CN208969538U - 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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- CN208969538U CN208969538U CN201822143618.XU CN201822143618U CN208969538U CN 208969538 U CN208969538 U CN 208969538U CN 201822143618 U CN201822143618 U CN 201822143618U CN 208969538 U CN208969538 U CN 208969538U
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- outer tube
- force snesor
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Abstract
The utility model discloses a kind of mobile platform manipulation device based on force snesor, belong to electronic mobile platform manipulation technology field, including pedestal, the both ends of the pedestal one side wall are symmetrical arranged two control cranks, each control crank include outer cover be equipped with outer tube core, and the outer tube and it is described between core be equipped with gap, two sensors are set in the groove among core, and be connected on the inside of one end of each sensor and the outer tube, the other end opposite with one end of the sensor is connected core with described.Compared with the prior art, the utility model does not have steering wheel, and the component of the movement, rotation on a large scale such as push rod avoids the occurrence of the abrasion of mechanical structure, the service life is long；By outer tube and between core gap it is appropriately designed so that tension-compression sensor therein reliably works within the scope of its effective travel, sensor will not be damaged because of overload, compact-sized, and operation is easy.
Description
Technical field
The utility model relates to electronic mobile platform manipulation technology fields, and in particular to a kind of movement based on force snesor
Platform 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, the utility model creator proposes the utility model by prolonged research and practice.
Utility model content
To solve above-mentioned technological deficiency, the technical solution adopted in the utility model is, a kind of shifting based on force snesor
The both ends of moving platform manipulation device, including pedestal, the pedestal one side wall are symmetrical arranged two control cranks, each manipulation
Handle include outer cover be equipped with outer tube core, and the outer tube and described, 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 sensing
The opposite other end in one end of device 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 utility model has the beneficial effects that:
(1) a kind of mobile platform manipulation device based on force snesor provided by the utility model does not have steering wheel, push rod
Deng a wide range of mobile, rotation component, the abrasion of mechanical structure is avoided the occurrence of, the service life is long；
(2) the utility model by outer tube and between core gap it is appropriately designed so that tension-compression sensor therein can
Within the scope of its effective travel, sensor will not be damaged because of overload for the work leaned on；
(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 institute in embodiment description in order to illustrate more clearly of the technical solution in various embodiments of the utility model
Attached drawing to be used is needed to be briefly described.
Fig. 1 is a kind of structure chart of the mobile platform manipulation device based on force snesor in the utility model；
Fig. 2 be in the utility model an a kind of wherein operation handle for the mobile platform manipulation device based on force snesor without
The structure chart of grip；
Fig. 3 is the schematic enlarged-scale view that pedestal is connect with core print seat in the utility model；
Fig. 4 is the schematic enlarged-scale view that core is connect with core print seat in the utility model；
Fig. 5 is the internal view of control crank in the utility model；
Fig. 6 be include a kind of a kind of medical machine of the mobile platform manipulation device based on force snesor in the utility model
The part-structure figure of people's equipment.
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 above and other technical features and advantages of the present invention are described in more detail.
What is be wherein related in following embodiments refers to " forward " direction of operator's face when operating mobile platform, and " backward " is
With opposite direction " forward ", " transverse direction " refers 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 utility model 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 utility model does not have steering wheel, pushes away
The component that bar etc. is mobile on a large scale, rotates, avoids the occurrence of the abrasion of mechanical structure, the service life is long；By outer tube and between between core
Gap it is appropriately designed so that tension-compression sensor therein reliably works within the scope of its effective travel, sensor will not be because
It overloads and damages；It is compact-sized, it is simple and effective；Operating process is natural, easy, can be widely applied to electronic mobile platform, medical
The fields such as trolley, 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 utility model can be used for operating
The electronic mobile platform of medical robot is mobile, when medical robot operation is in place, because operating room space layout is limited, and rear side
Handrail is normally at corner, at this point, operator can concede the small space in handrail dead astern in the inclined avris of handrail, it is singlehanded
Operating 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 above is only the preferred embodiment of the present invention, is merely illustrative for the utility model, and
It is unrestricted.Those skilled in the art understand that can be to it in the spirit and scope defined by the utility model claims
Many changes, modifications, and even equivalents are carried out, but all will fall within the protection scope of the utility model.
Claims (10)
1. a kind of mobile platform manipulation device based on force snesor, which is characterized in that including pedestal, the pedestal one side wall
Both ends are symmetrical arranged two control cranks, each control crank include outer cover be equipped with outer tube core, and the outer tube
With it is described gap is equipped between core, two sensors are set in the groove among core, and each sensor
It is connected on the inside of one end and the outer tube, the other end opposite with one end of the sensor is connected core with described.
2. the mobile platform manipulation device according to claim 1 based on force snesor, which is characterized in that each behaviour
Vertical handle further includes core print seat, and the both ends core print seat are respectively connected core and the side wall with described, and described core
With the connection direction core print seat perpendicular to the pedestal and the connection direction core print seat.
3. the mobile platform manipulation device according to claim 2 based on force snesor, which is characterized in that the side wall is set
Through-hole is set, screw passes through the through-hole and core print seat is fixed on the side wall by described.
4. the mobile platform manipulation device according to claim 3 based on force snesor, which is characterized in that it is described core with
It is described that core print seat is threadedly coupled, and pass through nut check.
5. the mobile platform manipulation device according to claim 1-4 based on force snesor, which is characterized in that two
A sensor is connected with the both ends of sensor installation seat respectively, and the sensor installation seat is arranged in the groove
And core is connected with described.
6. the mobile platform manipulation device according to claim 5 based on force snesor, which is characterized in that the sensor
For pull pressure sensor.
7. the mobile platform manipulation device according to claim 6 based on force snesor, which is characterized in that the sensor
One end connect with the inside screw of the outer tube, the other end opposite with one end of the sensor and the sensor are installed
Seat screw connection,.
8. the mobile platform manipulation device according to claim 5 based on force snesor, which is characterized in that the sensor
Mounting base connect core screw with described.
9. the mobile platform manipulation device according to claim 1 based on force snesor, which is characterized in that the outer tube
Outer cover is equipped with grip.
10. the mobile platform manipulation device according to claim 1 based on force snesor, which is characterized in that described core
For cylindrical structure, the cross section of the outer tube and the grip is circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822143618.XU CN208969538U (en) | 2018-12-20 | 2018-12-20 | A kind of mobile platform manipulation device based on force snesor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822143618.XU CN208969538U (en) | 2018-12-20 | 2018-12-20 | A kind of mobile platform manipulation device based on force snesor |
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| CN208969538U true CN208969538U (en) | 2019-06-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109460109A (en) * | 2018-12-20 | 2019-03-12 | 苏州康多机器人有限公司 | A kind of mobile platform manipulation device based on force snesor |
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- 2018-12-20 CN CN201822143618.XU patent/CN208969538U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109460109A (en) * | 2018-12-20 | 2019-03-12 | 苏州康多机器人有限公司 | A kind of mobile platform manipulation device based on force snesor |
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