Follow-up handle

Abstract

The invention relates to a follow-up handle, and belongs to the technical field of hoisting equipment, the follow-up handle comprises a handle body, a gyroscope sensor and a controller are mounted on the handle body, the gyroscope sensor is used for detecting the inclination condition of the handle body, generating an inclination signal according to the detected inclination condition and sending the inclination signal to the controller; and the controller generates a control command according to the received inclination signal, and controls the cart and the trolley to move towards the inclination direction until the inclination angle is the same as the inclination angle of the initial position of the gyroscope sensor. Under the action of the gyroscope sensor and the controller, the cart and the trolley can automatically follow the handle to move after the handle is inclined without user operation, so that the handle is perpendicular to the ground, and the follow-up purpose is achieved.

Description

Technical Field

[0001] The present invention relates to a lifting device, and in particular to a handle for controlling an electric hoist. Background Art

[0002] An electric hoist is a special lifting device installed on overhead cranes and gantry cranes. It is divided into wire rope electric hoists and chain electric hoists. Generally, both wire rope electric hoists and chain electric hoists use independent control handles to lift the chain or wire rope by pressing buttons, and the control is relatively inconvenient.

[0003] The Chinese patent application with the application number and publication number CN111943070A discloses an intelligent electric hoist with a suspension control structure. Its control handle can achieve suspension control, rather than simply button control, and the control is relatively simpler.

[0004] This patent application controls the electric hoist by combining button operation and suspension control, changing the traditional pure button control mode of the handle. Although the operation is a bit simpler, only the up and down movements of the electric hoist use suspension control, and other actions still use button operation.

[0005] The Chinese patent application with the authorization announcement number CN114955910B discloses an electric hoist electric control handle. Workers slide the handle up and down to drive the magnet to slide up and down, thereby causing a change in the magnetic field and generating a change in the voltage signal. The rotation speed of the motor is controlled by the change in the magnitude of the voltage signal, thereby realizing the control of the electric hoist. Sliding the handle up and down in this patent application can only control the rotation of the motor to achieve the control of the up and down movements of the electric hoist, and other actions still use button operation.

[0006] After the handles of the above two patent applications are pulled by the user, they will tilt towards the ground, and the trolley and the crab cannot follow the offset of the handle and move accordingly. The user needs to operate the handle to control the trolley and the crab to follow, which is inconvenient to operate. Summary of the Invention

[0007] Aiming at the defects in the prior art, the present invention provides a follow-up handle. After the handle tilts, the trolley and the crab will follow, ensuring that the handle is perpendicular to the ground, and the follow-up control can be realized without the worker operating the handle, and the operation is simple and convenient.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0009] A follow-up handle, including a handle body, is characterized in that: a gyroscope sensor and a controller are installed on the handle body, and the gyroscope sensor is used to detect the inclination condition of the handle body, generate an inclination signal based on the detected inclination condition, and send the inclination signal to the controller.

[0010] The controller includes a signal receiving module, a signal processing module, and an inclination correction module.

[0011] The signal receiving module is used to receive the inclination signal sent by the gyroscope sensor and send the inclination signal to the signal processing module.

[0012] The signal processing module is used to process the received inclination signal, analyze the inclination direction and inclination angle, and send the analyzed inclination direction and inclination angle to the inclination correction module.

[0013] The inclination correction module generates a control command according to the received inclination direction and inclination angle, and controls the trolley and the small vehicle to move in the inclined direction until the inclination angle is the same as the inclination angle of the initial position of the gyroscope sensor.

[0014] The inclination angle of the initial position of the gyroscope sensor refers to the inclination angle of the gyroscope sensor when the handle body is perpendicular to the ground. At this time, the gyroscope sensor is also perpendicular to the ground, and the inclination angle is 90°.

[0015] The handle body includes a housing, the controller and the gyroscope sensor are installed in the housing, and the controller and the gyroscope sensor are communicatively connected by wire or wirelessly.

[0016] The gyroscope sensor is a three-dimensional inclination compensation electronic geological compass module. The specific model is Maike Sensing HCM360B.

