JP6797949B2 - Foot control device - Google Patents

Description

The present invention relates to a foot control device, and more particularly to a foot control device including pedals that can be deflected in eight directions.

Foot control devices are widely used in the transportation, music and medical fields. In the medical field, a doctor can control the position of a medical machine arm or an endoscope by a stepping method while operating a surgical instrument with both hands to improve the efficiency of surgery. However, the conventional foot control device needs to use a complicated mechanism. For example, in the multi-directional foot control device disclosed in Japanese Patent Publication No. I555497, the pedal and the sensor are stacked and installed. Not only is it unsuitable for ergonomics, but it also makes the heel uncomfortable when the doctor steps in. In addition, since a general foot control device includes only basic directions such as front, rear, left, and right, the number of electronic elements or thin film sensing elements to be arranged increases as the number of directions in which the pedal of the control device moves increases. Will increase accordingly, increasing the probability of equipment failure.

The present invention provides a foot control device, the pedal can be deflected in multiple directions, and accurate position information can be obtained by a simple transmission mechanism and a sensing module.

The foot control device of the present invention includes a directional base, a pedal, a sensing module and a transmission mechanism. The pedal is connected to the directional base and can be deflected with respect to the directional base. The sensing module includes a first detector and a second detector. The transmission mechanism is connected to a pedal and a sensing module, and the transmission mechanism includes a transmission rod and a swing rod. The transmission rod is connected to the pedal, the swing rod is connected to the transmission rod, and the extension direction of the swing rod is independent of the extension direction of the transmission rod. When the pedal is deflected to the first position with respect to the directional base, the pedal moves the transmission rod, and the transmission rod moves to excite the first sensor. When the pedal is deflected to the second position with respect to the directional base, the pedal moves the transmission rod and the swing rod rotates to excite the second sensor. When the pedal deflects to the third position with respect to the directional base, the pedal moves the transmission rod, the transmission rod moves to excite the first sensor, and the swing rod rotates to excite the second sensor. ..

It is a three-dimensional schematic diagram of the stepping control device of one Example of this invention. It is an exploded view of the stepping control device of FIG. It is an exploded view of the transmission mechanism of FIG. It is a top view of the case where the pedal of the foot control device of FIG. 1 is not deflected. It is a top view of the case where the pedal of the foot control device of FIG. 1 is deflected to a certain position with respect to the sensing base. It is a top view of the case where the pedal of the foot control device of FIG. 1 is displaced from the sensing base to another position. It is sectional drawing which follows the XX cross section of the stepping control device of FIG. It is sectional drawing which follows the XX cross section of the stepping control device of FIG. 6 is a cross-sectional view taken along the XX cross section of the stepping control device of FIG. It is a front view when the pedal of the foot control device of FIG. 1 is not deflected. It is a front view when the pedal of the foot control device of FIG. 1 is deflected to a position around the A axis. It is a front view when the pedal of the foot step control device of FIG. 1 is deflected to another position around the A axis.

FIG. 1 is a three-dimensional schematic view of a stepping control device according to an embodiment of the present invention, and FIG. 2 is an exploded view of the stepping control device of FIG. Referring to FIGS. 1 and 2, the foot control device 100 of this embodiment includes a directional base 110, a pedal 120, a sensing module 130 and a transmission mechanism 140, to which the pedal 120 is connected to the directional base 110 and It is possible to deflect with respect to the directional base 110, and the transmission mechanism 140 is connected to the pedal 120 and the sensing module 130. In the following description, the direction from the orientation base 110 to the sensing module 130 is defined as "forward", and based on this, other orientations such as left, right, up, and down are defined.

Specifically, the foot control device 100 has a central axis 150 that connects the pedal 120 and the directional base 110, and the pedal 120 is suitable for resting the user's foot, and by changing the step position. The pedal 120 is deflected with respect to the directional base 110. In this embodiment, the azimuth base 110 has a first plane P ₁ and a second plane P _2, and has an angle θ between the first plane P ₁ and the second plane P ₂ , and this θ is an acute angle. There, and pedal 120 is arranged on the second plane P _2. Therefore, when the user places the tip of the foot above the pedal 120, the rear end of the foot naturally comes into contact with the ground, so that the feeling of fatigue can be reduced.

