields, and in particular to a kind of mobile platform based on force snesor
Manipulation device.
Background technique
The manipulation device of common vehicle, platform etc., the generally structure comprising relative movement, rotation: such as steering wheel pushes away
Bar, knob etc..Inevitably with using the growth of time, and there is the abrasion of mechanical structure, sensor in these similar structures
Aging phenomenon, then influence the manipulation to vehicle, platform, or even need shutdown maintenance.
In view of the above drawbacks, creator of the present invention proposes the present invention by prolonged research and practice.
Summary of the invention
To solve above-mentioned technological deficiency, the technical solution adopted by the present invention is, a kind of movement based on force snesor is flat
The both ends of platform manipulation device, including pedestal, the pedestal one side wall are symmetrical arranged two control cranks, each control crank
Including outer cover be equipped with outer tube core, and the outer tube and described described in, equipped with gap, two sensors are set between core
In the groove among core, and it is connected on the inside of one end of each sensor and the outer tube, with the sensor
The opposite other end in one end is connected core with described.
Further, each control crank further includes core print seat, and the both ends core print seat are respectively with described core
It is connected with the side wall, and described core and the connection direction core print seat is perpendicular to the pedestal and described core print seat
Connect direction.
Further, through-hole is arranged in the side wall, and screw passes through the through-hole and core print seat is fixed on the side wall by described.
Further, described that core is threadedly coupled core print seat with described, and pass through nut check.
Further, two sensors are connected with the both ends of sensor installation seat respectively, and the sensor is pacified
Dress seat is arranged in the groove and core is connected with described.
Further, the sensor is pull pressure sensor.
Further, one end of the sensor is connect with the inside screw of the outer tube, one end with the sensor
The opposite other end is connect with the sensor installation seat screw.
Further, the sensor installation seat connect core screw with described.
Further, the outer cover of the outer tube is equipped with grip.
Further, described core is cylindrical structure, and the cross section of the outer tube and the grip is circle.
Compared with the prior art, the beneficial effects of the present invention are:
(1) a kind of mobile platform manipulation device based on force snesor provided by the invention does not have steering wheel, and push rod etc. is big
The component that range is mobile, rotates, avoids the occurrence of the abrasion of mechanical structure, the service life is long；
(2) present invention by outer tube and between core gap it is appropriately designed so that tension-compression sensor therein is reliable
Within the scope of its effective travel, sensor will not be damaged because of overload for work；
(3) compact-sized, it is simple and effective；
(4) operating process is natural, easy；
(5) electronic mobile platform, Medical trolley, Medical mobile platform, medical operation robot, shipping be can be widely applied to
It send, the fields such as tractor, logistics carrier.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution in various embodiments of the present invention
The attached drawing used is briefly described.
Fig. 1 is a kind of structure chart of the mobile platform manipulation device based on force snesor in the present invention；
Fig. 2 be in the present invention an a kind of wherein operation handle for the mobile platform manipulation device based on force snesor without grip
Structure chart；
Fig. 3 is the schematic enlarged-scale view that pedestal is connect with core print seat in the present invention；
Fig. 4 is the schematic enlarged-scale view that core is connect with core print seat in the present invention；
Fig. 5 is the internal view of control crank in the present invention；
Fig. 6 be include in the present invention a kind of a kind of medical robot of the mobile platform manipulation device based on force snesor set
Standby part-structure figure.
Digital representation in figure:
1- sensor, 2- outer tube, 3- core, 4- core print seat, 5- pedestal, 51- side wall, 6- grip, 7- sensor installation seat,
8- through-hole.
Specific embodiment
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.Wherein
What is be related in following embodiments refer to " forward " direction of operator's face when operating mobile platform, " backward " be with
" forward " opposite direction, " transverse direction " refer to along the horizontal axis direction of a control crank to another control crank.