[0017] A laser protection sensor is also installed at the bottom of the housing. After the laser protection sensor detects that the user's hand is placed on the first cylindrical handle and the second cylindrical handle, it will send a follow-up command to the controller. The controller will generate a control command only when it receives the follow-up command and the inclination signal, and control the trolley and the small vehicle to move in the inclined direction until the inclination angle is the same as the inclination angle of the initial position of the gyroscope sensor.

[0018] The present invention has the following beneficial effects compared with the prior art:

[0019] The handle body of the present invention is equipped with a gyroscope sensor and a controller. The gyroscope sensor is used to detect the tilting condition of the handle body, generate a tilting signal based on the detected tilting condition, and send the tilting signal to the controller. The controller generates a control command according to the received tilting signal, and controls the trolley and the small vehicle to move in the tilting direction until the tilting angle is the same as the tilting angle of the initial position of the gyroscope sensor. Through the functions of the gyroscope sensor and the controller, after the handle tilts, it can control the trolley and the small vehicle to track and correct the tilt, making the handle perpendicular to the ground. When the user pulls the handle, the trolley and the small vehicle will follow the movement, enabling the handle to have a follow-up function. The user does not need to control the handle, and it follows automatically, simplifying the operation and making the operation simple and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0021] Figure 1 Schematic diagram of the overall external structure of the present invention;

[0022] Figure 2 Schematic diagram of the structure of the first cylindrical handle;

[0023] Figure 3 Schematic diagram of the structure of the first cylindrical handle in another view direction;

[0024] Figure 4 Schematic diagram of the structure of the second cylindrical handle;

[0025] Figure 5 Schematic diagram of the structure of the second cylindrical handle in another view direction;

[0026] Figure 6 Schematic diagram of the dust cover structure;

[0027] Figure 7 Schematic diagram of the structure after removing the outer shell, dust cover, first cylindrical handle and second cylindrical handle;

[0028] Figure 8 For Figure 7 Enlarged schematic diagram of part A in

[0029] Figure 9 For Figure 7 Enlarged schematic diagram of part B in

[0030] Figure 10 For Figure 7 Enlarged schematic diagram of part C in

[0031] Figure 11 Schematic diagram of the reset part structure

[0032] Figure 12 Schematic diagram of the forward movement state of the cart

[0033] Figure 13 Schematic diagram of the backward movement state of the cart

[0034] Figure 14 Schematic diagram of the rightward movement state of the trolley

[0035] Figure 15 Schematic diagram of the leftward movement state of the trolley

[0036] Reference numerals in the drawings:

[0037] 1. Handle body, 10. Housing, 11. Controller, 12. Link, 13. First cylindrical handle, 130. First cylindrical body, 131. Roller, 132. First through hole, 14. Second cylindrical handle, 140. Second cylindrical body, 141. Annular groove, 142. Second through hole, 143. Finger groove, 15. First sensor, 16. Second sensor, 17. Rocker hole, 18. Rocker, 19. Reset hole, 100. Reset part, 1001. Stud, 1002. Steel ball, 1003. Reset spring, 1004. Groove, 1005. Dust cover, 1006. Weight sensor, 1007. Operation panel, 2. Connector, 3. Chain, 4. Hook, 5. Cart, 6. Trolley, 7. Electric hoist, 8. Gyroscope sensor Detailed implementation manners

[0038] The handle provided by the present invention has been improved and designed from the following three aspects:

[0039] First, a user can complete the operation control of eight actions with one hand, and the button operation is no longer adopted, so the operation is simple and convenient

[0040] Second, the floating handle design is adopted. The user only needs to apply a force to the heavy object or the handle to control the lifting action of the electric hoist, which simplifies the operation of the handle

[0041] Third, a follow-up design is carried out on the handle. When the user pulls the handle, the movement of the cart and the trolley can be controlled, ensuring that the handle moves along with the user's operation, automatically correcting when the handle is tilted, and making the handle perpendicular to the ground

[0042] The above three aspects of the design will be elaborated in detail below in conjunction with the drawings and specific embodiments:

[0043] Embodiment 1

[0044] The technical problem to be solved in this embodiment is: how to enable a user to operate the handle with one hand and achieve the operation control of eight actions.

