CN2165032Y

CN2165032Y - Single-handle manipulator for walking mechanism

Info

Publication number: CN2165032Y
Application number: CN 93215791
Authority: CN
Inventors: 王意; 聂莹; 王国文
Original assignee: Chinese Academy of Agricultural Mechanization Sciences
Current assignee: Chinese Academy of Agricultural Mechanization Sciences
Priority date: 1993-06-17
Filing date: 1993-06-17
Publication date: 1994-05-18
Anticipated expiration: 2003-06-17

Abstract

The utility model relates to a manipulator for a walking mechanism, and the utility model is used for a walking operation type. The utility model is composed of a steering control mechanism, a speed-changing control mechanism, an advancing control mechanism and a retrogression control mechanism. The utility model comprises the shaft of a handle, the handle which is arranged on the upper end of shaft of the handle, a universal joint which is connected with the lower end of the shaft of the handle, a swing rack which is sheathed on the shaft of the handle, a horizontal rotation shaft which conducts the rigid connection with the swing rack, a disk-shaped cam which conducts the rigid connection with the horizontal rotation shaft, a rolling wheel which is contacted with the disk-shaped cam, an upper top rod, a lower top rod and a return spring. The turning, the walking speed, the advancing and the retrogression of the walking mechanism are controlled by a single handle in centralized way.

Description

Single-handle manipulator for walking mechanism

The utility model relates to a kind of operating control that is used for walking machine, the especially operating control of the operated walking machine of walking.

Different with the vehicle of taking advantage of car to sail and walking machine, the chaufeur of the operated walking machine of walking is that walking is being followed motor-driven facility of advancing and handled, and this operating mode makes chaufeur can only use the hand operation facility.Common walker tractor, hand-held type vibratory roller, walk-behind greensmower and multiple small-sized lifting, Transport Machinery all belong to this type of.In addition, want the big-and-middle-sized walking machine and the special vehicle of accuracy control motion when the operation, except traditional travel formula actuated position, often also need to be provided with energy assisted control device with walking state maneuver vehicle outside car for some.

Power-transfer clutch, accelerator (" throttle ") and drg etc. that the operating control of known legged method of operating generally just will be handled with stretcher when taking advantage of seat to handle change into uses stick control, and reservation be used to originally handle turn to, the manual components of function such as speed change.Though this method has satisfied the requirement that repertoire is used to handle, and has following shortcoming:

1, handle complexity, both hands labour intensity is very big, particularly the handling maneuver inconvenience;

2, bar handle is various, the facility difficult arrangement;

3, owing to do not have stable contact between facility and the chaufeur, thus " throttle " and the brake control device of proportional control action when being difficult to adopt travel to drive, cause manipulation more rough, be difficult to accuracy control;

4, in the facility traveling process, if when chaufeur disengages owing to its kind reason (as tripping) and facility, facility are advanced and get out of hand continuing, and have bigger insecurity;

5, for above-mentioned reasons, these type of facility make more facility at preceding, chaufeur at the maneuverability pattern of heel with walking, and bigger to driver safety prestige association when sternway, this has just limited the range of use of this facility.

The purpose of this utility model is from overcoming above-mentioned shortcoming in essence, the device that a kind of walking machine turns to, advances and falls back, the speed of travel concentrates on a mono-lever control being provided.But chaufeur both walking is handled, and also can handle on the vehicle seat of walking machine.

The utility model is to realize like this.Turning to the rotation of handle of walking machine finished; And the speed of travel and advance and retreat direction are finished with the swing of this handle.And make this handle become a feedback element among the person machine system, the swing of handle has reflected the relative position relation between chaufeur and the facility, relative motion between facility and the chaufeur has one and tries hard to make this handle to be returned to the trend of the center position that makes the facility stop motion, therefore facility will be reliably with the walking movement of chaufeur, in case the hand of chaufeur leaves handle, facility are with automatic stop motion.

On structure, the utility model is formed by three steering unit organic assembling:

1) steering control mechanism is by the handle (1) of Handle axis (2), Handle axis upper end, with Handle axis lower end bonded assembly universal-joint (4), form with universal-joint other end bonded assembly axle (5);

2) selector gear by the handle (1) of Handle axis (2), Handle axis upper end, be sleeved on reel cage (3) on the Handle axis, with the rigidly connected horizontal rotating shaft of reel cage (9), with the rigidly connected disc cam of horizontal rotating shaft (10), with the roller (11) of disc cam one side contacts, form with roller bonded assembly push rod (12);

3) advance, retreat steering unit by the handle (1) of Handle axis (2), Handle axis upper end, be sleeved on reel cage (3) on the Handle axis, with the rigidly connected horizontal rotating shaft of reel cage (9), form with two retracing springs (13) of the rigidly connected disc cam of horizontal rotating shaft (10), the upper ejector pin (14) that contacts with the disc cam opposite side and lower push rod (15) and two push rods.