On the other hand, the sensing module 130 includes a first sensor 131, a second sensor 132, and a sensing base 134, and the first sensor 131 and the second sensor 132 are arranged on the sensing base 134. In this embodiment, the first sensor 131 includes the first sensor member 131a and the second sensor member 131b, and the second sensor 132 includes the third sensor member 132a and the fourth sensor member 132b. Further, the sensing base 134 includes a wall surface 136, and the directional base 110, the first sensor 131, and the second sensor 132 are located on both sides of the wall surface 136, respectively. Since the sensing module 130 is independent of the directional base 110, the height of the entire directional base 110 can be lowered, and the first sensor 131 and the second sensor 132 are located in front of the wall surface 136. Therefore, an effective waterproof effect can be obtained, and the first sensor 131 or the second sensor 132 can be prevented from being damaged by the liquid ejected during operation, and at the same time, it is possible to cope with the sterilization process of related equipment when performing an operation. ..

As shown in FIG. 2, a plurality of flanges 112 are arranged on the directional base 110, and when the user depresses the pedal 120, the pedal 120 is deflected with respect to the directional base 110 and these flanges 112. Can come into contact with a part of. Specifically, in this embodiment, there are a total of eight flanges 112, and when the user depresses the pedal 120, the pedal 120 abuts on two of the eight flanges 112 and is adjacent to the pedal 120. By entering the section between the two flanges 112, the deflection direction of the pedal 120 can be further limited to eight positions: front, rear, left, right, left front, right front, left rear, and right rear. The flange 112 also provides a tactile feedbup at the time of contact, allowing the user to reliably feel that they have stepped on to a specific position. Furthermore, the foot control device 100 further includes a plurality of elastic members 160 for connecting the directional base 110 and the pedal 120, and these elastic members 160 are arranged symmetrically about the central axis 150. .. In this embodiment, the elastic member 160 is a spring and has four pieces, which are arranged in four directions of front, rear, left, and right of the pedal 120, and the pedal 120 is depressed and the load is removed. After that, the pedal 120 can be returned to the position before it was depressed.

FIG. 3 is an exploded view of the transmission mechanism in FIG. 2, with reference to FIGS. 2 and 3 below. The transmission mechanism 140 of this embodiment includes a transmission rod 141 and a swing rod 145, to which the transmission rod 141 is connected to the pedal 120, the swing rod 145 is connected to the transmission rod 141, and the swing rod 145 is extended. The direction is independent of the extending direction of the transmission rod 141. In this embodiment, one end of the transmission rod 141 is a quadrangular rod, the portion of the swing rod 145 connected to the transmission rod 141 is a corresponding quadrangular hole, and the swing rod 145 and the transmission rod 141 are perpendicular to each other. Therefore, the swing rod 145 can rotate synchronously even when there is no relative displacement with the transmission rod 141. More specifically, the transmission rod 141 includes at least one position limiting member 142 and at least one elastic member 143, which are located on both sides of one end of the transmission rod 141 in this embodiment, and the pedal 120 is a first position limiting member. The first position limiting member 122 including 122 has a slide slot S, and one end of the transmission rod 141 is movable but its position is limited in the slide slot S by the position limiting portion 142.

More specifically, the first position limiting member 122 of this embodiment is connected to the front end of the pedal 120 and is fixed to the pedal 120 by a fixing component such as a rivet. Further, the sensing module 130 further includes a slide rail 135 arranged on the sensing base 134, and the transmission mechanism 140 further includes a transmission rod 141 and a first contact member 144 connected to the slide rail 135. The first contact member 144 is slidable on the slide rail 135 with its position restricted.

On the other hand, the transmission mechanism 140 further includes a second contact member 146, a connecting member 147, and a second position limiting member 148, and the second position limiting member 148 is connected to the wall surface 136. In this embodiment, the number of the second contact member 146 and the number of the connecting member 147 is two, respectively, which are located at both ends of the swing rod 145, and the connecting member 147 is the swing rod 145 and the corresponding second contact member. Connect 146. Specifically, the second position limiting member 148 has the groove G, and the connecting member 147 is movable, but the position is limited in the groove G. When the pedal 120 is deflected, the swing rod 145 rotates about the axis (that is, the axis A) of the transmission rod 141, and in this case, the connecting member 147 moves the second contact member 146 to move it into the groove G. be able to. Further, the second position limiting member 148 of the present embodiment further includes a pair of position limiting structures 149 arranged along the axial direction, and there is a space between the pair of position limiting structures 149, and the swing rod 145 When the transmission rod 141 is translated in the axial direction along the axis A, the position of the second contact member 146 is restricted in the space between the position limiting structures 149, so that the swing rod 145 and the connecting member 147 are parallel. I can't move.