Embodiment 1
Such as Fig. 1-5, present embodiments providing a kind of mobile platform manipulation device based on force snesor includes pedestal 5, base
The both ends of 5 one side walls 51 of seat are symmetrical arranged two control cranks, respectively left hand operation handle and right hand control crank, Mei Gecao
Vertical handle include outer cover be equipped with outer tube 2 core, two sensors 1 are set in the groove the centre of core 3, and sensor 1
One end be connected with the inside of outer tube 2 by screw, the other end opposite with one end of sensor 1 and sensor installation seat 7
It is connected by screw, two sensors 1 are juxtaposed on the both ends of sensor installation seat 7, and sensor installation seat 7 is set to
Core 3 is connected by screw in the groove and with described.
Wherein, each control crank further includes core print seat 4, the adjacent both ends of core print seat 4 respectively and core 3 and side wall
51 are connected, and core 3 with the connection direction of core print seat 4 perpendicular to pedestal 5 with the connection direction of core print seat 4, be cylinder core 3
Body structure, the outer cover of outer tube 2 are equipped with grip 6, connect together movement with outer tube 2, and grip 6 is rubber grip, outer tube 2 and handle
The cross section of set 6 is circle.
In above structure, the outer tube 2 and it is described be between core 3 have gap (this gap can by sensor 1 and pass
Increase adjusting pad between sensor mounting base 7 to adjust), and outer tube 2 passes through the sensor installation seat 7 and the sensing with core 3
Device 1 forms a partial structurtes, and core 3 is relatively fixed when, when there is external force push-and-pull outer tube 2, the small position of outer tube 2 can be caused
It moves, i.e., the gap of core 3 and outer tube 2 is changed, since sensor 1 is pull pressure sensor, after 1 stress of sensor, S type
Structural body generate the opposite meeting of upper and lower end faces atomic small deformation occur, this deflection causes the resistance strain gage of its own
The variation of bridge arm resistance, to export the signal of variation.
A kind of working principle of mobile platform manipulation device based on force snesor provided by the invention is as follows:
1. when manipulation device is in naturally, when without personnel's mode of operation: the output for controlling totally four sensors 1 is zero.
2. one-handed performance control crank
2.1 when one-handed performance control crank, such as left-handed operation, and does not rotate grip 6 and outer tube 2, and holds left side handle
When covering 6 and pushing forward, two tension-compression sensors 1 of Left-Hand Drive handle inner can respectively export a forward signal simultaneously,
The size of the two signals can because force it is of different sizes due to change, but its difference again can in a setting range, at this time by
Control mobile platform or trolley straight ahead at different rates.
If 2.2 be still left hand one-handed performance control crank, grip 6 and outer tube 2 are not rotated intentionally, and hold left side grip
6 and left hand pulls back, two tension-compression sensors 1 of Left-Hand Drive handle inner can each one negative-going signal of output simultaneously, this
The size of two signals can because force it is of different sizes due to change, but its difference again can within the scope of one, at this time be controlled movement
Straight line retreats at different rates for platform or trolley.
If 2.3 be still left hand one-handed performance control crank, but while pushing grip 6 and outer tube 2 forward, is turned round intentionally
Both turn, two tension-compression sensors 1 meeting of Left-Hand Drive handle inner while respectively one forward signal of output, the two signals
Size can because force it is of different sizes due to change, but the difference of two signals can exceed a setting range at this time, at this point, controlled
Mobile platform or trolley at different rates or turn left to advance or turn right and advance.
If 2.4 be still left hand one-handed performance control crank, but while pushing grip 6 and outer tube 2 backward, is turned round intentionally
Both turn, two tension-compression sensors 1 meeting of Left-Hand Drive handle inner while respectively one negative-going signal of output, the two signals
Size can because force it is of different sizes due to change, but the difference of two signals can exceed a setting range at this time, at this point, controlled
Mobile platform or trolley at different rates or turn left to retreat or turn right and retreat.