[0045] To solve the above technical problem, the technical solution adopted in this embodiment is:

[0046] A follow-up handle, comprising a handle body 1. The upper end of the handle body 1 is connected to the chain 3 of an electric hoist 7 through a joint 2, and the lower end of the handle body 1 is connected to a hook 4 through a joint. The chain 3 is wound around the electric hoist 7, the electric hoist 7 is installed on a trolley 6, the trolley 6 is installed on a gantry 5, the electric hoist 7 moves left and right along with the trolley 6, and the trolley 6 moves back and forth along with the gantry 5.

[0047] The handle body 1 includes a housing 10, a controller 11 arranged inside the housing 10, and a connecting rod 12 vertically fixed inside the housing 10. Through holes are provided at the upper and lower ends of the housing 10, and both ends of the connecting rod 12 extend out of the housing 10 through the through holes. The upper end of the connecting rod 12 extending out of the housing 10 is connected to the chain 3 through a joint 2, and the lower end of the connecting rod 12 is connected to the hook 4 through a joint 2. Components such as an emergency stop button, an operation panel 1007, an air valve switch, a 485 or CN wired control plug, a servo fixture switch control plug, a data port, and an external servo control switch signal plug are provided on the housing 10. These components are all connected to the controller. These are all existing components and not the improvement points of the present invention, so they will not be elaborated further. The improvement points of the present invention will be elaborated in detail below:

[0048] In order to realize the one-hand operation of the user, two cylindrical handles are provided, one cylindrical handle is operated by holding with the hand, and the other cylindrical handle is operated by flipping with the thumb. The two cylindrical handles are respectively the first cylindrical handle 13 and the second cylindrical handle 14, the first cylindrical handle 13 and the second cylindrical handle 14 are respectively sleeved on the connecting rod 12, the first cylindrical handle 13 is located above the second cylindrical handle 14, the first cylindrical handle 13 and the second cylindrical handle 14 are rotatably sleeved on the connecting rod 12, and the first cylindrical handle 13 and the second cylindrical handle 14 can also slide up and down on the connecting rod 12. Through such a design, the first cylindrical handle 13 and the second cylindrical handle 14 can be operated to rotate inward, rotate outward, slide up and slide down around the connecting rod 12, the user can operate the second cylindrical handle 14 to rotate inward, rotate outward, slide up and slide down by holding the second cylindrical handle 14 with the palm and four fingers, and the first cylindrical handle 13 can be operated to rotate inward, rotate outward, slide up and slide down by flipping the first cylindrical handle 13 with the thumb, so that the first cylindrical handle 13 can be operated to rotate inward, rotate outward, slide up and slide down, so that the operation purpose of eight actions of one hand is realized. These eight actions need to be transmitted to the controller so that the controller generates eight control commands and controls the corresponding actuators to execute to realize the control actions of the handles. Therefore, the first rocker sensor 15 and the second rocker sensor 16 are also installed on the connecting rod 12, and the first cylindrical handle 13 and the second cylindrical handle 14 are provided with rocker arm holes 17. The rocker arms 18 of the first rocker sensor 15 and the second rocker sensor 16 are inserted into the rocker arm holes 17 of the first cylindrical handle 13 and the second cylindrical handle 14. In this way, when the user controls the first cylindrical handle 13 and the second cylindrical handle 14, the first rocker sensor 15 and the second rocker sensor 16 will be driven to perform corresponding actions. At this time, the first rocker sensor 15 and the second rocker sensor 16 will send the corresponding action signals to the controller 11 through wired or wireless means.

[0049] After receiving the action signal, the controller 11 first confirms the source of the action signal, whether it is the action signal sent by the first shake sensor 15 or the second shake sensor 16, and then confirms the type of the action signal, whether it is an upward sliding signal, a downward sliding signal, an internal rotation signal or an external rotation signal. After confirming the source of the action signal and the type of the action signal, the controller 11 selects the corresponding control command according to the source of the action signal, the type of the action signal and the preset control command, and sends the control command to the corresponding actuator to execute the corresponding action.

[0050] The control commands preset in the controller can be preset in the following manner. Of course, other control commands can also be interchanged or preset, such as the follow-up commands in Example 3, as long as they can correspond to the eight actions generated by operating the first cylindrical handle 13 and the second cylindrical handle 14.

