CN106990806A - A kind of armrest handle device with Zero-point switch - Google Patents
A kind of armrest handle device with Zero-point switch Download PDFInfo
- Publication number
- CN106990806A CN106990806A CN201710263955.XA CN201710263955A CN106990806A CN 106990806 A CN106990806 A CN 106990806A CN 201710263955 A CN201710263955 A CN 201710263955A CN 106990806 A CN106990806 A CN 106990806A
- Authority
- CN
- China
- Prior art keywords
- switch
- plectrum
- rotating shaft
- potentiometer
- shift fork
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
- G05G1/10—Details, e.g. of discs, knobs, wheels or handles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of armrest handle device with Zero-point switch, including the left side handle and right hand grip that are fixedly connected on pedestal, the left side plectrum being articulated on the handle of left side, the right side plectrum being articulated in right hand grip, the potentiometer on pedestal, double zero position switchs and fixed shift fork, be connected with the left side plectrum and right side plectrum and rotate shift fork；The fixed shift fork and the rotation shift fork are connected by reduction torsion spring.By such scheme, the present apparatus will be retreated, turning function is concentrated and is integrated, compact conformation, operation facility；Operator's holding left side handle or/and right hand grip, thumb stir plectrum, and driving potentiometer rotating shaft rotation, potentiometer sends control signal to equipment, and completion is advanced, backward movement；Operator need to only hold forefinger with a firm grip during steering or middle finger can complete go to action, convenient and swift, easy to operate.
Description
Technical field
The present invention relates to the robot of master-slave mode remote operating structure or equipment, and in particular to main operation device.
Background technology
For the control advanced with turned to, conventional armrest handle device is typically separated, that is, has different device knots
Structure controls to advance respectively with turning to, and such as certain model has the electrically propelled traction vehicle of erect-position, i.e., with the front and rear rotation push handle control at head position
System walking, integrally controls the anglec of rotation of car body to turn to head；Or some personnel are in the vehicle of ground trailing type, use
Connecting lever directly manipulates deflecting roller to control to turn to.But in some compact conformations, or the place that structure does not allow, it is impossible to individually set again
Put steering structure as described above.
The content of the invention
Technical problem solved by the invention：How the structure of design operation handle, facilitate operating personnel to pass through manipulator
Handle completes the advance and retreat of controlled device, turned to.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of armrest handle dress with Zero-point switch
Put, including be fixedly connected on pedestal left side handle and right hand grip, be articulated in left side handle on left side plectrum, be articulated in
Right side plectrum in right hand grip, the potentiometer on pedestal, potentiometer and the equipment electricity controlled by armrest handle device
Connection, the potentiometer includes potentiometer shell and potentiometer rotating shaft, and left side plectrum, right side plectrum connect with potentiometer rotating shaft
Connect；The left side handle and right hand grip are respectively equipped with pole changer.
Claimed is the structure design of the armrest handle device.
By above-mentioned technical proposal, a kind of device designed present invention is directed to operation handle integration, available for electricity
Moving platform car, haulage equipment, medical equipment etc., are mainly used in operating personnel and are manipulated in ground trailing type.
By above-mentioned technical proposal, the armrest handle device will be retreated, turning function is concentrated and is integrated, compact conformation, behaviour
Facilitate.By above-mentioned technical proposal, operator holds left side handle or/and right hand grip, and thumb stirs left side plectrum or/and the right side
Side plectrum, driving potentiometer rotating shaft rotation, potentiometer sends control signal, institute to the equipment controlled by armrest handle device
State the action completed by signal in terms of advance, retrogressing of the equipment controlled by armrest handle device.
By above-mentioned technical proposal, pole changer is together with left side handle, right hand grip design, the hand of operator during steering
Other position touching switch is gone without waste motion, only forefinger need to be held with a firm grip or middle finger can complete go to action, convenient and swift, behaviour
Facilitate.
In general, potentiometer is generally made up of resistive element and moveable brush；When brush is moved along resistive element,
Output end is to obtain the resistance value or voltage with displacement into certain relation.Potentiometer in above-mentioned technical proposal, its potentiometer
Rotating shaft is equivalent to the brush, and the potentiometer shell is equivalent to the resistive element.
