阅读说明：本技术 推车控制把手及推车 (Cart control handle and cart ) 是由 王建辰 其他发明人请求不公开姓名 于 2019-02-21 设计创作，主要内容包括：本发明涉及一种推车控制把手及推车,包括手柄、传感器组件及连接座,所述手柄通过所述传感器组件连接于所述连接座,所述传感器组件能够感应到施加在手柄上的力以及手柄因施加的力而产生位移和扭矩中的至少一种。由于传感器组件能够实时地感应出施加在手柄上的力信号以及手柄的位移或扭矩等至少两个矢量信号,这些矢量信号可作为控制推车前进、后退或转向的指令信号,传感器组件可将感应得到矢量信号反馈给控制器,控制器便可根据反馈的矢量信号控制电机驱动底盘上的轮子带动推车运动；因此操作人员只需通过双手握住手柄来操控手柄发出指令信号,即可控制推车按照指定的路径运动,从而节省了搬运机械臂所需的精力和时间,提高了手术效率。(The invention relates to a control handle of a cart and the cart, which comprises a handle, a sensor assembly and a connecting seat, wherein the handle is connected to the connecting seat through the sensor assembly, and the sensor assembly can sense force applied to the handle and at least one of displacement and torque generated by the handle due to the force applied by the handle. The sensor assembly can sense at least two vector signals such as a force signal applied to the handle and displacement or torque of the handle in real time, the vector signals can be used as instruction signals for controlling the cart to move forwards, backwards or turn, the sensor assembly can feed the sensed vector signals back to the controller, and the controller can control the motor to drive the wheels on the chassis to drive the cart to move according to the fed-back vector signals; therefore, an operator can control the cart to move according to the appointed path by only holding the handle with two hands to control the handle to send out an instruction signal, so that the energy and time required for carrying the mechanical arm are saved, and the operation efficiency is improved.)

1. A control handle for a stroller, comprising a handle, a sensor assembly and a coupling seat, wherein the handle is coupled to the coupling seat via the sensor assembly such that the handle is spaced from the coupling seat, and the sensor assembly is adapted to sense a force applied to the handle and at least one of a displacement and a torque of the handle due to the applied force.

2. The cart control handle of claim 1, wherein the sensor assembly comprises a six-axis sensor, the handle being connected to the connection mount by the six-axis sensor.

3. The cart control handle of claim 1, wherein the sensor assembly comprises a plurality of sensors.

4. The cart control handle of claim 3, wherein the sensor assembly further comprises a bracket, a plurality of the sensors being disposed on the bracket.

5. The cart control handle of claim 3, wherein a plurality of said sensors are located on different sides of said bracket, said sensors further connected to said handle and/or said connecting base.

6. The cart control handle of claim 3, wherein a plurality of said sensors are located on opposite sides of said support.

7. The cart control handle of claim 3, wherein a plurality of said sensors are located on adjacent sides of said support.

8. The cart control handle of claim 7, wherein said bracket comprises two connecting plates, two of said connecting plates forming an included angle, said sensors being located on each of said two connecting plates forming an included angle.

9. The cart control handle of claim 3, wherein the sensor assembly comprises two displacement sensors, the left hand manipulation portion of the handlebar being connected to the connection hub by one of the displacement sensors and the right hand manipulation portion of the handlebar being connected to the connection hub by the other displacement sensor.

10. A cart comprising a frame, a chassis and a cart control handle according to any of claims 1 to 9, said cart control handle being mounted to said frame via said connection base, said sensor assembly being electrically connected to a controller on the cart.

Technical Field

The invention relates to the field of machinery, in particular to a cart control handle and a cart.

Background

The cart is used as a part of the surgical robot, and is mainly used for facilitating an operator to move a mechanical arm of the surgical robot on the ground; however, the mechanical arms of the surgical robot are heavy, if the manual force of the operator is transmitted by the handle to control and drive the cart to move forward or backward, the operation is laborious and the steering is heavy, generally, a driving device is arranged on a chassis of the cart, the operator needs to input a control command to control the driving device to drive the cart to move, the existing operation structure for inputting the control command is relatively complex, and the operation is difficult, so that a great amount of time and energy are spent on carrying the mechanical arms, and the operation efficiency is reduced.

Disclosure of Invention

In view of the above, there is a need for a cart control handle that is convenient to operate and control the cart.