[0051] The preset control commands according to the action signal source and action signal type are as follows:

[0052]

[0053] According to different control commands, the actuator can be various execution structures, mainly the driving mechanisms of electric hoists, trolleys, and carriages. For example, the motor that drives the electric hoist to lift, the motor that drives the trolley to move forward and backward, and the motor that drives the carriage to move left and right. In this way, the control commands for the lifting of the electric hoist, the forward and backward movement commands of the trolley, and the left and right movement commands of the carriage can be executed. The driving structure can also be a switch for floating operation, so that the opening and closing control commands for the handle floating can be realized. The driving structure can also be a switch for floating operation, so that the opening and closing control commands for the handle floating can be realized. The driving structure can also be a gear selection switch for the electric hoist. For example, after the slow-speed operation is started, the electric hoist is in the slow-speed gear, and the electric hoist is in the slow-speed operation for precise installation and alignment.

[0054] The specific structure of the first cylindrical handle 13 is as follows:

[0055] It includes a first cylindrical body 130, on which a roller 131 is arranged. The roller 131 is fixed on the first cylindrical body 130. An arm hole 17 is arranged at the upper end of the first cylindrical body 130, and the arm hole 17 radially penetrates the first cylindrical body 130. A first through hole 132 is arranged at the lower end of the first cylindrical body 130, and the first through hole 132 radially penetrates the first cylindrical body 130.

[0056] The arm hole 17 of the first cylindrical body 130 is a flared hole, with the large end on the inside and the small end on the outside, for the arm 18 of the first remote sensor to be inserted.

[0057] The specific structure of the second cylindrical handle 14 is as follows:

[0058] It includes a second cylindrical body 140. Annular grooves 141 are arranged at both the upper and lower ends of the second cylindrical body 140. An arm hole 17 is arranged in the annular groove 141 at the upper end, and a second through hole 142 is arranged in the annular groove 141 at the lower end. The second through hole 142 radially penetrates the second cylindrical body 140. A finger groove 143 is arranged in the middle part of the second cylindrical body 140. The function of the finger groove is to facilitate the user to hold the second cylindrical body 140 for operating the second cylindrical handle 14.

[0059] The arm hole 17 of the second cylindrical body 140 is a flared hole, with the large end on the inside and the small end on the outside, so that the arm 18 of the second remote sensor can be inserted.

[0060] In this embodiment, for the first cylindrical handle 13 and the second cylindrical handle 14 to perform the operations of the above eight actions, a corresponding reset mechanism is also required to reset the first cylindrical handle 13 and the second cylindrical handle 14 to their initial positions. The specific structure of the reset mechanism is not limited as long as it can achieve the reset action. Each of the first cylindrical handle 13 and the second cylindrical handle 14 is connected to a reset mechanism for reset, and after the first cylindrical handle 13 and the second cylindrical handle 14 slide up, slide down, rotate inward, and rotate outward, they are respectively reset to their initial positions.

[0061] To facilitate the reset of the first cylindrical handle 13 and the second cylindrical handle 14, this embodiment provides a reset mechanism, which includes a reset hole 19 and a reset member 100. The reset hole 19 is a tapered hole, and the reset hole 19 is provided on the connecting rod 12. The first through hole 132 provided on the first cylindrical handle 13 and the second through hole 142 provided on the second cylindrical handle 14 are threaded holes. The reset member 100 is a steel ball spring detent, and the model is preferably M8*16. Its specific structure includes a stud 1001, a steel ball 1002, and a reset spring 1003. A groove 1004 is provided at the top end of the stud 1001. The reset spring 1003 is installed in the groove 1004. The steel ball 1002 is connected to the reset spring 1003. When the reset spring 1003 is in a free state, part of the steel ball 1002 is located in the groove 1004 and part protrudes out of the groove 1004. The thread of the stud 1001 is adapted to the threads of the first through hole 132 and the second through hole 142. The stud 1001 is screwed into the first through hole 132 and the second through hole 142, and the top surface of the steel ball 1002 contacts the lowest point of the reset hole 19, and the reset spring 1003 is in a free state.