As a modification of the present invention, the pedestal is provided with double zero position switchs, and double zero position switchs include preceding to switch
With backward switch；The pedestal is provided with fixed shift fork, and left side plectrum and right side the plectrum connection rotates shift fork, the fixation
Shift fork and the rotation shift fork are connected by reduction torsion spring；After the rotation shift fork is provided with stirring the forward direction switch and being described
To the cam of switch closure.
By above-mentioned improvement, when rotating left side plectrum or coaxial right side plectrum forward, the cam rotated on fork is stirred
Forward direction switch closure in double zero position switchs, exports a switching value, meanwhile, potentiometer also exports one and turned with potentiometer rotating shaft
The analog quantity of angle change, completes the forward direction travelling control of controlled device, left side plectrum or right side plectrum corner size control device
The speed of traveling.When the left side plectrum or during coaxial right side plectrum of rotating backward, rotate the cam on fork and stir double zero-bits and open
The backward switch closure in the Central Shanxi Plain, exports a switching value, meanwhile, potentiometer also exports one with the change of potentiometer shaft rotary corner
Analog quantity, completes the backward travelling control of controlled device, the speed that left side plectrum or right side plectrum corner size control device are advanced
Degree.
Left side plectrum is connected with left side rotating shaft, and left side rotating shaft is connected with potentiometer rotating shaft by left side power transfer component,
Left side rotating shaft is coaxially disposed with potentiometer rotating shaft.
Right side plectrum is connected with right side rotating shaft, and right side rotating shaft is connected with potentiometer rotating shaft by right side power transfer component,
The rotation shift fork is arranged on the right side power transfer component.
Above-mentioned left side rotating shaft and right side rotating shaft are coaxially disposed, i.e. the axial line of left side rotating shaft and the axial line of right side rotating shaft
Overlap.
The left side handle is fixedly connected by the curved handle in left side with the pedestal, the curved outboard end with left side handle in left side
It is fixedly connected, left side plectrum is arranged on the medial extremity of left side handle.The hand of operator grips left side handle and positioned at curved of left side
It is interior, the operational comfort of operator and the accuracy of grip position are improved, the left side is curved the work with protection operator's hand
With preventing outer goodses from being damaged to the hand of operator.
The right hand grip with the pedestal by right lateral bend being fixedly connected, and right lateral bend is the outboard end with right hand grip
It is fixedly connected, right side plectrum is arranged on the medial extremity of right hand grip.The hand of operator grips right hand grip and positioned at curved of left side
It is interior.
The pole changer includes the first left-side switch and the second left-side switch, the first right-side switch and the second right side opening
Close.It is left that above-mentioned first left-side switch controls the equipment controlled by armrest handle device to carry out minor radius by setting radius of turn
Turn and advance, the second left-side switch controls the equipment controlled by armrest handle device to carry out large radius by setting radius of turn
Turn left to advance.Above-mentioned first right-side switch controls the equipment controlled by armrest handle device to be carried out by setting radius of turn
Minor radius, which is turned right, advances, and the second right-side switch controls the equipment controlled by armrest handle device to enter by setting radius of turn
Row large radius, which is turned right, advances.
While left side paddle or right side paddle is rotated, the first left-side switch or the second left-side switch are pressed, then can
Two switching values are exported, are left turn signal, control device carries out minor radius or large radius left-hand bend row by setting radius of turn
Enter.
While left side paddle or right side paddle is rotated, the first right-side switch or the second right-side switch are pressed, then can
Two switching values are exported, are right turn signal, control device carries out minor radius or large radius right-hand bend row by setting radius of turn
Enter.
Armrest handle device of the present invention, on the basis of conventional potentiometer control gait of march, sets up double zero
Bit switch, eliminates the potentiometer back to zero as caused by mechanical structure and is forbidden, and zero point drift caused by potentiometer initial alignment etc.
Move, return is reliable, is brought convenience to electrical control and programming, pole changer is with left side handle, right hand grip design one
Rise, during steering, the hand of operator goes other position touching switch without waste motion, only need to hold forefinger with a firm grip or middle finger can be completed
Go to action, it is convenient and swift, it is easy to operate.
