CN110775132B - Trolley control handle and trolley - Google Patents
Trolley control handle and trolley Download PDFInfo
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- CN110775132B CN110775132B CN201910128362.1A CN201910128362A CN110775132B CN 110775132 B CN110775132 B CN 110775132B CN 201910128362 A CN201910128362 A CN 201910128362A CN 110775132 B CN110775132 B CN 110775132B
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 60
- 238000000034 method Methods 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/06—Hand moving equipment, e.g. handle bars
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G12/00—Accommodation for nursing, e.g. in hospitals, not covered by groups A61G1/00 - A61G11/00, e.g. trolleys for transport of medicaments or food; Prescription lists
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Nursing (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention relates to a trolley control handle and a trolley, which comprise a handle, a sensor assembly and a connecting seat, wherein the handle is connected to the connecting seat through the sensor assembly, and the sensor assembly can sense at least one of force applied to the handle and displacement and torque generated by the handle due to the applied force. The sensor component can sense at least two vector signals such as a force signal applied to the handle, displacement or torque of the handle and the like in real time, the vector signals can be used as command signals for controlling the forward, backward or steering of the cart, the sensor component can feed back the sensed vector signals to the controller, and the controller can control the motor to drive the wheels on the chassis to drive the cart to move according to the fed-back vector signals; therefore, an operator only needs to hold the handle by two hands to control the handle to send out instruction signals, and the cart can be controlled to move according to the appointed path, so that the energy and time required for carrying the mechanical arm are saved, and the operation efficiency is improved.
Description
Technical Field
The invention relates to the field of machinery, in particular to a trolley control handle and a trolley.
Background
The cart is used as a part of the operation robot, and has the main function of facilitating an operator to move a mechanical arm of the operation robot on the ground; however, the mechanical arm of the surgical robot is heavy, if the manual force of an operator is simply transmitted by a handle to control and drive the cart to advance or retract, the driving device is generally arranged on the chassis of the cart, the operator needs to input a control instruction to control the driving device to drive the cart to move, the operation structure of the conventional input control instruction is relatively complex, the operation is difficult, and thus a great amount of time and effort are spent on carrying the mechanical arm, and the efficiency of the surgery is reduced.
Disclosure of Invention
Based on this, it is necessary to provide a cart control handle that is relatively easy to operate and control the cart movement.
The utility model provides a shallow control handle, includes handle, sensor subassembly and connecting seat, the handle pass through sensor subassembly connect in the connecting seat makes it separate with the connecting seat, sensor subassembly is used for responding to the at least one of the displacement and the moment of torsion that exert on the handle and handle because of the force of exerting.
The utility model provides a shallow, includes frame, chassis and shallow control handle, the shallow control handle pass through the connecting seat install in on the frame, sensor subassembly and the controller electric connection on the shallow.
Drawings
FIG. 1 is an exploded view of a cart control handle according to an embodiment of the present invention;
FIG. 2 is a schematic view of a control handle of a cart according to an embodiment of the present invention;
FIG. 3 is a schematic view of a control handle of a cart according to another embodiment of the present invention;
FIG. 4 is a schematic view of a control handle of a cart according to another embodiment of the present invention;
FIG. 5 is a schematic view of a control handle of a cart according to another embodiment of the present invention;
FIG. 6 is a schematic view of a cart control handle according to another embodiment of the present invention;
FIG. 7 is a schematic view of a cart control handle according to another embodiment of the present invention;
FIG. 8 is a schematic view of the structure of a cross section of a handle of a cart control handle according to an embodiment of the invention;
FIG. 9 is a schematic view of another cross-section of the handle of the cart control handle according to an embodiment of the invention;
FIG. 10 is a schematic diagram of a cart according to an embodiment of the present invention;
FIG. 11 is a schematic view of a chassis of a cart according to an embodiment of the present invention;
fig. 12 is a schematic structural view of a chassis of another driving mode of the cart according to an embodiment of the invention.
Wherein, 1, the handle; 1a, left hand manipulation part; 1b, right hand manipulation part; 11. a mounting cavity; 2. a sensor assembly; 21. a six-axis sensor; 22. a force sensor; 23. a displacement sensor; 24. a torque sensor; 3. a connecting seat; 31. a mounting plate; 4. a switch control assembly; 41. a control switch; 41a, rolling elements; 42. a button; 42a, a pressing part; 42b, inclined surfaces; 43. a first reset member; 44. a guide rod; 45. a second reset member; 5. a bracket; 6. a frame; 7. a chassis; 71. steering wheel; 72. a universal wheel; 73. and (3) driving wheels.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment. The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, the cart control handle comprises a handle 1, a sensor assembly 2 and a connecting seat 3, wherein the handle 1 is connected with the connecting seat 3 through the sensor assembly 2, so that the handle 1 is not directly connected with the connecting seat 3, and the handle 1 and the connecting seat are separated through the sensor assembly 2, so that the force applied on the handle 1 is transmitted to the cart through the sensor assembly 2 and not directly transmitted to the cart. The sensor assembly 2 may include various kinds of sensors therein, so that the sensor assembly 2 can sense at least one of a force (pushing force, pulling force, etc.) applied to the handle 1 and a displacement and a torque of the handle 1 due to the applied force.
According to the trolley control handle provided by the embodiment of the invention, as the sensor component 2 can sense vector signals such as force applied to the handle 1, displacement and torque generated by the handle 1 due to the applied force and the like in real time, the vector signals can be used as command signals for controlling the forward, backward or steering of the trolley, the sensor component 2 can feed back the sensed vector signals to the controller, and the controller can perform analysis and processing according to the fed-back vector signals so as to send out control signals to control the motor drive wheels on the chassis to drive the trolley to move; therefore, an operator only needs to hold the handle by two hands to control the handle 1 to send out a command signal, and the cart can be controlled to move according to the appointed path, so that the energy and time required for carrying the mechanical arm are saved, and the operation efficiency is improved. In addition, because the handle is not directly connected with the connecting seat, the control is more accurate.
The sensor assembly 2 has a sensor, wherein the number of sensors may be one as shown in fig. 1 and 2 or a plurality of sensors as shown in fig. 3 to 7. Further, as shown in fig. 5 to 7, the sensor assembly 2 may further have a bracket 5, and a plurality of sensors are provided on the bracket 5. Wherein the plurality of sensors are located on different sides of the support. For example, in the embodiment of fig. 5 and 6, the sensor 23 and the sensor 24 are located on two adjacent sides of the support 5, and in the embodiment of fig. 7, the sensor 22 and the sensor 23 are located on two opposite sides of the support 5. In other embodiments, the plurality of sensors may be located on one side of the support, or on more sides of the sensors, for example three sensors located in three lateral directions of the sensors, respectively, i.e. one on each side. It should be noted that, when the number of sensors is small, the sensor assembly 2 may also have a bracket 5 as in the embodiment shown in fig. 1 to 4. The bracket 5 is used to connect a plurality of sensors so that the handle 1 transmits force to the connection socket 3 through the sensor assembly 2.
Specifically, in the embodiment shown in fig. 2, the sensor assembly 2 includes a six-axis sensor 21, the handle 1 is connected to the connection base 3 through the six-axis sensor 21, the six-axis sensor 21 can sense vector signals applied to the handle 1 in multiple directions, and the vector signals can be torque rotating around three coordinate axes and force or displacement along the three coordinate axes respectively by taking a three-dimensional coordinate system as a reference, and command signals for controlling the movement of the cart can be obtained by comparing the magnitudes and directions of the force signals and the displacement signals acquired by the six-axis sensor 21 through the controller; for example, when the forward direction of the cart is the forward direction and the backward direction of the cart is the reverse direction, and when both the left and right hands apply pushing force to the handle 1, both the forward force signal and the forward displacement signal are collected from the handle 1 by the six-axis sensor 21, and at this time, if the pushing force is equal, the cart advances straight, and if the pushing force is unequal, the cart deflects toward the side with smaller pushing force (left deflection or right deflection) during the advancing process; when the left hand and the right hand apply pulling force to the handle 1, the six-axis sensor 21 acquires a reverse force signal and a reverse displacement signal from the handle 1, at the moment, if the pulling force is equal, the cart is linearly retracted, and if the pulling force is unequal, the cart is deflected (left deflection or right deflection) towards the side with the small pulling force in the retraction process; when one hand applies pushing force and one hand applies pulling force to enable the handle 1 to displace, torque signals are mainly collected on the six-axis sensor 21, and at the moment, the cart turns left or right.
