CN114310976A

CN114310976A - Operating handle and manipulator

Info

Publication number: CN114310976A
Application number: CN202111427108.5A
Authority: CN
Inventors: 孙伟; 赵以麟; 张东东; 王永恩
Original assignee: Kocel Intelligent Machinery Ltd
Current assignee: Kocel Intelligent Machinery Ltd
Priority date: 2021-11-29
Filing date: 2021-11-29
Publication date: 2022-04-12

Abstract

The invention relates to an operating handle and a manipulator. The operating handle includes: the device comprises a handle base, a valve mounting seat, an arm placing seat, a rotating mechanism, a first moving mechanism and a second moving mechanism; the valve mounting seat is fixed at one end of the handle base; the first movement mechanism and the second movement mechanism are respectively arranged between the handle base and the arm placing seat; the rotating mechanism is arranged at one end of the arm placing seat, and a handle is arranged at one end of the rotating mechanism, which is far away from the arm placing seat; the first movement mechanism comprises a first telescopic piece and a first connecting rod, and two ends of the first connecting rod are respectively hinged with the arm placing seat and the handle base; one end of the first telescopic piece is hinged with the valve mounting seat, and the other end of the first telescopic piece is hinged with the middle part of the first connecting rod; the second motion mechanism comprises a second telescopic piece and a second connecting rod, one end of the second connecting rod is hinged to the arm placing seat, the other end of the second connecting rod is connected with one end of the second telescopic piece, and the other end of the second telescopic piece is hinged to the handle base. According to the operating handle and the manipulator provided by the invention, the operating handle is combined with the motion characteristics of the human body arm, the operating handle can be operated by only one hand, and the other hand can be used for operating a screen case or an emergency stop button, so that the operation is simple and safe.

Description

Operating handle and manipulator

Technical Field

The invention relates to the field of multifunctional operating handles, in particular to an operating handle of a manipulator.

Background

Multifunctional manipulators such as gripping, grinding, palletizing, etc. require a high precision in the positioning of the end of the manipulator with respect to the engineering machinery, and the mechanical structure is usually composed of a revolving base, a vertical arm and a horizontal arm. An operator can grab or stack heavy goods through the operating handle, so that the labor intensity of workers is greatly reduced. Generally, a multifunctional manipulator adopts a double-handle operation mode to control all movement axes to be distributed on two potentiometers and switch buttons with different handles. The two-hand operation requires that the two hands of the operator hold the handles all the time, and the operation is not simple and convenient enough and is not beneficial to taking emergency stop measures in an emergency state. In addition, the double-handle operation mode is mostly applied to a speed control mode, and the positioning precision of the tail end of the mechanical arm cannot be guaranteed. The existing product has an application case of using a single handle for operation, but the structure is relatively complex, mechanical parts are various, transmission is carried out through a chain, and the control precision is not high enough.

Disclosure of Invention

Therefore, it is necessary to provide an operating handle capable of being operated by one hand, which is capable of solving the problems of the prior art that the operating handle has a complicated structure, is not easy to operate, and is not beneficial to taking emergency stop in emergency.

An operating handle comprising: the device comprises a handle base, a valve mounting seat, an arm placing seat, a rotating mechanism, a first moving mechanism and a second moving mechanism; the valve mounting seat is fixed at one end of the handle base; the first movement mechanism and the second movement mechanism are respectively arranged between the handle base and the arm placing seat; the rotating mechanism is arranged at one end of the arm placing seat, and a handle is arranged at one end of the rotating mechanism, which is far away from the arm placing seat; the first movement mechanism comprises a first telescopic piece and a first connecting rod, and two ends of the first connecting rod are respectively hinged with the arm placing seat and the handle base; one end of the first telescopic piece is hinged with the valve mounting seat, and the other end of the first telescopic piece is hinged with the middle part of the first connecting rod; the second motion mechanism comprises a second telescopic piece and a second connecting rod, one end of the second connecting rod is hinged to the arm placing seat, the other end of the second connecting rod is connected with one end of the second telescopic piece, and the other end of the second telescopic piece is hinged to the handle base.

Further, the rotating mechanism comprises a rotating cylinder and a first angle sensor, and the rotating cylinder is arranged between the arm placing seat and the handle; the first angle sensor is arranged on the rotating cylinder and used for detecting the rotating angle of the rotating mechanism.

Further, the rotating mechanism further comprises a first proportional valve, the first proportional valve is arranged at one end, far away from the rotating cylinder, of the arm placing seat, and the first proportional valve and the rotating cylinder form a closed loop.