[0062] The reset principle and process of the reset mechanism are as follows: When the first cylindrical handle 13 and the second cylindrical handle 14 are not operated, the top surface of the steel ball 1002 contacts the lowest point of the reset hole 19, and the reset spring 1003 is in a free state. After the first cylindrical handle 13 and the second cylindrical handle 14 slide up, slide down, rotate inward, and rotate outward, since the reset hole 16 is a tapered hole, at this time the stud 1001 will slide in the tapered hole and is no longer at the lowest point, and the reset spring 1003 will be compressed, and the reset spring 1003 is in a compressed state. After the user stops operating the first cylindrical handle 13 and the second cylindrical handle 14, the reset spring 1003 will push the stud 1001 outward and push the steel ball 1002 inward. Since the stud 1001 is threadedly connected to the first through hole 132 and the second through hole 142 and cannot move outward, at this time under the action of the reset spring, it will cause the steel ball 1002 to slide to the lowest point, which will prompt the stud 1001 to reset, and thus drive the first cylindrical handle 13 and the second cylindrical handle 14 to reset to their initial positions.

[0063] Through the action of the reset mechanism, the first cylindrical handle 13 and the second cylindrical handle 14 are reset after sliding up and down and rotating circumferentially. At the same time, the cooperation between the reset member and the reset hole can also play a limiting role to prevent damage caused by excessive up and down sliding of the first cylindrical handle and the second cylindrical handle.

[0064] Both the first rocker sensor 15 and the second rocker sensor 16 are rocker potentiometers. The rocker arm of the rocker potentiometer itself also has a self-resetting function, and a certain resetting effect can be achieved through the self-resetting of the rocker arm. However, its resetting force is relatively small. In order to avoid unsuccessful resetting, a reset mechanism is added. Through the resetting action of the reset sub-mechanism and the self-resetting ability of the first rocker sensor 15 and the second rocker sensor 16, it can be fully ensured that the first cylindrical handle 13 and the second cylindrical handle 14 can be successfully reset.

[0065] Since the first cylindrical handle 13 and the second cylindrical handle 14 are provided with rocker arm holes, a first through hole, and a second through hole, in order to prevent dust from entering through these holes and affecting the operation of the first rocker sensor 15, the second rocker sensor 16, and the reset mechanism, dust prevention design needs to be carried out at these locations. Specifically:

[0066] The upper end of the first cylindrical handle 13 extends into the housing 10 through the through hole, and the rocker arm hole 18 provided at the upper end of the first cylindrical handle 13 is protected by the housing 10, which can effectively prevent dust from entering the rocker arm hole 18, and thus avoid the influence of dust on the sensitivity of the first rocker sensor.

[0067] A dust-proof cover 1005 is provided on the connecting rod 12 between the first cylindrical handle 13 and the second cylindrical handle 14. The upper end of the dust-proof cover 1005 covers the lower end of the first cylindrical body 13, covering the first through hole 132; the lower end of the dust-proof cover 1005 covers the upper end of the second cylindrical body 14, covering the rocker arm hole 18 provided on the second cylindrical body 14; a dust-proof cover 1005 is also provided on the connecting rod 12 below the second cylindrical handle 14, and the dust-proof cover 1005 covers the lower end of the second cylindrical body 14, covering the second through hole 142. The setting of the dust-proof cover provides dust-proof protection for the rocker arm hole, the first through hole, and the second through hole of the second cylindrical body 14, preventing dust from entering the rocker arm hole of the second cylindrical body 14 and affecting the induction sensitivity of the second rocker sensor, and entering the first through hole and the second through hole to affect the resetting of the first cylindrical handle and the second cylindrical handle.

[0068] The dust-proof cover is made of silicone or rubber material.

[0069] The controller of this embodiment is the controller used in the existing handle, which is the prior art and will not be elaborated here.

[0070] Embodiment 2

[0071] In this embodiment, to achieve the floating control of the handle, the user only needs to apply a force to the handle or a heavy object to control the lifting action of the electric hoist. To achieve the floating control of the handle, the following structure is designed:

[0072] A weight sensor 1006 is connected to the connecting rod 12 inside the housing 10. The weight sensor 1006 is used to detect the weight of the heavy object suspended by the hook. The weight sensor 1006 is connected to the controller 11, and the controller 11 is connected to the operation panel 1007. A zeroing button is provided on the operation panel 1007.