A control handle for a stroller, comprising a handle, a sensor assembly and a connecting seat, wherein the handle is connected to the connecting seat through the sensor assembly so as to be spaced apart from the connecting seat, and the sensor assembly is used for sensing a force applied to the handle and at least one of a displacement and a torque of the handle due to the applied force.

The utility model provides a cart, includes frame, chassis and cart control handle, cart control handle pass through the connecting seat install in on the frame, sensor assembly and the controller electric connection on the cart.

Drawings

FIG. 1 is an exploded view of a cart control handle according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a cart control handle according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of a cart control handle according to another embodiment of the present invention;

FIG. 4 is a schematic structural view of a cart control handle according to another embodiment of the present invention;

FIG. 5 is a schematic structural view of a cart control handle according to another embodiment of the present invention;

FIG. 6 is a schematic structural view of a cart control handle according to another embodiment of the present invention;

FIG. 7 is a schematic structural view of a cart control handle according to another embodiment of the present invention;

FIG. 8 is a structural schematic view of a cross-section of the handle of the cart control handle in accordance with one embodiment of the present invention;

FIG. 9 is a structural schematic view of another handle cross-section of the cart control handle according to an embodiment of the present invention;

FIG. 10 is a schematic structural view of a cart according to an embodiment of the present invention;

FIG. 11 is a schematic view of a drive type chassis of the cart according to an embodiment of the present invention;

fig. 12 is a schematic structural view of a chassis of another driving manner of the cart according to an embodiment of the present invention.

Wherein, 1, a handle; 1a, a left-hand control part; 1b, a right hand control part; 11. a mounting cavity; 2. a sensor assembly; 21. a six-axis sensor; 22. a force sensor; 23. a displacement sensor; 24. a torque sensor; 3. a connecting seat; 31. mounting a plate; 4. a switch control assembly; 41. a control switch; 41a, rolling elements; 42. a button; 42a, a pressing portion; 42b, an inclined surface; 43. a first reset member; 44. a guide bar; 45. a second reset member; 5. a support; 6. a frame; 7. a chassis; 71. a steering wheel; 72. a universal wheel; 73. and a driving wheel.

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. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

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.

As shown in fig. 1, the cart control handle includes a handle 1, a sensor assembly 2 and a connection seat 3, the handle 1 is connected with the connection seat 3 through the sensor assembly 2, so that the handle 1 is not directly connected with the connection seat 3, but is separated from the connection seat by the sensor assembly 2, so that the force applied to the handle 1 is transmitted to the cart through the sensor assembly 2, but not directly transmitted to the cart. The sensor assembly 2 may include different kinds of sensors, so that the sensor assembly 2 can sense at least one of a force (pushing force, pulling force, etc.) applied to the handle 1 and a displacement and a torque of the handle 1 generated by the applied force.

According to the cart control handle, the sensor assembly 2 can sense the force applied to the handle 1 and the displacement, torque and other vector signals generated by the handle 1 due to the force applied in real time, the vector signals can be used as command signals for controlling the cart to move forward, backward or turn, the sensor assembly 2 can feed the sensed vector signals back to the controller, and the controller can perform analysis processing according to the fed-back vector signals to send out control signals to control the motor on the chassis to drive the wheels to drive the cart to move; therefore, an operator can control the cart to move according to the appointed path by only holding the handle with two hands to control the handle 1 to send out an instruction signal, so that the energy and time required for carrying the mechanical arm are saved, and the operation efficiency is improved. In addition, because the handle is not directly connected with the connecting seat, the control is more accurate.

The sensor assembly 2 has a sensor, wherein the sensor may be one as shown in fig. 1 and 2, or may be a plurality of sensors as shown in fig. 3 to 7. Further, as shown in fig. 5 to 7, the sensor assembly 2 may further have a holder 5, and a plurality of sensors are disposed on the holder 5. Wherein the plurality of sensors are located on different sides of the support. For example, in the embodiment shown in fig. 5 and 6, the sensors 23 and 24 are located adjacent to two sides of the support 5, and in the embodiment shown in fig. 7, the sensors 22 and 23 are located opposite to two sides of the support 5. In other embodiments, the plurality of sensors may be located on one side of the bracket or on more sides of the sensors, for example, three sensors are located on three sides of the sensor, i.e., each sensor is located on one side. It should be noted that, when the number of sensors is small, as in the embodiment shown in fig. 1 to 4, the sensor assembly 2 may also have a bracket 5. The bracket 5 is used to connect a plurality of sensors so that the handle 1 transmits force to the coupling socket 3 through the sensor assembly 2.

Specifically, as shown in the embodiment shown in fig. 2, the sensor assembly 2 includes a six-axis sensor 21, the handle 1 is connected to the connecting seat 3 through the six-axis sensor 21, the six-axis sensor 21 can sense vector signals in multiple directions applied to the handle 1, the vector signals can be torques rotating around three coordinate axes and forces or displacements along the three coordinate axes, respectively, and the controller can obtain command signals for controlling the movement of the cart by comparing the magnitudes and directions of the force signals and the displacement signals collected by the six-axis sensor 21; for example, the forward direction of the cart is taken as a forward direction, the backward direction of the cart is taken as a reverse direction, when the left hand and the right hand both apply thrust to the handle 1, the signals collected by the six-axis sensor 21 from the handle 1 are both a forward force signal and a forward displacement signal, at this time, if the thrust is equal in magnitude, the cart advances linearly, and if the thrust is unequal in magnitude, the cart deflects to the side with small thrust (left deflection or right deflection) in the advancing process; when the left hand and the right hand exert pulling force on the handle 1, the signals collected by the six-axis sensor 21 from the handle 1 are both reverse force signals and reverse displacement signals, at the moment, if the pulling force is equal, the cart linearly retreats, and if the pulling force is different, the cart deflects to one side with small pulling force (leftwards or rightwards deflection) in the retreating process; when one hand applies pushing force and one hand applies pulling force to displace the handle 1, torque signals are mainly collected on the six-axis sensor 21, and the cart is turned left or right.

As shown in fig. 3, the sensor assembly 2 includes two force sensors 22, the left hand operation part 1a of the handle 1 is connected to the connecting base 3 through one force sensor 22, the right hand operation part 1b of the handle 1 is connected to the connecting base 3 through the other force sensor 22, the left hand operation part 1a and the right hand operation part 1b of the handle 1 indicate areas on the handle for holding and contacting with hands, in this embodiment, the handle includes a left handle and a right handle, which are separated structures or integrated structures; the force sensors 22 mainly collect force signals applied to the handle 1, and command signals for controlling the movement of the cart can be obtained by comparing the magnitude and the direction of the force signals collected by the two force sensors 22 through the controller; for example, the forward direction of the cart is the forward direction, the backward direction of the cart is the reverse direction, when both the left hand and the right hand apply thrust to the handle 1, both the signals collected by the two force sensors 22 from the handle 1 are forward force signals, at this time, if the magnitude of the thrust is equal, the cart advances straight, and if the magnitude of the thrust is different, the cart deflects to the side with small thrust (left deflection or right deflection) in the advancing process; when the left hand and the right hand both apply pulling force to the handle 1, the signals collected by the two force sensors 22 are reverse force signals, at this time, if the pulling force is equal, the cart linearly retreats, and if the pulling force is not equal, the cart deflects towards the side with small pulling force (left deflection or right deflection) in the retreating process; when one hand applies pushing force and one hand applies pulling force to displace the handle 1, the two force sensors 22 acquire a positive force signal and a negative force signal, and the cart turns left or right.

In the embodiment shown in fig. 4, the sensor assembly 2 includes two displacement sensors 23, the left hand control part 1a of the handle 1 is connected to the connecting base 3 through one displacement sensor 23, the right hand control part 1b of the handle 1 is connected to the connecting base 3 through the other displacement sensor 23, the displacement sensor 23 mainly collects displacement signals of the handle 1, and the controller compares the magnitude and direction of the displacement signals collected by the two displacement sensors 23 to obtain various command signals for controlling the movement of the cart; for example, the forward direction of the cart is taken as a forward direction, the backward direction of the cart is taken as a reverse direction, when both the left hand and the right hand apply thrust to the handle 1 to displace the handle 1, both signals collected by the two displacement sensors 23 from the handle 1 are forward displacement signals, at this time, if the thrust is equal in magnitude, the cart advances linearly, and if the thrust is unequal in magnitude, the cart deflects to the side with small thrust in the advancing process (left deflection or right deflection); when the left hand and the right hand both apply pulling force to the handle 1 to enable the handle 1 to displace, the signals collected by the two displacement sensors 23 are reverse displacement signals, at the moment, if the pulling force is equal, the cart linearly retreats, and if the pulling force is unequal, the cart deflects towards the side with small pulling force (leftwards or rightwards deflects); when one hand applies pushing force and the other hand applies pulling force to displace the handle 1, the two displacement sensors 23 acquire a positive displacement signal and a negative displacement signal, and at the moment, the cart turns left or right.

In the embodiment shown in fig. 5, the sensor assembly 2 comprises two force sensors 22 and a torque sensor 24, the torque sensor 24 is connected to the connecting section 3, the left hand operating part 1a of the handle 1 is connected to the torque sensor 24 through one of the force sensors 22, and the right hand operating part 1b of the handle 1 is connected to the torque sensor 24 through the other force sensor 22.

In this embodiment, the attachment plate 31 is provided on the attachment base 3, and the torque sensor 24 is attached to the attachment plate 31, but in other embodiments, the attachment plate 31 may be omitted. The sensor assembly further comprises a support 5 having a connection plate, the torque sensor being arranged on one side of the support, the two force sensors being arranged on the other side of the support, i.e. on both sides of the connection plate, respectively. In other embodiments, the bracket may have two connection plates that are angled, e.g., vertically, with one connection plate connected to the torque sensor 24 and the other connection plate connected to the force sensor 22.

When the handle is used, the handle 1 is controlled in a manner similar to a steering wheel rotation manner, so that the handle 1 generates torque, the torque sensor 24 mainly collects a torque signal of the handle 1, the force sensor 22 mainly collects a force signal of the handle 1, the torque signal collected by the torque sensor 24 is used as a command signal for controlling the steering of the cart, and the force signals collected by the two force sensors 22 are used as command signals for controlling the forward or backward movement of the cart.

In one embodiment, the force direction (the direction of pushing or pulling force applied to the handle 1) of the force sensor 22 and the rotation axis of the torque sensor 24 form an included angle α in the range of 30-90 °, which is more suitable for the operation habit of the operator and improves the comfort of the cart operation.

In the embodiment shown in fig. 6, the sensor assembly 2 includes two displacement sensors 23 and one torque sensor 24, which is different from the embodiment shown in fig. 5 in that the force sensor 22 is replaced by the displacement sensor 23, and displacement signals collected by the two displacement sensors 23 are used as command signals for controlling the forward or backward movement of the cart.

In one embodiment, the displacement direction of the displacement sensor 22 (the direction in which the handle 1 is displaced by applying a pushing or pulling force to the handle 1) forms an angle β with the rotation axis of the torque sensor 24 in the range of 30 ° -90 °, which is more suitable for the operation habit of the operator and improves the comfort of the cart operation.

In the embodiment shown in fig. 7, the sensor assembly 2 comprises a displacement sensor 23 and two force sensors 22, the displacement sensor 23 is connected to the connecting base 3, the left hand control part 1a of the handle 1 is connected to the displacement sensor 23 through one of the force sensors 22, the right hand control part 1b of the handle 1 is connected to the displacement sensor 23 through the other force sensor 22, the bracket 5 has a connecting plate, the displacement sensor is arranged on one side of the connecting plate, the two force sensors are arranged on the opposite sides of the connecting plate, the displacement sensor 23 mainly collects displacement signals of the handle 1, the force sensor 22 mainly collects force signals applied to the handle 1, the displacement signal collected by the displacement sensor 23 is used as a command signal for controlling the forward or backward movement of the cart, the force signals collected by the two force sensors 22 serve as command signals for controlling the steering of the cart.

It should be noted that, after the signals acquired by the sensors are acquired, the signals are compared with corresponding preset values, if the signals are less than or equal to the preset values, the cart is kept in the existing state, and if the signals are greater than the preset values, the cart moves according to preset rules. The movement in each direction can be set with a preset value to be compared with the preset value, so that misoperation is avoided, and the safety of the cart is higher.

For example, the cart is activated when the value of the acquired activation signal is greater than a preset activation value, wherein the activation signal is an acquired force signal, or a displacement signal. For another example, when the left and right force signals or the displacement signal are within a preset deviation, the cart is driven straight.

In the embodiment shown in fig. 8 and 9, the handle 1 is further provided with a switch control assembly 4, the switch control assembly 4 includes a control switch 41 and a button 42, the control switch 41 may be a micro switch, a pressure switch, a push-down switch, or the like, the control switch 42 is electrically connected to a brake (not shown) on the cart chassis, and the control switch 41 is triggered by pressing the button 42 to unlock the brake on the cart chassis, so as to control the cart to move.