Meanwhile, left side handle, the length of right hand grip, diameter, relative distance, length, middle position and the water of left and right sides switch
Angle of plane etc., requirement design all ergonomically, so that operation is comfortable, it is fast and simple.
Brief description of the drawings
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation of the armrest handle device with Zero-point switch of the present invention；
Fig. 2 is the structural representation in Fig. 1 from upper left side obtained by a kind of armrest handle device with Zero-point switch
Figure；
Fig. 3 is the structural representation in Fig. 2 from upper left side obtained by a kind of armrest handle device with Zero-point switch
Figure；
Fig. 4 is to observe structural representation obtained by a kind of armrest handle device with Zero-point switch from below in Fig. 2.
Symbol description in figure：
1st, curved of left side；2nd, left side handle；3rd, the first left-side switch；4th, the second left-side switch；5th, left side paddle；6th, left side
Rotating shaft；7th, left side swivel base；8th, pedestal；9th, right side swivel base；10th, right side rotating shaft；11st, right side paddle；12nd, the second right-side switch；13、
First right-side switch；14th, right hand grip；15th, right lateral bend handle；16th, double zero position switchs；17th, fork is rotated；18th, reduction torsion spring；
19th, fixed fork；20th, shaft coupling；21st, potentiometer.
Embodiment
Referring to figs. 1 to Fig. 4, a kind of armrest handle device with Zero-point switch, including the left side being fixedly connected on pedestal 8
Handle 2 and right hand grip 14, the left side plectrum 5 being articulated on the handle of left side, the right side plectrum 11 being articulated in right hand grip, peace
Potentiometer 21 on pedestal, potentiometer is electrically connected with the equipment controlled by armrest handle device, and the potentiometer includes electricity
Position device shell and potentiometer rotating shaft, left side plectrum, right side plectrum are connected with potentiometer rotating shaft.
The left side handle 2 is fixedly connected by the way that left side is curved 1 with the pedestal 8, and left side is curved outer with left side handle
Side is fixedly connected, and left side plectrum 5 is arranged on the medial extremity of left side handle.
The right hand grip 14 is fixedly connected by right lateral bend 15 with the pedestal, and right lateral bend is outer with right hand grip
Side is fixedly connected, and right side plectrum 11 is arranged on the medial extremity of right hand grip.
The pedestal 8 is provided with double zero position switchs 16, and double zero position switchs include preceding to switch and backward switch；The pedestal
Provided with fixed shift fork 19, left side plectrum 5 and right side plectrum 11 connection rotates shift fork 17, the fixed shift fork and described turn
Dynamic shift fork is connected by reduction torsion spring 18；The rotation shift fork is closed provided with the forward direction switch and the backward switch is stirred
Cam.
Left side plectrum 5 is connected with left side rotating shaft 6, and left side rotating shaft is connected with potentiometer rotating shaft by left side power transfer component
Connect, left side rotating shaft is coaxially disposed with potentiometer rotating shaft；The left side rotating shaft 6 is articulated on the swivel base 7 of left side, and left side swivel base is fixed on
On pedestal 8.Wherein, the left side power transfer component includes left side flange, and left side flange connects the left side rotating shaft 6 and described
Potentiometer rotating shaft.
Right side plectrum 11 is connected with right side rotating shaft 10, and right side rotating shaft is connected with potentiometer rotating shaft by right side power transfer component
Connect, the rotation shift fork 17 is arranged on the right side power transfer component；The right side rotating shaft 10 is articulated in right side transposase 19
On, right side swivel base is fixedly mounted on pedestal 8.Wherein, the right side power transfer component includes passing through right flange and right side
The rotation shift fork installation axle that rotating shaft 10 is connected, the rotation shift fork installation axle is connected by shaft coupling 20 and the potentiometer rotating shaft
Connect.The rotation shift fork 17 is fixedly mounted in the rotation shift fork installation axle, and the rotation shift fork installation axle passes through described solid
Determine shift fork 19, fixed shift fork 19 rotates the amplitude rotated before and after shift fork provided with two positive stops for limiting.
The left side handle 2 and right hand grip 14 are respectively equipped with pole changer or referred to as turn signal switch.