FIG. 4 is a top view when the pedal of the foot control device of FIG. 1 is not deflected, and FIG. 5 is a top view of a position where the pedal of the foot control device of FIG. 1 is deflected to the sensing base. FIG. 6 is a top view when the pedal of the foot control device of FIG. 1 is displaced from the sensing base and is in a different position, with reference to FIGS. 4 to 6. In this embodiment, two block members 137 are arranged on the sensing base 134 and are located on both front and rear sides of the first contact member 144, respectively, to limit the displacement stroke of the first contact member 144. Further, the elastic member 138 is arranged between the first contact member 144 and the block member 137 to prevent the first contact member 144 from colliding with the block member 137 and being damaged in the process of moving, and the pedal 120 is loaded. If not, it can be ensured that the first contact member 144 is held in the origin state. When the pedal 120 is depressed and deflected forward (as shown in FIG. 5), the pedal 120 moves the transmission rod 141 to move the transmission rod 141 backward and the first contact member 144 to move the first contact member 144. The one-contact member 144 is displaced rearward with respect to the slide rail 135 to excite the first sensing member 131a. When the pedal 120 is depressed and deflected backward (as shown in FIG. 6), the pedal 120 moves the transmission rod 141 to move the transmission rod 141 forward and the first contact member 144 to move the first contact member 144. The one contact member 144 is displaced forward with respect to the slide rail 135 to excite the second sensing member 131b.

7 to 9 will be referred to so that the operating state of the transmission rod 141 when the pedal 120 is deflected can be more clearly explained. 7 to 9 are cross-sectional views taken along the XX cross section of the stepping control device of FIGS. 4 to 6, respectively. In this embodiment, the foot control device 100 includes a bearing 152 that connects the directional base 110 and the central shaft 150, and since the bearing 152 is a spherical bearing, it is fixed to the central portion of the directional base 110 and is attached to the pedal 120. It can be rotated together. Further, the slide slot S includes two upper and lower parts, and when the pedal 120 is not depressed (as shown in FIG. 7), one end of the transmission rod 141 is located at an intermediate position between the upper and lower parts of the slide slot S. When positioned and the pedal 120 is depressed and deflected forward (as shown in FIG. 8), the first position limiting member 122 is displaced downward and the position of the transmission rod 141 is positioned at one end (ie, position) of the slide slot S. It is restricted to the limiting portion 142) and moved to the upper portion of the slide slot S, and the transmission rod 141 moves the first contact member 144 to move backward. When the pedal 120 is depressed and deflected backward (as shown in FIG. 9), the first position limiting member 122 is displaced upward, and the position of the transmission rod 141 is positioned at one end of the slide slot S (that is, the position limiting portion 142). ) To the lower portion of the slide slot S, and the transmission rod 141 moves the first contact member 144 to move forward. In the entire process, the center C of the bearing 152 is maintained in the extension direction (that is, the shaft A) of the transmission rod 141, and the deflection amount of the pedal 120 is affected by the displacement of the transmission rod 141 by such an arrangement. It is possible to deflect in each direction more accurately without having to.

10 is a front view when the pedal of the foot control device of FIG. 1 is not deflected, and FIG. 11 is a front view of the case where the pedal of the foot control device of FIG. 1 is deflected to a position around the A axis. 12 is a front view when the pedal of the foot control device of FIG. 1 is deflected to another position around the A axis, and FIGS. 10 to 12 are referred to. When the pedal 120 is not deflected (as shown in FIG. 10), the swing rod 145 is kept horizontal and the second sensor 132 is not excited. If the pedal 120 is deflected clockwise along the R ₁ direction as shown by FIG. 11, the pedal 120 moves the transmission rod 141, swinging rod 145 rotates clockwise along the A axis, and the The second contact member 146 is moved to excite the third sensing member 132a. If the pedal 120 is deflected counterclockwise along the R ₂ direction as shown by FIG. 12, the pedal 120 moves the transmission rod 141, the swinging rod 145 is rotated counterclockwise along the A axis, And the second contact member 146 is moved to excite the fourth sensing member 132b.

Since the movement of the transmission rod 141 in the front-rear direction and the rotation of the swing rod 145 along the A axis are independent of each other, the signals sensed by the first sensor 131 and the second sensor 132 are individually processed and superposed. By matching, the combination position information of the eight directions in which the pedal 120 is deflected can be obtained. Specific information is as shown in the table below.