It is similar with result with single left-handed operation process when 2.5 single right hand manipulation handle.
3. both hands manipulation handle
3.1 push forward control crank simultaneously when both hands while manipulation handle, such as both hands, at this time if both hands push away
Within the set range, then controlled device or straight line advance power difference in size；If thrust difference in size exceeds setting range, then
Controlled mobile platform or trolley turning are advanced.When both hands post-tensioning, mode of operation is similar.
3.2 such as left hands push forward, and the right hand pulls back control crank, then is controlled mobile platform or trolley original place is clockwise
Rotation；It is on the contrary then rotate counterclockwise.At this time because the radius of gyration is minimum, it can achieve and quickly adjust mobile platform in limited range
Purpose.
Therefore, a kind of mobile platform manipulation device based on force snesor provided by the invention does not have steering wheel, push rod etc.
A wide range of mobile, rotation component, avoids the occurrence of the abrasion of mechanical structure, the service life is long；By outer tube and gap between core
Appropriately designed, so that tension-compression sensor therein reliably works within the scope of its effective travel, sensor will not be because of overload
And it damages；It is compact-sized, it is simple and effective；Operating process is natural, easy, can be widely applied to electronic mobile platform, Medical trolley,
The fields such as Medical mobile platform, medical operation robot, shipping send, tractor, a logistics carrier.
Embodiment 2
On the basis of embodiment 1, the symmetrical end of the two of the side wall 51 being connected with core print seat 4 is respectively provided to the present embodiment
A few through-hole 8, screw, which passes through the through-hole 8, to be fixed on core print seat 4 on the side wall 51 of pedestal 5.Preferably in side in the present embodiment
Two of wall 51 symmetrically hold six through-holes 8 of each setting, and divide and be set in two parallel rows up and down, every row three, and three through-holes 8 of upper row
With the positions of lower three through-holes 8 of row respectively on same vertical line, correspondingly, setting on core print seat 4 and six 8 positions of through-hole
Corresponding six screw holes, core print seat 4 and side wall 51 can by two screws by same vertical line two through-holes up and down and
Screw hole is connected, and realizes the fixation core print seat 4 and side wall 51, in actual installation process, can be selected according to use environment needs
Two through-holes 8 and screw hole up and down on any one column vertical line are attached, lateral connection position of the adjustment core print seat 4 and side wall 51
It sets, and then adjusts the lateral connection position of control crank and pedestal 5.
Embodiment 3
The present embodiment is threadedly coupled with core print seat 4 on the basis of embodiment 1, core 3, i.e., core 3 with 4 phase of core print seat
The outside of one end of connection is equipped with screw thread, and core 3 is screwed in after core print seat 4, and passes through nut and core 3 will be locked with core print seat 4.Cause
This can be according to practical application request, in circumference under the premise of not changing opposed lateral positions of the operation handle relative to pedestal
Side is adjusted up the direction of control crank.
Embodiment 4
Such as Fig. 1-6, a kind of mobile platform manipulation device based on force snesor provided by the invention can be used for operating medical treatment
The electronic mobile platform of robot is mobile, when medical robot operation is in place, because operating room space layout is limited, and rear side handrail
It is normally at corner, at this point, operator can concede the small space in handrail dead astern, one-handed performance in the inclined avris of handrail
Platform truck is mobile.Such as:
When one-handed performance control crank, such as left-handed operation, and grip 6 and outer tube 2 are not rotated, and hold left side grip 6
And when pushing forward, two tension-compression sensors 1 of Left-Hand Drive handle inner can respectively export a forward signal simultaneously, this two
The size of a signal can because force it is of different sizes due to change, but its difference again can be in a setting range, therapeutic machine at this time
The electronic mobile platform of device people straight ahead at different rates.