The pole changer includes the first left-side switch 3 and the second left-side switch 4, the first right-side switch 13 and the second right side
Switch 12；It is left that first left-side switch controls the equipment controlled by armrest handle device to carry out minor radius by setting radius of turn
Turn and advance, the second left-side switch controls the equipment controlled by armrest handle device to carry out large radius by setting radius of turn
Turn left to advance；First right-side switch controls the equipment controlled by armrest handle device to carry out smaller part by setting radius of turn
Footpath, which is turned right, advances, and it is big that the second right-side switch controls the equipment controlled by armrest handle device to be carried out by setting radius of turn
Radius, which is turned right, advances.
In practical operation, a kind of mode of operation of the armrest handle device with Zero-point switch of the present invention is as follows：
First, work as initial position, during no operation, all rotatable parts return middle position, 21 times middle positions of potentiometer, double zero position switchs
16 Close Alls, no signal output, controlled device is motionless.
Second, when rotating left side paddle 5 or coaxial right side paddle 11 forward, rotate the cam on fork 17 and stir double
Forward direction switch closure in zero position switch 16, exports a switching value, meanwhile, potentiometer 21 also exports one with potentiometer rotating shaft
The analog quantity of corner change, completes the forward direction travelling control of controlled device, left side paddle 5 or the control of the corner size of right side paddle 11
The speed that equipment is advanced.
3rd, when left side paddle 5 or the coaxial right side paddle 11 of rotating backward, rotate the cam on fork 17 and stir double zero
Backward switch closure in bit switch 16, exports a switching value, turns while potentiometer 21 also exports one with potentiometer rotating shaft
The analog quantity of angle change, completes the backward travelling control of controlled device, and left side paddle 5 or the control of the corner size of right side paddle 11 are set
The standby speed advanced.
4th, while left side paddle 5 or coaxial right side paddle 11 is rotated, the first left-side switch 3 or the second left side
Switch 4 is pressed, then can export two switching values, is left turn signal, and control device carries out minor radius by setting radius of turn
Or large radius turns left to advance.
5th, while left side paddle 5 or coaxial right side paddle 11 is rotated, the first right-side switch 13 or the second right side
Switch 12 is pressed, then can export two switching values, is right turn signal, and control device carries out minor radius by setting radius of turn
Or large radius is turned right and advanced.
6th, operator singlehanded can control this device, straight trip, or traveling of turning.
Above content is only the better embodiment of the present invention, for one of ordinary skill in the art, according to the present invention
Thought, will change in specific embodiments and applications, this specification content should not be construed as to this hair
Bright limitation.
Claims (5)
1. a kind of armrest handle device with Zero-point switch, including the left side handle (2) being fixedly connected on pedestal (8) and right side
Handle (14), be articulated in left side handle on left side plectrum (5), be articulated in right hand grip right side plectrum (11), be arranged on
Potentiometer (21) on pedestal, potentiometer is electrically connected with the equipment controlled by armrest handle device, and the potentiometer includes current potential
Device shell and potentiometer rotating shaft, left side plectrum, right side plectrum are connected with potentiometer rotating shaft；It is characterized in that：Hold in the left side
(2) and right hand grip (14) are respectively equipped with pole changer.
2. a kind of armrest handle device with Zero-point switch as claimed in claim 1, it is characterised in that：On the pedestal (8)
Provided with double zero position switchs (16), double zero position switchs include preceding to switch and backward switch；
The pedestal is provided with fixed shift fork (19), and the left side plectrum (5) and right side plectrum (11) connection rotate shift fork (17),
The fixed shift fork and the rotation shift fork are connected by reduction torsion spring (18)；
The rotation shift fork is provided with the cam for stirring the forward direction switch and the backward switch closure.
3. a kind of armrest handle device with Zero-point switch as claimed in claim 2, it is characterised in that：Left side plectrum (5) with
Left side rotating shaft (6) is connected, and left side rotating shaft is connected with potentiometer rotating shaft by left side power transfer component, left side rotating shaft and potentiometer
Rotating shaft is coaxially disposed；
Right side plectrum (11) is connected with right side rotating shaft (10), and right side rotating shaft is connected with potentiometer rotating shaft by right side power transfer component
Connect, the rotation shift fork (17) is arranged on the right side power transfer component.