In the embodiment shown in fig. 3, the sensor assembly 2 includes two force sensors 22, the left hand manipulation portion 1a of the handle 1 is connected to the connection base 3 through one force sensor 22, the right hand manipulation portion 1b of the handle 1 is connected to the connection base 3 through the other force sensor 22, the left hand manipulation portion 1a and the right hand manipulation portion 1b of the handle 1 refer to the areas of the handle for holding and contacting with the hand, in this embodiment, the handle includes a left handle and a right handle, which are of a split structure or may be of an integral structure; the force sensors 22 mainly collect force signals applied to the handle 1, and the controller compares the magnitude and the direction of the force signals collected by the two force sensors 22 to obtain command signals for controlling the movement of the cart; for example, when the forward direction of the cart is the forward direction and the backward direction of the cart is the reverse direction, and when both the left and right hands apply pushing force to the handle 1, both the force sensors 22 acquire forward force signals from the handle 1, and at this time, if the pushing force is equal, the cart advances straight, and if the pushing force is not equal, the cart deflects toward the side with smaller pushing force (left deflection or right deflection) during the advancing process; when the left hand and the right hand apply pulling force to the handle 1, the two force sensors 22 acquire reverse force signals, at the moment, if the pulling force is equal, the cart is retracted linearly, and if the pulling force is unequal, the cart deflects towards the side with smaller pulling force (left deflection or right deflection) in the retraction process; when pushing force is applied by one hand and pulling force is applied by one hand to enable the handle 1 to displace, the two force sensors 22 acquire a forward force signal and a reverse force signal, and the cart is turned left or right at the moment.
In the embodiment shown in fig. 4, the sensor assembly 2 comprises two displacement sensors 23, the left hand control part 1a of the handle 1 is connected to the connecting seat 3 through one of the displacement sensors 23, the right hand control part 1b of the handle 1 is connected to the connecting seat 3 through the other displacement sensor 23, the displacement sensors 23 mainly collect displacement signals of the handle 1, and various command signals for controlling the movement of the cart can be obtained by comparing the magnitudes and directions of the displacement signals collected by the two displacement sensors 23 through the controller; for example, when the push bar is moved forward and the push bar is moved backward by applying a pushing force to the handle 1 by both the left and right hands, the two displacement sensors 23 acquire forward displacement signals from the handle 1, and when the pushing forces are equal, the push bar is moved forward linearly, and when the pushing forces are unequal, the push bar is deflected (left or right deflection) toward the side with smaller pushing force during the movement; when the handle 1 is displaced by applying pulling force to the handle 1 by the left hand and the right hand, the two displacement sensors 23 acquire reverse displacement signals, and at the moment, if the pulling force is equal, the cart is linearly retracted, and if the pulling force is unequal, the cart is deflected towards the side with smaller pulling force (left deflection or right deflection) in the retraction process; when one hand applies pushing force and one hand applies pulling force to enable the handle 1 to displace, the two displacement sensors 23 acquire a forward displacement signal and a reverse displacement signal, and at the moment, the cart turns left or right.
In the embodiment shown in fig. 5, the sensor assembly 2 comprises two force sensors 22 and a torque sensor 24, the torque sensor 24 is connected to the connection base 3, the left-hand manipulation portion 1a of the handle 1 is connected to the torque sensor 24 through one of the force sensors 22, and the right-hand manipulation portion 1b of the handle 1 is connected to the torque sensor 24 through the other force sensor 22.
In this embodiment, the connection base 3 is provided with a mounting plate 31, the torque sensor 24 is mounted on the mounting plate 31, and in other embodiments, the mounting plate 31 may be omitted. The sensor assembly further comprises a support 5 with a connection plate, a torque sensor being arranged on one side of the support, and two force sensors being arranged on the other side of the support, i.e. on both sides of the connection plate, respectively. In other embodiments, the bracket may have two webs that are angled, e.g., vertically disposed, with one web coupled to the torque sensor 24 and the other web coupled to the force sensor 22.
When the handle is used, the handle 1 is controlled in a manner similar to a steering wheel, so that the handle 1 generates torque, the torque sensor 24 mainly collects torque signals of the handle 1, the force sensor 22 mainly collects force signals of the handle 1, the torque signals collected by the torque sensor 24 serve as command signals for controlling steering of the cart, and the force signals collected by the two force sensors 22 serve as command signals for controlling forward or backward of the cart.
In one embodiment, the angle α formed by the force direction of the force sensor 22 (the direction of pushing or pulling force applied to the handle 1) and the rotation axis of the torque sensor 24 is in the range of 30 ° -90 °, which is more suitable for the operation habit of the operator, and improves the comfort of the operation of the cart.
In the embodiment shown in fig. 6, the sensor assembly 2 includes two displacement sensors 23 and a torque sensor 24, which is different from the embodiment shown in fig. 5 in that the force sensor 22 is replaced with the displacement sensor 23 in this embodiment, and the displacement signals collected by the two displacement sensors 23 are used as command signals for controlling the forward or backward movement of the cart.
In one embodiment, the displacement direction of the displacement sensor 22 (the direction in which the pushing force or pulling force is applied to the handle 1 to displace the handle 1) forms an included angle β with the rotation axis of the torque sensor 24 ranging from 30 ° to 90 °, and such a design is more consistent with the operation habit of the operator, and improves the comfort level of the cart operation.
In the embodiment shown in fig. 7, the sensor assembly 2 includes a displacement sensor 23 and two force sensors 22, the displacement sensor 23 is connected to the connection base 3, the left hand operation portion 1a of the handle 1 is connected to the displacement sensor 23 through one of the force sensors 22, the right hand operation portion 1b of the handle 1 is connected to the displacement sensor 23 through the other force sensor 22, the bracket 5 has a connection plate, the displacement sensor is disposed on one side of the connection plate, the two force sensors are disposed on opposite sides of the connection plate, the displacement sensor 23 mainly collects displacement signals of the handle 1, the force sensors 22 mainly collect force signals applied to the handle 1, the displacement signals collected by the displacement sensor 23 serve as command signals for controlling forward or backward movement of the cart, and the force signals collected by the two force sensors 22 serve as command signals for controlling steering of the cart.
After signals acquired by the sensors are acquired, the signals are compared with corresponding preset values, if the signals are smaller than or equal to the preset values, the trolley is kept in the existing state, and if the signals are larger than the preset values, the trolley moves according to preset rules. The movement in each direction can be set with a preset value for comparison, so that misoperation is avoided, and the safety of the cart is higher.
For example, the cart is activated when the value of the activation signal acquired is greater than a preset activation value, wherein the activation signal is an acquired force signal, or a displacement signal. For another example, when the left and right force signals or the displacement signals are acquired within a preset deviation, the cart moves straight.
In the embodiment shown in fig. 8 and 9, the handle 1 is further provided with a switch control assembly 4, the switch control assembly 4 includes a control switch 41 and a button 42, the control switch 41 may be a micro switch, a pressure switch, a push switch, etc., the control switch 42 is electrically connected with a band-type brake (not shown) on the chassis of the cart, and the push button 42 is pressed to trigger the control switch 41 to unlock the band-type brake of the chassis of the cart so as to control the movement of the cart.
Specifically, the handle 1 is provided with a mounting chamber 11, the control switch 41 is provided at the bottom of the mounting chamber 11, the button 42 is movably provided in the mounting chamber 11, the button 42 is provided with a pressing portion 42a, the pressing portion 42a abuts against a triggering portion of the control switch 41, and the pressing portion 42a is pressed down by pressing the button 42 to trigger the control switch 42.
In one embodiment, the pressing portion 42a is provided with an inclined surface 42b, the triggering portion is provided with a rolling body 41a, the rolling body 41a is abutted against the inclined surface 42b, and when the button 42 is pressed down, the rolling body 41a can roll along the inclined surface 42b, so that the button is pressed down more labor-saving, and the control switch 41 is triggered more easily.
As shown in fig. 8, the button 42 may be movably disposed in the installation cavity 11, that is, one end of the button 42 is hinged to a side wall of the installation cavity 11, for example, may be hinged by a rotation shaft, a hinge, a ball hinge, or the like, the other end of the button 42 is clamped to the side wall of the installation cavity 11, a first reset element 43 that makes the pressing portion 42a have a tendency to leave the triggering portion is disposed at the clamped position, the first reset element 43 may be a spring, a reed, a torsion spring, or the like, when the button 42 is pressed, the button 42 swings around the hinge end to make the pressing portion 42a press the triggering portion to trigger the control switch 42, and when the button 42 is released, the button 42 returns to the initial position under the action of the first reset element 43.
Or, as shown in fig. 9, a guide rod 43 is disposed in the installation cavity 11, for example, two guide rods 44 are disposed at two ends of the button 42 respectively, the button 42 is correspondingly sleeved on the guide rods 44, the guide rods 44 guide the button 42 in the pressing process, a second reset piece 45 for enabling the pressing portion 42a to have a trend of leaving the triggering portion is sleeved on the guide rods 44, when the button 42 is pressed down, the button 42 moves along the guide rods 44 to enable the pressing portion 42a to press down the triggering portion to trigger the control switch 42, and when the button 42 is released, the button 42 returns to the initial position under the action of the second reset piece 45.
As shown in fig. 10, in order to solve the same problem, the present invention further provides a cart, which comprises a frame 6, a chassis 7, and a cart control handle according to any of the above schemes, wherein the cart control handle is mounted on the frame 6 through a connecting seat 3, and the sensor assembly 2 is electrically connected with a controller (not shown) on the cart, so that the sensor assembly 2 can feed back vector signals induced from the handle 1 to the controller, and the fed back vector signals can be used as instruction basis for controlling the movement of the cart, and the controller can process the received vector signals and send control instructions to a driving device on the chassis to drive the cart to move along a designated path; the push-pull type trolley is characterized in that pushing force or pulling force is applied to the handle through two hands, the push-pull type trolley is used as an input instruction basis, then the push-pull type trolley is processed through intermediate links of the sensor assembly 2 and the controller, and finally the driving device outputs power to drive the trolley to move according to a specified path.
The driving device is used for driving the cart to move along a designated path in various manners, for example, a driving manner of combining steering wheels and universal wheels is adopted, at least one steering wheel and at least two universal wheels are arranged on the chassis 7, as shown in fig. 11, in the embodiment, a steering wheel 71 and four universal wheels 72 are arranged at the front part of the chassis 7, and since the steering wheel 71 is respectively provided with a driving motor and a steering motor, the driving motor and the steering motor of the steering wheel 71 can be electrically connected with a controller, and a command signal is sent to the driving motor and the steering motor through the controller to control the steering wheel 71 to work so as to drive the cart to move along the designated path; in other embodiments, a steering wheel 71 may be disposed in front of and behind the chassis 7 to improve driving and steering stability.
The chassis may be provided with two driving wheels and at least one universal wheel, as shown in fig. 12, in this embodiment, two driving wheels 73 and two universal wheels 72 are provided, the two driving wheels 73 are disposed opposite to each other, each driving wheel 73 is provided with a driving motor, the driving motor of the driving wheel 73 is electrically connected with the controller, and the controller sends a command signal to the driving motor to control the driving wheels to work, so as to drive the cart to move according to a specified path, and steering is achieved by controlling the speed difference of the two driving wheels.