[0073] The weight sensor 1006 sends the detected heavy object weight information to the controller 11. After receiving the weight information, the controller 11 sends it to the operation panel 1007. The operation panel 1007 visually displays the weight information. When the weight information of the heavy object exceeds the limited weight, an alarm will be issued. When floating control is required, the user operates the zeroing button on the operation panel. After receiving the zeroing operation command, the controller zeros the weight information of the heavy object and displays it as 0 on the operation panel. Combining with Embodiment 1, the user holds the second cylindrical handle and rotates it outward. After the second sensor receives the signal of rotating the second cylindrical handle outward, it sends it to the controller. After receiving the signal, the controller generates a control command to turn on the floating. At this time, the handle is in a floating state. When the user applies a force to the heavy object, the weight sensor 1006 detects this force and generates a weight data, and sends it to the controller 11. After receiving the weight data, the controller determines whether the weight data is positive or negative. If it is positive, it issues a control command to control the electric hoist to move downward. If it is negative, it controls the electric hoist to move upward, realizing the floating control of the electric hoist. The user only needs to simply apply a very small force to the heavy object to realize the up and down movement control of the electric hoist, and the operation is simple and convenient.

[0074] Embodiment 3

[0075] In this embodiment, it is necessary to achieve the follow-up control of the handle. When the user pulls the handle, the trolley and the crab will move, so that the handle will not tilt and is in a vertical state, achieving the purpose of follow-up.

[0076] To achieve the follow-up function of the handle, the following technical solution is adopted:

[0077] A gyroscope sensor 8 and a controller 11 are installed on the handle body 1. The controller 11 can be a separate controller or share a controller with Embodiments 1 and 2. The gyroscope sensor is used to detect the tilt condition of the handle body, generate a tilt signal based on the detected tilt condition, and send the tilt signal to the controller.

[0078] The controller includes a signal receiving module, a signal processing module, and a tilt correction module.

[0079] The signal receiving module is used to receive the tilt signal sent by the gyroscope sensor and send the tilt signal to the signal processing module;

[0080] The signal processing module is used to process the received tilt signal, analyze the tilt direction and tilt angle, and send the analyzed tilt direction and tilt angle to the tilt correction module;

[0081] The tilt correction module generates a control command according to the received tilt direction and tilt angle, and controls the large vehicle and the small vehicle to move in the tilted direction until the tilt angle is the same as the tilt angle of the initial position of the gyroscope sensor.

[0082] The tilt angle of the initial position of the gyroscope sensor refers to the tilt angle of the gyroscope sensor when the handle body is perpendicular to the ground. At this time, the gyroscope sensor is also perpendicular to the ground, and the tilt angle is 90°.

[0083] The controller and the gyroscope sensor are installed in the housing, and the controller and the gyroscope sensor are communicatively connected by wire or wirelessly.

[0084] As Figure 12 shown, the initial position of the handle is perpendicular to the ground. After the user pulls the handle forward, the handle will tilt forward. At this time, the handle is no longer perpendicular to the ground, but tilted forward to the ground. In the figure, the vertical state of the handle is the initial position, and the state after the handle tilts is the state after the handle is pulled forward. Since the gyroscope sensor 8 is installed in the handle, the gyroscope sensor 8 will also tilt with the handle at this time. Once the gyroscope sensor 8 tilts, a tilt signal of tilting forward will be generated and sent to the controller. After receiving the tilt signal, the controller generates a control command according to the tilt signal and controls the large vehicle to move forward until the handle is no longer tilted but perpendicular to the ground. At this time, the gyroscope sensor 8 does not detect a tilt signal, and the controller no longer controls the large vehicle to move forward.

[0085] As Figure 13 shown, the initial position of the handle is perpendicular to the ground. After the user pulls the handle backward, the handle will tilt backward. At this time, the handle is no longer perpendicular to the ground, but tilted to the ground. In the figure, the vertical state of the handle is the initial position, and the state after the handle tilts is the state after the handle is pulled backward. Since the gyroscope sensor 8 is installed in the handle, the gyroscope sensor 8 will also tilt with the handle at this time. Once the gyroscope sensor 8 tilts, a tilt signal of tilting backward will be generated and sent to the controller. After receiving the tilt signal, the controller generates a control command according to the tilt signal and controls the large vehicle to move backward until the handle is no longer tilted but perpendicular to the ground. At this time, the gyroscope sensor 8 does not detect a tilt signal, and the controller no longer controls the large vehicle to move backward.