4. a kind of armrest handle device with Zero-point switch as claimed in claim 1, it is characterised in that：The left side handle
(2) it is fixedly connected by the curved handle in left side (1) with the pedestal (8), left side is curved to be fixedly connected with the outboard end with left side handle, it is left
Side plectrum (5) is arranged on the medial extremity of left side handle；
The right hand grip (14) is fixedly connected with (15) with the pedestal by right lateral bend, and right lateral bend is outer with right hand grip
Side is fixedly connected, and right side plectrum (11) is arranged on the medial extremity of right hand grip.
5. a kind of armrest handle device with Zero-point switch as claimed in claim 1, it is characterised in that：The pole changer bag
Include the first left-side switch (3) and the second left-side switch (4), the first right-side switch (13) and the second right-side switch (12)；
First left-side switch controls the equipment controlled by armrest handle device to carry out minor radius left-hand rotation by setting radius of turn
Curved to advance, it is left that the second left-side switch controls the equipment controlled by armrest handle device to carry out large radius by setting radius of turn
Turn and advance；
First right-side switch controls the equipment controlled by armrest handle device to carry out minor radius right-hand rotation by setting radius of turn
Curved to advance, it is right that the second right-side switch controls the equipment controlled by armrest handle device to carry out large radius by setting radius of turn
Turn and advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710263955.XA CN106990806B (en) | 2017-04-21 | 2017-04-21 | A kind of armrest handle device with Zero-point switch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710263955.XA CN106990806B (en) | 2017-04-21 | 2017-04-21 | A kind of armrest handle device with Zero-point switch |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106990806A true CN106990806A (en) | 2017-07-28 |
| CN106990806B CN106990806B (en) | 2018-05-22 |
Family
ID=59415583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710263955.XA Active CN106990806B (en) | 2017-04-21 | 2017-04-21 | A kind of armrest handle device with Zero-point switch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106990806B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108033410A (en) * | 2017-12-27 | 2018-05-15 | 杭州赛奇机械股份有限公司 | Self-propelled lift work platform double handle control device |
| CN109455218A (en) * | 2018-12-08 | 2019-03-12 | 苏州康多机器人有限公司 | A kind of manipulation armrest system for electronic mobile platform |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3280991A (en) * | 1964-04-28 | 1966-10-25 | Programmed & Remote Syst Corp | Position control manipulator |
| US3849668A (en) * | 1973-10-04 | 1974-11-19 | Nasa | Orthotic arm joint |
| CN101085406A (en) * | 2007-06-14 | 2007-12-12 | 陈华胜 | Rotatable carriage for children and operational control system for the same |
| CN203171617U (en) * | 2013-03-14 | 2013-09-04 | 吉林大学 | Humanoid synchronous wireless control mechanical hand system |
-
2017
- 2017-04-21 CN CN201710263955.XA patent/CN106990806B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3280991A (en) * | 1964-04-28 | 1966-10-25 | Programmed & Remote Syst Corp | Position control manipulator |
| US3849668A (en) * | 1973-10-04 | 1974-11-19 | Nasa | Orthotic arm joint |
| CN101085406A (en) * | 2007-06-14 | 2007-12-12 | 陈华胜 | Rotatable carriage for children and operational control system for the same |
| CN203171617U (en) * | 2013-03-14 | 2013-09-04 | 吉林大学 | Humanoid synchronous wireless control mechanical hand system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108033410A (en) * | 2017-12-27 | 2018-05-15 | 杭州赛奇机械股份有限公司 | Self-propelled lift work platform double handle control device |
| CN108033410B (en) * | 2017-12-27 | 2024-03-29 | 杭州赛奇机械股份有限公司 | Double-handle control device for self-propelled lifting operation platform |
| CN109455218A (en) * | 2018-12-08 | 2019-03-12 | 苏州康多机器人有限公司 | A kind of manipulation armrest system for electronic mobile platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106990806B (en) | 2018-05-22 |
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Address after: No. 8, Dalian North Road, Haping Road Concentration Area, Harbin Economic Development Zone, Harbin City, Heilongjiang Province, 150000 Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150090 08, room 15, No. 368 Changjiang Road, Nangang District, Harbin, Heilongjiang. Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |