A dual-axis Hall lever controller and its working method

Abstract

The present invention relates to a dual-axis Hall lever manipulator and a working method thereof, comprising a control box with a control rocker on the top, wherein a rocker frame controlled by the control rocker to swing left and right and a rotating shaft frame controlled by the control rocker to swing forward and backward are arranged in the control box, and a left and right reset lever mechanism for driving the rocker frame to reset to the middle position after the rocker frame swings and a front and rear reset lever mechanism for driving the rotating shaft frame to reset to the middle position after the rotating shaft frame swings are also arranged in the control box; left and right Hall sensors for sensing the swing direction of the rocker frame and front and rear Hall sensors for sensing the swing direction of the rotating shaft frame are also installed on the control box. The dual-axis Hall lever manipulator of the present invention avoids the problem that the joystick cannot return to the original state and the dangerous situation that the wheelchair cannot stop in time by adding the left and right reset lever mechanism and the front and rear reset lever mechanism that force the control to reset to the middle position, and is safe, reliable and has good stability.

Description

Technical Field

[0001] The invention relates to a dual-axis Hall lever manipulator and a working method thereof. Background Art

[0002] With the progress and development of society, more and more disabled people want to return to society and carry out daily study, work and life. Among them, electric wheelchairs are an ideal means of transportation with a large market demand. They are suitable for the elderly and weak with lower limb disabilities and difficulty walking. Compared with manual wheelchairs, they have a larger range of activities, are suitable for a wider range of people, and have powerful functions.

[0003] As the main component of the smart electric wheelchair, the controller is the most direct part for disabled people to control the electric wheelchair. The user controls the controller to express the operation intention and realize the control of the speed and direction of the electric wheelchair. Therefore, the operation controller is crucial to the operation of the entire electric wheelchair. The quality of the controller will directly affect the use of the electric wheelchair. The existing controllers of smart electric wheelchairs have problems such as low accuracy and slow signal feedback, and it is easy for the joystick to fail to return to its original state, resulting in the dangerous situation that the wheelchair cannot stop in time. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a safe, reliable and stable dual-axis Hall lever manipulator and its working method, so as to avoid the dangerous situation that the joystick cannot return to its original state and the wheelchair cannot stop in time.

[0005] The present invention is implemented by the following scheme: a dual-axis Hall lever manipulator, including a control box with a control rocker on the top, wherein a rocker frame controlled by the control rocker to swing left and right and a rotating shaft frame controlled by the control rocker to swing forward and backward are arranged in the control box, and a left and right reset lever mechanism for driving the rocker frame to reset to the middle position after the rocker frame swings and a front and rear reset lever mechanism for driving the rotating shaft frame to reset to the middle position after the rotating shaft frame swings are also arranged in the control box; left and right Hall sensors for sensing the swing direction of the rocker frame and front and rear Hall sensors for sensing the swing direction of the rotating shaft frame are also installed on the control box.

[0006] Furthermore, the left and right reset lever mechanism includes left and right top plates hingedly installed on the sides of the rocker frame and driving the rocker frame to reset to the middle position through the restoring force of the first spring. The rocker frame has two top rods that push against the left and right top plates. When the rocker frame swings, one of the two top rods pushes the left and right top plates and the other one separates from the left and right top plates to provide reverse thrust for resetting the rocker frame.

[0007] Furthermore, the front and rear reset lever mechanism includes front and rear top plates hingedly mounted on the side of the rotating shaft frame and driven by the restoring force of a second spring to reset the rotating shaft frame to the middle position. The rotating shaft frame has two top shafts that push against the front and rear top plates. When the rotating shaft frame swings, one of the two top shafts pushes the front and rear top plates and the other one separates from the front and rear top plates to provide reverse thrust for resetting the rotating shaft frame.