The driving mode of the Mecanum wheels can also be adopted, four Mecanum wheels are arranged on the chassis, each Mecanum wheel is provided with a driving motor, the driving motor of each Mecanum wheel is electrically connected with the controller, and the controller sends out instruction signals to the driving motor to control the Mecanum wheels to work so as to drive the cart to advance, retreat or turn.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (7)
1. A control handle assembled to a surgical robotic cart, comprising a handle, a sensor assembly and a connecting base, wherein a controller on the cart is electrically connected to the sensor assembly, the handle is connected to the connecting base through the sensor assembly so as to be separated from the connecting base, and the sensor assembly is used for sensing at least one of force applied to the handle and displacement and torque of the handle due to the applied force;
the handle is also provided with a switch control assembly, the switch control assembly comprises a control switch and a button, and the control switch is triggered by pressing the button to unlock the band-type brake of the chassis of the trolley; the button is provided with a pressing part which is abutted with the triggering part of the control switch; the pressing part is provided with an inclined surface, the triggering part is provided with a rolling body, and the rolling body is abutted against the inclined surface; the pressing part is movably connected with the handle in a sliding way through a hinge joint or a guide rod, and a reset piece is arranged between the pressing part and the handle;
the sensor assembly between the handle and the connection mount comprises two displacement sensors or two force sensors;
the controller is configured to:
when the control switch is triggered, the controller unlocks the band-type brake of the chassis of the cart;
the controller starts the cart according to the fact that the force or displacement signal, collected by the sensor assembly, when the handle is pushed and pulled is larger than a preset starting value;
the controller controls the moving direction of the cart according to the force or displacement signals acquired by the two force sensors or the two displacement sensors;
when the force or displacement signals acquired by the two force sensors or the two displacement sensors from the handle are positive signals, if the force signals of the two force sensors are equal to or less than or equal to a preset deviation or the displacement signals of the two displacement sensors are equal to or less than or equal to a preset deviation, controlling the cart to linearly advance; if the force signals of the two force sensors are different in magnitude or the displacement signals of the two displacement sensors are different in magnitude, controlling the deflection towards the side with the smaller force signal or the deflection towards the side with the smaller displacement signal in the advancing process;
when the collected force or displacement signals are all reverse signals, if the magnitudes of the two force signals are equal to or smaller than or equal to a preset deviation or the magnitudes of the two displacement signals are equal to or smaller than or equal to a preset deviation, controlling the cart to linearly retreat; if the two force signals are different in magnitude or the two displacement signals are different in magnitude, controlling the cart to deflect towards the side with the smaller force signal or the side with the smaller displacement signal in the backward process;
when the collected force or displacement signal is a forward signal and a reverse signal, the controller controls the cart to perform left steering or right steering.
2. The control handle of claim 1, wherein the left-hand manipulation portion of the handle is connected to the connection base by one of the force or displacement sensors and the right-hand manipulation portion of the handle is connected to the connection base by the other of the force or displacement sensors.
3. The control handle of a cart according to any one of claims 1-2, wherein the handle is provided with a mounting cavity, the control switch is provided at the bottom of the mounting cavity, and the push button is movably provided in the mounting cavity.
4. A surgical robot cart comprising a frame, a chassis and a control handle as claimed in any one of claims 1 to 3 mounted to the surgical robot cart, the control handle of the cart being mounted to the frame via the connection mount.
5. The cart of claim 4, wherein the chassis is provided with at least one steering wheel and at least two universal wheels, the steering wheels are respectively provided with a driving motor and a steering motor, the driving motor and the steering motor of the steering wheel are electrically connected with the controller, and the controller sends instruction signals to the driving motor and the steering motor to control the steering wheel to work so as to drive the cart to move according to a specified path.
6. The cart of claim 4, wherein the chassis is provided with two driving wheels and at least one universal wheel, each driving wheel is provided with a driving motor, the driving motors of the driving wheels are electrically connected with the controller, the controller sends command signals to the driving motors to control the driving wheels to work so as to drive the cart to move along a specified path, and steering is achieved by controlling the speed difference of the two driving wheels.
7. The cart of claim 4, wherein four mecanum wheels are provided on the chassis, each mecanum wheel having a drive motor, each mecanum wheel drive motor being electrically connected to the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910128362.1A CN110775132B (en) | 2019-02-21 | 2019-02-21 | Trolley control handle and trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910128362.1A CN110775132B (en) | 2019-02-21 | 2019-02-21 | Trolley control handle and trolley |
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| CN110775132A CN110775132A (en) | 2020-02-11 |
| CN110775132B true CN110775132B (en) | 2023-08-22 |
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| CN201910128362.1A Active CN110775132B (en) | 2019-02-21 | 2019-02-21 | Trolley control handle and trolley |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111820930B (en) * | 2020-07-29 | 2024-03-01 | 北京万东鼎立医疗设备有限公司 | Electric travelling device controlled by pushing handle |
| CN112389529A (en) * | 2020-11-10 | 2021-02-23 | 浙江事倍达物流设备有限公司 | Operation control method and device for electric carrier |
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