When left hand one-handed performance control crank, do not rotate grip 6 and outer tube 2 intentionally, and hold left side grip 6 and left hand to
After pull, two tension-compression sensors 1 of Left-Hand Drive handle inner can each one negative-going signal of output simultaneously, the two signals
Size can because force it is of different sizes due to change, but its difference again can be within the scope of one, the electric moving of medical robot at this time
Straight line retreats moving platform at different rates.
When left hand one-handed performance control crank, but while pushing grip 6 and outer tube 2 forward, both torsions intentionally are left
Two tension-compression sensors 1 inside the control crank of side can each one forward signal of output simultaneously, the sizes of the two signals can be because
Force of different sizes and change, but the difference of two signals can be beyond a setting range, at this point, medical robot at this time
Electronic mobile platform is at different rates or left-hand rotation is advanced or right-hand rotation is advanced.
When left hand one-handed performance control crank, but while pushing grip 6 and outer tube 2 backward, both torsions intentionally are left
Two tension-compression sensors 1 inside the control crank of side can each one negative-going signal of output simultaneously, the sizes of the two signals can be because
Force of different sizes and change, but the difference of two signals can be beyond a setting range, at this point, medical robot at this time
Electronic mobile platform is at different rates or left-hand rotation is retreated or turned right and retreats.
When using the right hand individually operated control crank, and the individually operated control crank process of left hand and result class are used
Seemingly.
Therefore, a kind of medical robot provided in this embodiment is due to having the mobile platform based on force snesor to manipulate dress
It sets, in operation, does not need rotation handle etc., directly push away (drawing), all can intuitively be operated in a variety of operating positions, side
Just quick.Overcome mechanical wear simultaneously, the technological deficiencies such as operation needs moving range big, compact-sized, appearance is good.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and not restrictive
's.Those skilled in the art understand that in the spirit and scope defined by the claims in the present invention many changes can be carried out to it,
It modifies or even equivalent, but falls in protection scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811561665.4A CN109460109A (en) | 2018-12-20 | 2018-12-20 | A kind of mobile platform manipulation device based on force snesor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811561665.4A CN109460109A (en) | 2018-12-20 | 2018-12-20 | A kind of mobile platform manipulation device based on force snesor |
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| CN109460109A true CN109460109A (en) | 2019-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811561665.4A Pending CN109460109A (en) | 2018-12-20 | 2018-12-20 | A kind of mobile platform manipulation device based on force snesor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113059593A (en) * | 2021-03-25 | 2021-07-02 | 上海智能制造功能平台有限公司 | Robot safety protection device and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1747866A (en) * | 2003-02-17 | 2006-03-15 | 三洋电机株式会社 | Force input operation device, movable body, carrying vehicle, and auxiliary vehicle for walking |
| US20140345956A1 (en) * | 2013-05-23 | 2014-11-27 | Funai Electric Co., Ltd. | Manually propelled vehicle |
| US20150066277A1 (en) * | 2013-08-30 | 2015-03-05 | Funai Electric Co., Ltd. | Manually propelled vehicle |
| CN208969538U (en) * | 2018-12-20 | 2019-06-11 | 苏州康多机器人有限公司 | A mobile platform manipulation device based on force sensor |
-
2018
- 2018-12-20 CN CN201811561665.4A patent/CN109460109A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1747866A (en) * | 2003-02-17 | 2006-03-15 | 三洋电机株式会社 | Force input operation device, movable body, carrying vehicle, and auxiliary vehicle for walking |
| US20140345956A1 (en) * | 2013-05-23 | 2014-11-27 | Funai Electric Co., Ltd. | Manually propelled vehicle |
| US20150066277A1 (en) * | 2013-08-30 | 2015-03-05 | Funai Electric Co., Ltd. | Manually propelled vehicle |
| CN208969538U (en) * | 2018-12-20 | 2019-06-11 | 苏州康多机器人有限公司 | A mobile platform manipulation device based on force sensor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113059593A (en) * | 2021-03-25 | 2021-07-02 | 上海智能制造功能平台有限公司 | Robot safety protection device and method |
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