[0008] Furthermore, the first spring and the second spring are both tension springs, one end of the first spring is connected to the left and right top plates, and the other end is connected to the first adjusting plate, the first adjusting plate is connected to the rotating shaft frame by a screw, and the first adjusting plate is provided with a long hole consistent with the expansion and contraction direction of the first spring; one end of the second spring is connected to the front and rear top plates, and the other end is connected to the second adjusting plate, the second adjusting plate is connected to the bottom of the control box by a screw, and the second adjusting plate is provided with a long hole consistent with the expansion and contraction direction of the second spring.

[0009] Furthermore, the upper part of the rocker frame is connected to the control rocker, and the lower part is hinged to the rotating shaft frame through a first rotating shaft that rotates synchronously with the first rotating shaft and can swing left and right relative to it. The left and right Hall sensors are connected to the rotating shaft frame and face the end of the first rotating shaft. The end of the first rotating shaft is fixedly connected to a first magnet that cooperates with the left and right Hall sensors; the rotating shaft frame is hingedly installed on the inner bottom plate of the control box through a second rotating shaft that rotates synchronously with the first rotating shaft and can swing back and forth relative to it. The front and rear Hall sensors are installed on the inner side of the bottom plate of the control box and face the end of the second rotating shaft. The end of the second rotating shaft is fixedly connected to a second magnet that cooperates with the front and rear Hall sensors.

[0010] Furthermore, a remote control cover is connected to the upper end of the control rocker, an opening is provided on the top of the control box for the control rocker to pass through, a protective cover is arranged in the opening, and the protective cover is a pleated structure.

[0011] Another technical solution of the present invention: a working method of the dual-axis Hall lever manipulator as described above, when the control rocker is operated to the left or right, the rocker frame swings left or right, and the left and right top plates are pulled by the first spring, and the left and right top plates push the rocker frame through the lever principle to return the control rocker to the center position; when the control rocker is operated forward and backward, the rotating shaft frame swings forward and backward, and the front and rear top plates are pulled by the second spring, and the front and rear top plates push the rotating shaft frame through the lever principle to return the control rocker to the center position.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] (1) By adding left and right reset lever mechanisms and front and rear reset lever mechanisms that force the control to return to the middle position, the problem of the joystick failing to return to its original state, which may cause the wheelchair to fail to stop in time, is avoided. It is safe, reliable and has good stability.

[0014] (2) To solve the problem of low precision and slow signal feedback of the controller in the prior art, the present device adopts two Hall sensors to receive signals in the left and right directions and signals in the front and back directions respectively, thereby improving the signal feedback accuracy and speeding up the signal feedback speed. When the Hall sensor in a certain direction is damaged, only the Hall sensor in this direction can be replaced, which is convenient for later maintenance and reduces maintenance costs;

[0015] (3) By controlling the joystick to swing to the left and right directions and the front and back directions at different distances, the front and back directions and the left and right directions can reach different maximum speeds, and the electric wheelchair can decelerate autonomously when turning, thereby reducing the risk of rollover and ensuring safety. This solves the problem in the prior art that the speeds in the front and back directions and the left and right directions are the same, the electric wheelchair cannot decelerate autonomously when turning, and the electric wheelchair has the risk of rollover.

[0016] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below through specific embodiments and related drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional diagram of the internal structure of an embodiment of the present invention from one angle;

[0018] Figure 2 It is a three-dimensional diagram of the internal structure of another aspect of an embodiment of the present invention;

[0019] Figure 3 is a top view of an embodiment of the present invention;

[0020] Figure 4 Schematic diagram of the left and right reset lever mechanism in an embodiment of the present invention;

[0021] Figure 5 Schematic diagram of the front and rear reset lever mechanism in an embodiment of the present invention;

[0022] Figure 6 It is a schematic diagram of the connection between the dual-axis Hall lever controller of the present invention and the side bracket of the electric wheelchair;