Furthermore, a first displacement sensor and a second displacement sensor are respectively arranged on the first telescopic piece and the second telescopic piece, and the first displacement sensor and the second displacement sensor are respectively used for detecting the telescopic amount of the first telescopic piece and the second telescopic piece.

Further, the first telescopic piece and the second telescopic piece are air cylinders or oil cylinders.

Furthermore, the first movement mechanism and the second movement mechanism are respectively provided with a second proportional valve and a third proportional valve, the second proportional valve and the third proportional valve are respectively fixed on the valve mounting seat, the second proportional valve and the cylinder or the oil cylinder of the first movement mechanism form a closed loop, and the third proportional valve and the cylinder or the oil cylinder of the second movement mechanism form a closed loop.

Further, a button assembly is arranged on the upper portion of the handle.

Further, the upper end of the arm placing seat is made of soft materials.

Further, a manipulator, including revolving base, first arm and second arm, still include the operating handle as claimed in the above, wherein, rotary mechanism is used for bionically imitating the revolving base of manipulator, first motion is used for bionically imitating the first arm of manipulator, the second motion is used for bionically imitating the second arm of manipulator.

And angle sensors are respectively arranged at the joint of the rotary base, the joint of the first arm and the joint of the second arm.

According to the operating handle and the manipulator provided by the invention, the operating handle is combined with the motion characteristics of the human body arm, the operating handle can be operated by only one hand, and the screen key or the emergency stop button can be operated by the other hand, so that the operation is simple and safe; the operating handle realizes force control through the rotating mechanism or the first and second telescopic parts, so that impact on a movement joint of equipment when the equipment is suddenly started and stopped is avoided, and the service life of the equipment is effectively prolonged; the operating handle is provided with the angle sensor on the rotary cylinder and the displacement sensors on the first and second telescopic pieces, so that an encoder is not required to be additionally arranged, and the value measured by the sensors is used as the given amount for controlling the movement angle of the manipulator; and the first motion mechanism and the second motion mechanism can act independently or can be linked, and the motion processes are in complementary interference.

Drawings

FIG. 1 is a schematic view of an operating handle of the present invention;

FIG. 2 is a schematic view of the operation of an operating handle of the present invention;

fig. 3 is a schematic view of a robot according to the present invention.

The labels in the figure are: 100. the device comprises a handle base 200, a valve mounting base 300, an arm placing base 400, a rotating mechanism 500, a first moving mechanism 600, a second moving mechanism 301, a handle 401, a rotating cylinder 402, an angle sensor 403, a first proportional valve 501, a first telescopic part 502, a first connecting rod 503, a first displacement sensor 504, a second proportional valve 505, a first connecting block 601, a second telescopic part 602, a second connecting rod 603, a second displacement sensor 604, a second proportional valve 605, a second connecting block 700, a manipulator 701, a rotating base 702, a first arm 703 and a second arm.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. 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. As used herein, the terms "vertical," "horizontal," "left," "right," "top," "bottom," "top," and the like are for illustrative purposes only and do not represent the only embodiments.

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. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In one embodiment, the operating handle includes: the device comprises a handle base, a valve mounting seat, an arm placing seat, a rotating mechanism, a first moving mechanism and a second moving mechanism; the valve mounting seat is fixed at one end of the handle base; the first movement mechanism and the second movement mechanism are respectively arranged between the handle base and the arm placing seat; the rotating mechanism is arranged at one end of the arm placing seat, and a handle is arranged at one end of the rotating mechanism, which is far away from the arm placing seat; the first movement mechanism comprises a first telescopic piece and a first connecting rod, and two ends of the first connecting rod are respectively hinged with the arm placing seat and the handle base; one end of the first telescopic piece is hinged with the valve mounting seat, and the other end of the first telescopic piece is hinged with the middle part of the first connecting rod; the second motion mechanism comprises a second telescopic piece and a second connecting rod, one end of the second connecting rod is hinged to the arm placing seat, the other end of the second connecting rod is connected with one end of the second telescopic piece, and the other end of the second telescopic piece is hinged to the handle base.

The manipulator comprises a rotary base, a first arm, a second arm and an operating handle, wherein the operating handle is used for simulating the rotary base of the manipulator, a first motion mechanism is used for simulating the first arm of the manipulator, and a second motion mechanism is used for simulating the second arm of the manipulator.

The operating handle provided by the invention realizes force control through the rotating mechanism, the first telescopic part and the second telescopic part, so that the impact on a motion joint of equipment when the equipment is suddenly started and stopped is avoided, and the service life of the equipment is effectively prolonged; the operating handle can realize the control of the manipulator by respectively arranging the angle sensor and the displacement sensor on the rotary cylinder, the first telescopic part and the second telescopic part without additionally arranging an encoder and taking the value measured by the sensors as the given amount for controlling the motion angle of the manipulator; and the rotating mechanism, the first motion mechanism and the second motion mechanism can act independently or be linked, and the motion processes are not interfered with each other.