Specifically, the handle 1 is provided with the mounting cavity 11, the control switch 41 is arranged at the bottom of the mounting cavity 11, the button 42 is movably arranged in the mounting cavity 11, the button 42 is provided with a pressing part 42a, the pressing part 42a is abutted with a trigger part of the control switch 41, and the pressing part 42a presses down the trigger part to trigger the control switch 42 by pressing the button 42.

In one embodiment, the pressing portion 42a has an inclined surface 42b, the triggering portion has a rolling element 41a, the rolling element 41a abuts against the inclined surface 42b, and when the button 42 is pressed down, the rolling element 41a can roll along the inclined surface 42b, so that the button is pressed down more easily, and the control switch 41 is triggered more easily.

As shown in fig. 8, the button 42 may be movably disposed in the mounting cavity 11 such that one end of the button 42 is hinged to a sidewall of the mounting cavity 11, for example, the button may be hinged through a rotating shaft, a hinge, a ball hinge, or the like, the other end of the button 42 is clamped to the sidewall of the mounting cavity 11, a first resetting member 43 is disposed at the clamped position to enable the pressing portion 42a to have a tendency to leave the triggering portion, the first resetting member 43 may be a spring, a reed, a torsion spring, or the like, when the button 42 is pressed down, the button 42 swings around the hinged end to enable the pressing portion 42a to press down the triggering portion to trigger the control switch 42, and when the button 42 is released, the button 42 returns to the initial position again under the action of the first resetting member 43.

Alternatively, as shown in fig. 9, a guide rod 43 is disposed in the mounting cavity 11, for example, two guide rods 44 are respectively disposed at two ends of the button 42, the button 42 is correspondingly sleeved on the guide rods 44, the guide rods 44 guide the button 42 in the process of pressing down, the guide rods 44 are further sleeved with a second reset piece 45 which enables the pressing portion 42a to have a tendency to leave the trigger portion, when the button 42 is pressed down, the button 42 moves along the guide rods 44 to enable the pressing portion 42a to press down the trigger portion to trigger the control switch 42, and when the button 42 is released, the button 42 returns to the initial position again under the action of the second reset piece 45.

As shown in fig. 10, in order to solve the same problem, the present invention further provides a cart, which includes a frame 6, a chassis 7 and a cart control handle according to any of the above solutions, the cart control handle is mounted on the frame 6 through a connecting seat 3, and the sensor assembly 2 is electrically connected to a controller (not shown) on the cart, so that the sensor assembly 2 can feed back vector signals obtained from the handle 1 to the controller, and the fed back vector signals can be used as a command basis for controlling the movement of the cart, and the controller can process the received vector signals and send a control command to a driving device on the chassis to drive the cart to move along a specified path; therefore, the function that the pushing force or the pulling force is applied to the handle through two hands to serve as the basis of an input instruction, then the pushing force or the pulling force is processed through the sensor assembly 2 and the intermediate link of the controller, and finally the driving device outputs power to drive the cart to move according to the designated path is achieved.

There are various ways for driving the cart to move along the designated path through the driving device, for example, a driving way combining a steering wheel and a universal wheel is adopted, and at least one steering wheel and at least two universal wheels are arranged on the chassis 7, as shown in fig. 11, in this embodiment, a steering wheel 71 and four universal wheels 72 are arranged at the front part of the chassis 7, since the steering wheel 71 is respectively provided with a driving motor and a steering motor, both the driving motor and the steering motor of the steering wheel 71 can be electrically connected with the controller, and the controller sends instruction signals to the driving motor and the steering motor to control the steering wheel 71 to work so as to drive the cart to move along the designated path; in other embodiments, a steering wheel 71 may be arranged in front of or behind the chassis 7 to improve driving and steering stability.

As shown in fig. 12, in this embodiment, two driving wheels 73 and two universal wheels 72 are provided, the two driving wheels 73 are disposed oppositely, each driving wheel 73 is provided with a driving motor, the driving motors of the driving wheels 73 are electrically connected to the controller, and the controller sends an instruction signal to the driving motors to control the driving wheels to work, so as to drive the cart to move along a specified path, and realize steering by controlling the speed difference between the two driving wheels.

The driving mode of the Mecanum wheels can be adopted, four Mecanum wheels are arranged on the chassis, each Mecanum wheel is provided with one driving motor, the driving motors of the Mecanum wheels are electrically connected with the controller, and the controller sends command signals to the driving motors to control the Mecanum wheels to work so as to drive the cart to move forwards, backwards or turn.

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.