（＋：感知部材が励起された場合、‐：感知部材が励起されていない場合）
以上をまとめると、本発明の足踏み制御装置は、伝動ロッドの移動および揺動ロッドの回転により、ペダルの二次元動作を独立した２方向の信号に分解してから、重ねあわせの原理により、対応する組み合わせ位置情報を得ることで、電子素子のまたは感知素子の数を有効に減らすことできる。また、伝動機構自身の構造が簡単であるため、装置が占める体積を縮小させ、ユーザが操作する時により快適、便利である。

(+: When the sensing member is excited,-: When the sensing member is not excited)
Summarizing the above, the foot control device of the present invention decomposes the two-dimensional operation of the pedal into independent two-direction signals by the movement of the transmission rod and the rotation of the swing rod, and then responds by the principle of superposition. The number of electronic elements or sensing elements can be effectively reduced by obtaining the combined position information. Further, since the structure of the transmission mechanism itself is simple, the volume occupied by the device is reduced, and it is more comfortable and convenient for the user to operate.

The above are merely preferred embodiments of the present invention, and all equivalent modifications and modifications made within the claims of the present invention fall within the scope of the present invention.

100: Foot control device 110: Orientation base 112: Flange 120: Pedal 122: First position limiting member 130: Sensing module 131: First sensor 131a: First sensing member 131b: Second sensing member 132: Second sensing Vessel 132a: Third sensing member 132b: Fourth sensing member 134: Sensing base 135: Slide rail 136: Wall surface 137: Block member 138: Elastic member 140: Transmission mechanism 141: Transmission rod 142: Position limiting portion 143: Elastic member 144: First contact member 145: Swing rod 146: Second contact member 147: Connection member 148: Second position limiting member 149: Position limiting structure 150: Central shaft 152: Bearing 160: Elastic member A: Shaft C: Center G: Groove P ₁ : First plane P ₂ : Second plane R ₁ , R ₂ : Direction S: Slide slot XX: Cross section θ: Angle

Claims (3)

It is a stepping control device
Orientation base and
A pedal that is connected to the directional base and can be deflected with respect to the directional base.
A sensing module that includes a first detector , a second detector and a sensing base ,
Including the pedal and a transmission mechanism connected to the sensing module.
The sensing base has a wall surface and
The directional base, the first sensor, and the second sensor are located on both sides of the wall surface, respectively.
The transmission mechanism includes a transmission rod connected to the pedal and a swing rod connected to one end of the transmission rod.
The extension direction of the swing rod is perpendicular to the extension direction of the transmission rod, the swing rod can rotate in synchronization with the transmission rod, and can rotate about the axis of the transmission rod.
The direction from the directional base to the sensing base is the forward direction, the opposite direction is the rear direction, and the directions perpendicular to the front direction and the rear direction are the left direction, the right direction, and the upward direction, respectively. Downward
The intermediate direction between the left direction and the front direction is the left front direction, the intermediate direction between the right direction and the front direction is the right front direction, and the intermediate direction between the left direction and the rear direction is the left rear direction. The intermediate direction between the right direction and the rear direction is defined as the right rear direction.
When the pedal is deflected in the forward direction or the rearward direction with respect to the directional base to reach the first position, the pedal moves the transmission rod, and the transmission rod moves to move the first sensor. Excite,
When the pedal is deflected to the left or right with respect to the azimuth base to reach the second position, the pedal moves the transmission rod and the swing rod rotates to rotate the second sensor. Excited,
When the pedal is deflected in any one of the left front direction, the right front direction, the left rear direction, and the right rear direction with respect to the directional base to reach the third position, the pedal is transmitted. A stepping control device that moves a rod, the transmission rod moves to excite the first sensor, and the swing rod rotates to excite the second sensor. The directional base has a first plane and a second plane, there is an angle between the first plane and the second plane, and the pedal is arranged on the second plane. The foot control device according to claim 1, wherein a plurality of flanges are arranged on the top, and the pedal can be deflected with respect to the directional base and come into contact with a part of the plurality of flanges. The sensing module comprises a slide rail further,
Before Symbol first sensor, the second sensor and the slide rail is disposed on the sensing base,
The transmission mechanism further includes a first contact member, a second contact member and a connecting member.
When the first contact member is connected to the transmission rod and the slide rail and the pedal is deflected to the first position or the third position with respect to the azimuth base, the transmission rod moves in one direction. And move the first contact member so that the first contact member moves with respect to the slide rail and excites the first sensor.
When the connecting member connects the swing rod and the second contact member and the pedal is deflected to the second position or the third position with respect to the azimuth base, the swing rod is aligned along one axis. The foot control device according to claim 1, wherein the second contact member is rotated and the second contact member is moved to excite the second sensor.

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