The operating handle and the manipulator are described below with reference to specific embodiments to further understand the inventive concepts of the operating handle and the manipulator.

The first embodiment:

referring to fig. 1, the operating handle includes: a handle base 100, a valve mounting seat 200, an arm placing seat 300, a rotating mechanism 400, a first moving mechanism 500 and a second moving mechanism 600; the valve mounting seat 200 is fixed to one end of the handle base 100, and preferably, may be fixed to an upper end surface of the handle base 100; the first movement mechanism 500 and the second movement mechanism 600 are respectively provided between the handle base 100 and the arm placing base 300; the rotating mechanism 400 is arranged at one end of the arm placing seat 300, and a handle 301 is arranged at one end of the rotating mechanism 400 far away from the arm placing seat 300; the first motion mechanism 500 comprises a first telescopic member 501 and a first connecting rod 502, wherein two ends of the first connecting rod 502 are respectively hinged with the arm placing seat 300 and the handle base 100; one end of the first telescopic member 501 is hinged with the valve mounting seat 200, and the other end is hinged with the middle part of the first connecting rod 502; the second motion mechanism 600 includes a second telescopic member 601 and a second connecting rod 602, one end of the second connecting rod 602 is hinged to the arm placing base 300, the other end of the second connecting rod is connected to one end of the second telescopic member 601, and the other end of the second telescopic member 601 is hinged to the handle base 100. It should be noted that the first extensible member 501 and the second extensible member 601 are both an extensible structure with one fixed end and the other telescopic end, that is, the fixed end of the first extensible member 601 is hinged to the valve mounting seat 200, the fixed end of the first extensible member 601 can be connected to the side of the valve mounting seat 200 through the first connecting block 505, the fixed end of the first extensible member 501 can rotate around the connecting point of the first extensible member, the extensible end of the first extensible member 501 is hinged to the middle of the first connecting rod 502, and the extensible end of the first extensible member can rotate around the connecting point; the fixed end of the second telescopic member 602 is hinged to the handle base 200, the fixed end of the second telescopic member 602 can rotate around the connecting point, the telescopic end of the second telescopic member 602 is connected to the lower end of the second connecting rod 602, and preferably, the telescopic end of the second telescopic member 601 is connected to the lower end of the second connecting rod through a second connecting block 605. Specifically, an operator holds the handle to rotate, the corresponding rotating mechanism rotates, and the rotation of the rotating mechanism controls the base of the corresponding equipment to rotate through the controller; referring to fig. 2, when the operator holds the handle and pushes forward, the first telescopic member 501 is compressed in the first direction, and the second telescopic member 601 is extended in the second direction, at this time, the operation handle can control the corresponding arm of the device to tilt forward through the controller; when an operator holds the handle to lift upwards, the second telescopic part 601 is compressed, and the corresponding arm of the corresponding equipment also lifts upwards; generally speaking, as the operator operates the handle, the device to be controlled will control the device to generate corresponding movement along with the movement direction of the operating handle. In addition, in the movement process of the operation handle, the first link 501 and the second link 601 are always kept parallel, the rotation mechanism, the first movement mechanism and the second movement mechanism can independently act or be linked, and the movement processes are not interfered with each other.

The rotating mechanism 400 includes a rotating cylinder 401, a first angle sensor 402, and a first proportional valve 403, wherein the movable end of the rotating cylinder 401 is connected to the handle, the fixed end of the rotating cylinder 401 is fixed to one end of the arm seat, the first angle sensor 402 is disposed on the rotating cylinder 401, the first angle sensor 402 is used for detecting the rotating angle of the rotating cylinder, the first proportional valve 403 is disposed at one end of the arm seat 300 away from the rotating cylinder 401, the first proportional valve 403 and the rotating cylinder 401 form a closed loop, for example, the arm seat 300 may be configured to have a hollow cavity, and the rotating cylinder 401 and the first proportional valve 403 are connected through the hollow cavity to form a closed loop. Specifically, an operator places the elbow of the right hand on the arm placing seat 300, holds the handle 301 with the right hand, the handle 301 can realize the rotary motion of a certain angle in the direction perpendicular to the arm, and the handle 301 drives the rotary cylinder 401 when rotating, the rotary cylinder 401 can transmit an angle signal to the controller through the angle sensor 402, and the controller gives the angle to the corresponding device to control the corresponding device to perform the rotary motion. Meanwhile, the rotary cylinder 401 and the first proportional valve 403 form a closed loop, and the controller controls the opening of the first proportional valve 403 to realize the force control of the rotary mechanism 400, for example, the larger the opening of the first proportional valve 403 is, the larger the gas flow rate is, the smaller the resistance when the corresponding grip 301 rotates is, and conversely, the smaller the opening of the first proportional valve is, the larger the resistance when the grip 302 rotates is, so that the operation of sudden start and stop in the operation process can be effectively avoided, the operation of the equipment is more stable, and the impact on each joint is smaller.