Compare with existing various legged operating controls, the utlity model has following advantage:

1, chaufeur only can be controlled to be with handle of one-hand control and realize the necessary advance and retreat commutation of facility walking operation, speed change, turn to and repertoire such as braking;

2, interlock mutually between the Xiang Guan operating function.Before the advance and retreat commutation, must slow down, brake, prevented maloperation earlier;

3, have the ratio follow-up characteristic, the facility of being handled are followed the chaufeur motion reliably, and in a single day the hand of chaufeur leaves bar handle, and facility are with automatic stop motion;

4, handle laborsaving, safety;

5, can adapt to the control requirement of multiple power such as machinery, hydraulic pressure, fluid power and electric power and driving device, control signal can be transmitted with mechanical, electric, hydraulic pressure or multiple mode such as pneumatic, and commonality is good;

Below by embodiment the utility model further is described in detail.

Description of drawings:

The birds-eye view of Fig. 1 the utility model device.

The lateral plan of Fig. 2 the utility model device.

The advance and retreat commutation and the speed governing action diagram of Fig. 3 the utility model device.

The steering-effecting figure of Fig. 4 the utility model device.

Referring to Fig. 2 and Fig. 4, the upper end of Handle axis (2) is handle (1), and the lower end connects with the steering hardware of walking machine by universal-joint (4), axle (5).Steering hardware is made up of driving device (6), work-saving device (7), wheel flutter (8), and driving device (6) can be chain gear, or other mechanical drive.When pilot control handle (1) rotated, Handle axis (2), universal-joint (4), axle (5) rotated thereupon, by driving device (6), will rotate the wheel flutter (8) of biography, made it beat and changed the sense of motion of walking machine.Work-saving device (7) is used for alleviating the handling maneuver power of chaufeur.

Referring to Fig. 1, Fig. 2 and Fig. 3, reel cage (3) is bearing on the horizontal rotating shaft (9), and is rigidly connected with it, disc cam (10) also is rigidly connected with horizontal rotating shaft (9), horizontal rotating shaft (9) is bearing on the base, and rotatable, Handle axis (2) is passed the hole of reel cage (3).When pilot control handle (1) swing, reel cage (3), disc cam (10) are swung around the axis of horizontal rotating shaft (9).In disc cam (10) when swing,, the lift of the roller (11) of working curved surface contact and the push rod (12) that links to each other with roller changes with it, thereby makes push rod (12) reciprocating.Push rod (12) connects with the speed regulation device of walking machine by existing mechanism, and push rod (12) can be handled the accelerator (being commonly called as " throttle ") of combustion engine; Or the speed-regulating potentiometer of manipulation electrical motor; Or the displacement control valve or the governor valve of controllable capacity pump in the operating hydraulically operated transmission, all can change the kinematic velocity of walking machine.

The working curved surface of disc cam (10), the middle part is from center of oscillation, be axis nearest of horizontal rotating shaft (9), both sides increase gradually from the distance of center of oscillation, that is no matter Handle axis (2) be to swing forward or swing backward, and push rod (12) all is outside motions, and pivot angle is big more, the stroke of push rod (12) is big more, and the walking machine kinematic velocity is high more.

Referring to Fig. 2 and Fig. 3, another driving surface of disc cam (10) contacts with lower push rod (15) with the upper ejector pin (14) of walking machine.Along with the forward swing or the back pendulum of Handle axis (2), with preceding similar, disc cam (10) is swung thereupon, thereby upper ejector pin or lower push rod are outwards moved, be used for touching corresponding switch, stir corresponding valve, by electric or hydraulic pressure, or the mode of strength is advanced walking machine or is fallen back.In general, Handle axis (2) forward swing advances walking machine; The back pendulum falls back walking machine.

Upper ejector pin and lower push rod respectively have a retracing spring (13), it makes disc cam reset simultaneously, make during reel cage (3), Handle axis (2) return, under free state, be in stand up position, roller this moment (11) is in the recess center of disc cam (10) working curved surface, it also can add existing mechanism of shake-up this moment and make the walking machine braking corresponding to the walking machine dead ship condition.

The utility model device, when no matter Handle axis (2) swings forward or backward, push rod (12) all is outwards motions, and its displacement is relevant with the deflection angle of Handle axis (2), no matter this make walking machine advance or when falling back, the beat that all is Handle axis (2) is big more, and the speed of walking machine motion is also high more.

Owing to connect with universal-joint (4) between handle (1) and axle (2) and the steering shaft (5), thereby when Handle axis (2) for handling walking machine and advance or when falling back forward or backward beat, still can turning to the method manipulation walking machine of turning handle (1).Like this, only with a hand can by handle (1) handle walking machine advance and retreat commutation, speed governing, brake and turn to.

Obviously, cam (10), roller (11) the crank motion of the push rod of finishing (12) also can realize with crank connecting link and kindred organization.

Claims

1, a kind of mono-lever control device of walking machine is characterized in that, it is formed by three steering unit organic assembling:

2, mono-lever control device according to claim 1, it is characterized in that, the working curved surface of described disc cam (10) one sides, the middle part is nearest from center of oscillation, the right and left increases gradually from the distance of center of oscillation, when described roller (11) was in the recess center of working curved surface, Handle axis (2) was in stand up position, and walking machine is in and stops and braking mode.