[0023] Explanation of numbers in the figure: 1-remote control cover, 2-protective cover, 3-control box, 4-left and right Hall sensors, 5-second adjustment plate, 6-second spring, 7-front and rear top plates, 8-rocker frame, 9-left and right top plates, 10-rotating shaft frame, 11-adjusting plate, 12-bottom plate, 13-first spring, 14-first adjustment plate, 15-first rotating shaft, 16-first magnet, 17-front and rear Hall sensors, 18-second magnet, 19-second rotating shaft, 20-top rod, 21-top shaft, 22-bracket. DETAILED DESCRIPTION

[0024] like Figures 1 to 6As shown, a dual-axis Hall lever manipulator comprises a control box 3 with a control rocker on the top, wherein the control box 3 is provided with a rocker frame 8 controlled by the control rocker to swing left and right and a rotating shaft frame 10 controlled by the control rocker to swing forward and backward, and the control box 3 is also provided with a left and right reset lever mechanism for driving the rocker frame to reset to the middle position after the rocker frame swings and a front and rear reset lever mechanism for driving the rotating shaft frame to reset to the middle position after the rotating shaft frame swings; the control box 3 is also equipped with left and right Hall sensors 4 for sensing the swing direction of the rocker frame and front and rear Hall sensors 17 for sensing the swing direction of the rotating shaft frame; the definition of the left and right and front and rear directions of the above-mentioned dual-axis Hall lever manipulator is based on installing it on the side bracket of the electric wheelchair, the left and right direction corresponds to the left and right direction of the electric wheelchair, and the front and rear direction corresponds to the front and rear direction of the electric wheelchair; and if it is installed on the front of the electric wheelchair or for the dual-axis Hall lever manipulator itself, the above-mentioned left and right directions can also be called the front and rear directions, and the front and rear directions can be called the left and right directions.

[0025] The controller adopts two Hall sensors to receive signals in the left and right directions and signals in the front and back directions respectively, thereby improving the accuracy of signal feedback and accelerating the speed of signal feedback. When the Hall sensor in a certain direction is damaged, only the Hall sensor in this direction can be replaced, which is convenient for later maintenance and reduces maintenance costs. By controlling the left and right swing distances and the front and back swing distances of the joystick to be different, the front and back directions and the left and right directions reach different maximum speeds. When the electric wheelchair turns, it can slow down by reducing the swing amplitude of the joystick, reducing the risk of rollover and ensuring safety. At the same time, by adding left and right reset lever mechanisms and front and back reset lever mechanisms that force the control to reset to the middle position, it is avoided that the joystick cannot return to its original state, which may cause the wheelchair to fail to stop in time. Dangerous situations.

[0026] In this embodiment, the left and right reset lever mechanism includes left and right top plates 9 hingedly mounted on the side of the rocker frame 8 and driven to reset the rocker frame 8 to the middle position by the restoring force of the first spring 13, and the rotation center line of the hinged part of the left and right top plates is parallel to the swing center line of the rocker frame; the rocker frame 8 has two top rods 20 that push the left and right top plates, and when the rocker frame 8 swings, one of the two top rods 20 pushes the left and right top plates and the other is separated from the left and right top plates to provide reverse thrust for resetting the rocker frame 8. When the control rocker is operated to the left and right, the rocker frame swings left and right, and the left and right top plates are pulled by the first spring, and the left and right top plates push the rocker frame through the lever principle to make the control rocker return to the center position.

[0027] In this embodiment, the front and rear reset lever mechanism includes front and rear top plates 7 hingedly mounted on the side of the rotating shaft frame 10 and driven by the restoring force of the second spring 6 to reset the rotating shaft frame 10 to the middle position, and the rotation center line of the hinged part of the front and rear top plates is parallel to the swing center line of the rotating shaft frame; the rotating shaft frame 10 has two top shafts 21 that push the front and rear top plates, and when the rotating shaft frame swings, one of the two top shafts 21 pushes the front and rear top plates and the other is separated from the front and rear top plates to provide reverse thrust for resetting the rotating shaft frame 10. When the control rocker is operated forward and backward, the rotating shaft frame swings forward and backward, and the front and rear top plates are pulled by the second spring. The front and rear top plates push the rotating shaft frame through the lever principle to allow the control rocker to return to the center position.

[0028] In this embodiment, the first spring 13 and the second spring 6 are both tension springs, one end of the first spring 13 is connected to the left and right top plates 9, and the other end is connected to the first adjusting plate 14, the first adjusting plate 14 is connected to the rotating shaft frame 10 by screws, and the first adjusting plate is provided with a long hole consistent with the expansion and contraction direction of the first spring; one end of the second spring 6 is connected to the front and rear top plates 7, and the other end is connected to the second adjusting plate 5, the second adjusting plate 5 is connected to the bottom of the control box by screws, and the second adjusting plate 5 is provided with a long hole consistent with the expansion and contraction direction of the second spring; by adjusting the positions of the first adjusting plate 14 and the second adjusting plate 5, the lengths of the initial states of the first spring and the second spring (that is, the control rocker is in the middle position) are adjusted respectively, so that the pulling force of the spring on the top plate can be adjusted, and then the operating force value on the control rocker can be adjusted.

[0029] In this embodiment, the lower ends of the left and right top sheets are hinged on the rotating shaft frame and can swing left and right relative to it. The first spring is connected to the lower ends of the left and right top sheets provided with a turning part. The two top rods of the rocker frame are respectively located above and below the swing center. The upper part of the left and right top sheets is located on the inner side of the two top rods and pushes the two top rods outward. No matter whether the rocker frame swings left or right, there is always one top rod that pushes the left and right top sheets inward, and the other top rod will be separated from the left and right top sheets outward. Under the action of the first spring, the left and right top sheets push the top rods that push the left and right top sheets inward in the opposite direction outward, so that the rocker frame is reset. The rear top sheet is a curved structure, the front and rear top sheets are located below the rotating shaft frame and the middle part is hinged to the bottom of the control box, the second spring is connected to the lower end of the front and rear top sheets, the two top shafts are distributed in front and behind at the oblique lower position of the rotating shaft frame, the upper ends of the front and rear top sheets push the rear top shaft, and the upper parts of the front and rear top sheets are provided with wedge-shaped protrusions that push the front top shaft forward. No matter whether the rotating shaft frame swings forward or backward, there is always a top rod that pushes the front and rear top sheets, and the other top rod will be separated from the front and rear top sheets. Under the action of the second spring, the front and rear top sheets push the top shaft that pushes the front and rear top sheets in the opposite direction to reset the rotating shaft frame. In the specific implementation process, the top rod, the top shaft, the left and right top sheets and the front and rear top sheets are not limited to the above-mentioned structural mode. The distribution position of the top rod and the top shaft can be adjusted according to the position and shape of the left and right top sheets and the front and rear top sheets. As long as it can be achieved that when one top rod or top shaft pushes the left and right top sheets or the front and rear top sheets, the other is separated from the left and right top sheets or the front and rear top sheets, it is sufficient, just like the left and right reset lever mechanism and the front and rear reset lever mechanism with the same function in the embodiment of the present invention, but the two have different structural forms.

[0030] In this embodiment, the upper part of the rocker frame 8 is connected to the control rocker, and the lower part is hinged to the rotating shaft frame 10 through the first rotating shaft 15 that rotates synchronously with the rocker frame 8 and can swing left and right relative to it. The left and right Hall sensors 4 are connected to the rotating shaft frame 10 and face the end of the first rotating shaft 15. The end of the first rotating shaft 15 is fixedly connected to the first magnet 16 that cooperates with the left and right Hall sensors 4; the rotating shaft frame 10 is hingedly installed on the inner bottom plate 12 of the control box through the second rotating shaft 19 that rotates synchronously with the rocker frame 8 and can swing back and forth relative to it. The front and rear Hall sensors 17 are installed on the inner side of the bottom plate 12 of the control box 3 and face the end of the second rotating shaft 19. The end of the second rotating shaft 19 is fixedly connected to the second magnet 18 that cooperates with the front and rear Hall sensors.

[0031] In this embodiment, an adjustment plate 11 is connected to the outside of the bottom plate 12 by screws, and a long hole cooperating with the screw is opened on the adjustment plate. The installation height of the adjustment plate can be adjusted by sliding the long hole on the adjustment plate 11 and the screw. The second adjustment plate is connected to the adjustment plate 11 by screws, and the front and rear top plates are hingedly installed on the adjustment plate 11. Therefore, by adjusting the height of the adjustment plate 11, the height of the second adjustment plate and the front and rear top plates can be adjusted.

[0032] In this embodiment, a remote control cover 1 is connected to the upper end of the control joystick, and an opening is provided on the top of the control box 3 for the control joystick to pass through. A protective cover 2 is provided in the opening. The protective cover is made of plastic and has a pleated structure. The control joystick passes through the middle of the protective cover, which can make the control joystick have the same resistance when swinging in any direction, and can provide a certain rebound force to make the control joystick return to the middle position autonomously.

[0033] The dual-axis Hall lever controller of the present invention has the following advantages: (1) It solves the problem of low controller accuracy and slow signal feedback in the prior art. The device adopts two Hall sensors to receive signals in the left and right directions and signals in the front and back directions respectively, thereby improving the signal feedback accuracy and accelerating the signal feedback speed. When the Hall sensor in a certain direction is damaged, only the Hall sensor in this direction can be replaced, which is convenient for later maintenance and reduces maintenance costs. (2) By controlling the left and right swing distances of the joystick and the front and back swing distances to be different, the front and back directions and the left and right directions reach different maximum speeds, and the wheelchair can automatically decelerate when turning, reducing the risk of rollover and ensuring safety. It solves the problem that the speeds in the front and back directions and the left and right directions are the same in the prior art, the electric wheelchair cannot automatically decelerate when turning, and the electric wheelchair has the risk of rollover. (3) By adding a left and right reset lever mechanism and a front and back reset lever mechanism that force the control to reset to the middle position, it is avoided that the joystick cannot return to its original state, which may cause the wheelchair to fail to stop in time.

[0034] A working method of the dual-axis Hall lever manipulator as described above, when the control rocker is operated left and right, the rocker frame swings left and right, one push rod pushes the left and right top plates, the other push rod is separated from the left and right top plates, the left and right top plates are pulled by the first spring, and the left and right top plates push the rocker frame through the lever principle to allow the control rocker to return to the center position; when the control rocker is operated forward and backward, the rotating shaft frame swings forward and backward, one push shaft pushes the front and rear top plates, the other push shaft is separated from the front and rear top plates, the front and rear top plates are pulled by the second spring, and the front and rear top plates push the rotating shaft frame through the lever principle to allow the control rocker to return to the center position.

[0035] Unless otherwise stated, any technical solution disclosed in the present invention disclosed above, if it discloses a numerical range, then the disclosed numerical range is a preferred numerical range, and any technician in the field should understand that the preferred numerical range is only a numerical value with a more obvious technical effect or representative value among many implementable numerical values. Since there are too many numerical values ​​to be exhaustive, the present invention discloses some numerical values ​​to illustrate the technical solution of the present invention, and the numerical values ​​listed above should not constitute a limitation on the scope of protection of the present invention.

[0036] If the present invention discloses or involves components or structures that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, connection using bolts or screws), and can also be understood as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutual fixed connection can also be replaced by an integrated structure (for example, manufactured by integrated molding using a casting process) (except when it is obviously impossible to use an integrated molding process).

[0037] In addition, unless otherwise stated, the terms used to indicate positional relationships or shapes in any of the technical solutions disclosed in the present invention include states or shapes that are approximate, similar, or close to them.

[0038] Any component provided by the present invention may be assembled from a plurality of separate components, or may be a separate component manufactured by an integral forming process.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A dual-axis Hall lever controller, characterized in that: The invention comprises a control box with a control rocker on the top, wherein a rocker frame which is controlled to swing left and right by the control rocker and a rotating shaft frame which is controlled to swing forward and backward by the control rocker are arranged in the control box, and a left and right reset lever mechanism for driving the rocker frame to reset to the middle position after the rocker frame swings and a front and rear reset lever mechanism for driving the rotating shaft frame to reset to the middle position after the rotating shaft frame swings are also arranged in the control box; left and right Hall sensors for sensing the swing direction of the rocker frame and front and rear Hall sensors for sensing the swing direction of the rotating shaft frame are also installed on the control box; the left and right reset lever mechanism comprises left and right top plates which are hingedly installed on the side of the rocker frame and drive the rocker frame to reset to the middle position by the restoring force of the first spring, and the rocker frame is provided with two top rods which push the left and right top plates, and when the rocker frame swings, one of the two top rods pushes the left and right top plates and the other one is separated from the left and right top plates to provide reverse thrust for resetting the rocker frame; The front and rear reset lever mechanism includes front and rear top plates hingedly mounted on the side of the rotating shaft frame and driving the rotating shaft frame to reset to the middle position through the restoring force of the second spring. The front and rear top plates are hingedly mounted, and the rotating shaft frame has two top shafts that push the front and rear top plates. When the rotating shaft frame swings, one of the two top shafts pushes the front and rear top plates and the other is separated from the front and rear top plates to provide reverse thrust for resetting the rotating shaft frame; the first spring and the second spring are both tension springs, one end of the first spring is connected to the left and right top plates, and the other end is connected to the first adjusting plate, the first adjusting plate is connected to the rotating shaft frame by screws, and the first adjusting plate is provided with a long hole consistent with the expansion and contraction direction of the first spring; one end of the second spring is connected to the front and rear top plates, and the other end is connected to the second adjusting plate, the second adjusting plate is connected to the bottom of the control box by screws, and the second adjusting plate is provided with a long hole consistent with the expansion and contraction direction of the second spring.

2. The dual-axis Hall lever manipulator according to claim 1, characterized in that: The upper part of the rocker frame is connected to the control rocker, and the lower part is hinged to the rotating shaft frame through a first rotating shaft rotating synchronously with the first rotating shaft and can swing left and right relative to it. The left and right Hall sensors are connected to the rotating shaft frame and face the end of the first rotating shaft. The end of the first rotating shaft is fixedly connected to a first magnet that cooperates with the left and right Hall sensors; the rotating shaft frame is hingedly mounted on the inner bottom plate of the control box through a second rotating shaft rotating synchronously with the first rotating shaft and can swing back and forth relative to it. The front and rear Hall sensors are installed on the inner side of the bottom plate of the control box and face the end of the second rotating shaft. The end of the second rotating shaft is fixedly connected to a second magnet that cooperates with the front and rear Hall sensors.

3. The dual-axis Hall lever manipulator according to claim 1 or 2, characterized in that: The upper end of the control rocker is connected with a remote control cover, and the top of the control box is provided with an opening for the control rocker to pass through, and a protective cover is arranged in the opening, and the protective cover is a pleated structure.

4. A method for operating the dual-axis Hall lever manipulator as claimed in claim 1, characterized in that: When the control joystick is operated left and right, the joystick frame swings left and right, and the left and right top plates are pulled by the first spring. The left and right top plates push the joystick frame through the lever principle to return the control joystick to the center position; when the control joystick is operated forward and backward, the rotating shaft frame swings forward and backward, and the front and rear top plates are pulled by the second spring. The front and rear top plates push the rotating shaft frame through the lever principle to return the control joystick to the center position.

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