The first telescopic member 501 and the second telescopic member 601 are respectively provided with a first displacement sensor 503 and a second displacement sensor 603, and the first displacement sensor 503 and the second displacement sensor 603 are respectively used for detecting the telescopic amount of the first telescopic member 501 and the second telescopic member 601. Specifically, an operator holds the handle 301 to move forward and backward, the first link 502 moves forward and backward, the forward and backward movement of the first link 502 drives the first extensible member 501 to make an extensible movement, the first displacement sensor 503 can detect the extensible amount of the first extensible member 501 and feed the extensible amount back to the controller, and the controller gives the extensible amount to the corresponding equipment to control the corresponding components of the equipment to act. An operator holds the handle to move up and down, the second connecting rod 602 moves up and down along with the handle, the second connecting rod 602 drives the second telescopic part 601 to do telescopic movement, the second displacement sensor 603 detects the telescopic amount of the second telescopic part 602 and feeds the telescopic amount back to the controller, and the controller gives the telescopic amount to corresponding equipment to control corresponding parts of the equipment to act. The rotating mechanism, the first moving mechanism and the second moving mechanism can independently act and can also be linked, and an operator can operate according to actual needs.

The upper part of the handle 301 is provided with a button assembly, the button assembly is operated by a thumb to control a handle switch, and meanwhile, a handle enabling button is arranged on the handle through a trigger key to prevent misoperation of the handle. The upper end of the arm rest 300 is made of soft material to ensure the comfort of the arm.

Second embodiment:

the first and

second telescoping members

501, 601 may be cylinders or cylinders. For example, the first expansion member 501 is a first cylinder and the second expansion member 601 is a second cylinder. The first motion mechanism 500 and the second motion mechanism 600 are respectively provided with a second proportional valve 504 and a third proportional valve 604, the second proportional valve 504 and the third proportional valve 604 are respectively fixed on the valve mounting seat 200, wherein the second proportional valve 504 and the first cylinder form a closed loop, and the third proportional valve 604 and the second cylinder form a closed loop. Specifically, the handle 301 is held to the right hand to make the arm place the seat and pull back or push forward in the horizontal direction and can drive first cylinder and do flexible action, first cylinder constitutes closed circuit with second proportional valve 504, the controller is through the aperture of control second proportional valve 504 and then control first cylinder 501's resistance size, when handle 301 is pushed forward or pull back and is moved, if the range of operation exceeds the actual range of motion of arm, the proportional valve opening diminishes this moment, the resistance increase, thereby restrict operating personnel and operate at the excessive speed. Correspondingly, the right hand grips the handle 301 to make the arm placing seat 300 move up and down in the vertical direction to drive the second cylinder to do telescopic motion, the second cylinder and the third proportional valve 604 form a closed loop, and the third proportional valve 604 controls the resistance during the up-and-down motion, so as to limit the control speed of the operator.

It should be noted that the front-back direction and the up-down direction of the arm placing base 300 do not interfere with each other, the front-back motion drives the first cylinder to extend and contract, and the up-down motion drives the second cylinder to extend and contract. Of course, the operation handle may be operated to perform the "front up", "front down", "rear up" and "rear down" operations at the same time, and the two cylinders may feed back their respective displacement changes by their respective displacement sensors. When the operation handle is stopped, each proportional valve is powered off, the handle can be kept at the current posture through the rotary cylinder 401, the first cylinder and the second cylinder, and the operation handle can directly realize synchronous action with the equipment when being started next time.

The third embodiment:

a manipulator, which uses an operation handle as described in the first embodiment, referring to fig. 2, the manipulator 700 includes a rotating base 701, a first arm 702, and a second arm 703, wherein the rotating mechanism 400 is used for simulating the rotating base 701 of the manipulator 700, the first motion mechanism 500 and the second motion mechanism 600 are respectively used for simulating the first arm 702 and the second arm 703, and the joints of the rotating base 701, the first arm 702, and the second arm 703 are respectively provided with an angle sensor.

Specifically, the rotating mechanism 400, the first moving mechanism 500 and the second moving mechanism 600 in the operating handle correspond to the rotating base 701, the first arm 702 and the second arm 703 of the manipulator 700 respectively, taking the first motion mechanism 500 as an example, the amount of expansion and contraction of the first expansion and contraction member 601 is detected by the first displacement sensor, and this amount of expansion and contraction is a predetermined amount for controlling the motion angle of the first arm 701, that is, the expansion and contraction amount of the first cylinder 501 linearly corresponds to the movement angle of the first arm 701, meanwhile, the real-time motion angle of the first arm is fed back through an angle sensor arranged at the motion joint of the first arm, the telescopic piece is driven to move by operating the handle to generate telescopic amount change, the controller converts the telescopic amount change into given amount of the movement angle of the first arm, and forms closed loop control with the first arm angle sensor feedback, thereby realizing the synchronous motion of the first motion mechanism 500 and the first arm 701. In addition, the difference between the given value of the first arm 702 corresponding to the first cylinder and the actual movement angle of the mechanical arm is used for adjusting the opening degree of the second proportional valve 504, when the load of the mechanical arm 700 increases, the movement speed of the first arm 702 is reduced, if the speed of the first cylinder 501 is unchanged, the given value of the movement angle of the first arm 702 and the actual difference can be increased, and further the opening degree of the second proportional valve 504 is controlled to be reduced, so that the speed of the first cylinder is reduced, the force required by the operating handle can be increased, namely, when the mechanical arm is unloaded, the handle is easy to operate, when the mechanical arm is overloaded, the handle is laborious to operate, and the bionic simulation effect is certain.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features. The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An operating handle, characterized in that the operating handle comprises: the device comprises a handle base, a valve mounting seat, an arm placing seat, a rotating mechanism, a first moving mechanism and a second moving mechanism; the valve mounting seat is fixed at one end of the handle base; the first movement mechanism and the second movement mechanism are respectively arranged between the handle base and the arm placing seat;

the rotating mechanism is arranged at one end of the arm placing seat, and a handle is arranged at one end of the rotating mechanism, which is far away from the arm placing seat;

the first movement mechanism comprises a first telescopic piece and a first connecting rod, and two ends of the first connecting rod are respectively hinged with the arm placing seat and the handle base; one end of the first telescopic piece is hinged with the valve mounting seat, and the other end of the first telescopic piece is hinged with the middle part of the first connecting rod;

the second motion mechanism comprises a second telescopic piece and a second connecting rod, one end of the second connecting rod is hinged to the arm placing seat, the other end of the second connecting rod is connected with one end of the second telescopic piece, and the other end of the second telescopic piece is hinged to the handle base.

2. The operating handle according to claim 1, wherein the rotating mechanism comprises a rotating cylinder, a first angle sensor, the rotating cylinder being provided between the arm rest and the grip; the first angle sensor is arranged on the rotary cylinder and used for detecting the rotation angle of the rotary cylinder.

3. The operating handle according to claim 2, wherein the rotating mechanism further comprises a first proportional valve, the first proportional valve is disposed at an end of the arm rest away from the rotating cylinder, and the first proportional valve and the rotating cylinder form a closed loop.

4. The operating handle according to claim 1, wherein a first displacement sensor and a second displacement sensor are respectively provided on the first telescopic member and the second telescopic member, and the first displacement sensor and the second displacement sensor are respectively used for detecting the telescopic amount of the first telescopic member and the second telescopic member.

5. An operating handle according to claim 4 wherein said first and second telescopic members are air or oil cylinders.

6. The operating handle according to claim 5, wherein the first motion mechanism and the second motion mechanism are respectively provided with a second proportional valve and a third proportional valve, the second proportional valve and the third proportional valve are respectively fixed on the valve mounting seat, the second proportional valve and the cylinder or the oil cylinder of the first motion mechanism form a closed loop, and the third proportional valve and the cylinder or the oil cylinder of the second motion mechanism form a closed loop.

7. An operating handle according to any of claims 1-6 wherein the upper part of the handle is provided with a push button assembly.

8. The operating handle of any one of claims 1 to 6, wherein the arm rest is provided with a soft material at the upper end thereof.

9. A manipulator, including rotating base, first arm and second arm, characterized by, still include the operating handle of any one of claims 1-8, wherein, rotary mechanism is used for bionically imitating the rotating base of manipulator, first motion is used for bionically imitating the first arm of manipulator, second motion is used for bionically imitating the second arm of manipulator.

10. A manipulator according to claim 9, wherein the swivel base is provided with angle sensors at each of a joint of the first arm and a joint of the second arm.