[0086] As Figure 14 shown, the initial position of the handle is perpendicular to the ground. After the user pulls the handle to the right, the handle will tilt to the right. At this time, the handle is no longer perpendicular to the ground, but tilted to the right with respect to the ground. In the figure, the vertical state of the handle is the initial position, and the state after the handle tilts is the state after the handle is pulled to the right. Since the gyroscope sensor 8 is installed inside the handle, the gyroscope sensor 8 will also tilt along with the handle at this time. Once the gyroscope sensor 8 tilts, a tilt signal indicating a rightward tilt will be generated and sent to the controller. After receiving the tilt signal, the controller generates a control command based on the tilt signal to control the trolley to move to the right until the handle is no longer tilted but perpendicular to the ground. At this time, the gyroscope sensor 8 does not detect a tilt signal, and the controller no longer controls the trolley to move to the right.

[0087] As Figure 15 shown, the initial position of the handle is perpendicular to the ground. After the user pulls the handle to the left, the handle will tilt to the left. At this time, the handle is no longer perpendicular to the ground, but tilted to the left with respect to the ground. In the figure, the vertical state of the handle is the initial position, and the state after the handle tilts is the state after the handle is pulled to the left. Since the gyroscope sensor 8 is installed inside the handle, the gyroscope sensor 8 will also tilt along with the handle at this time. Once the gyroscope sensor 8 tilts, a tilt signal indicating a leftward tilt will be generated and sent to the controller. After receiving the tilt signal, the controller generates a control command based on the tilt signal to control the trolley to move to the left until the handle is no longer tilted but perpendicular to the ground. At this time, the gyroscope sensor 8 does not detect a tilt signal, and the controller no longer controls the trolley to move to the left.

[0088] Of course, the user may also pull the handle in two directions simultaneously, such as pulling the handle in the front right, front left, rear right, or rear left directions. At this time, only need to control the corresponding trolleys to move in the corresponding directions according to the above steps until the gyroscope sensor 8 does not detect a tilt signal. At this time, the handle is perpendicular to the ground.

[0089] Through the above solution, it can be achieved that once the handle tilts, it will control the trolleys to move in the corresponding directions, achieving the purpose that the handle follows the pulling direction of the user.

[0090] The gyroscope sensor 8 can select a three-dimensional inclination compensation electronic geological compass module. The specific model is Microsensing HCM360B.

[0091] In order to prevent the handle from following due to non-user operations, in this embodiment, a laser protection sensor is installed on the bottom of the housing. The laser protection sensor will send a follow-up command to the controller only after detecting that the user's hand is placed on the first cylindrical handle and the second cylindrical handle. The controller will control the trolleys to move only after receiving the follow-up command and the tilt signal.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and the description of the present invention.

Claims

1. A follow-up handle, comprising a handle body, characterized in that: The handle body is equipped with a gyro sensor and a controller. The gyro sensor is used to detect the tilt of the handle body, generate a tilt signal when the tilt is detected, and send the tilt signal to the controller. The controller includes a signal receiving module, a signal processing module and a tilt correction module. The signal receiving module is used to receive the tilt signal sent by the gyroscope sensor and send the tilt signal to the signal processing module; The signal processing module is used to process the received tilt signal, analyze the tilt direction and tilt angle, and send the analyzed tilt direction and tilt angle to the tilt correction module; The tilt correction module generates a control command according to the received tilt direction and tilt angle, and controls the large vehicle and the small vehicle to move in the tilt direction until the tilt angle is the same as the tilt angle of the initial position of the gyro sensor.

2. A follow-up handle according to claim 1, characterized in that: The handle body comprises a shell, the controller and the gyro sensor are installed in the shell, and the controller and the gyro sensor are communicatively connected via wired or wireless means.

3. A follow-up handle according to claim 1 or 2, characterized in that: The gyro sensor is a three-dimensional tilt compensation electronic geological compass module.

4. The follow-up handle according to claim 1, characterized in that: A laser protection sensor is also installed at the bottom of the shell. After the laser protection sensor detects that the user's hands are placed on the first cylindrical handle and the second cylindrical handle, it sends a follow-up command to the controller. The controller will generate a control command only after receiving the follow-up command and the tilt signal to control the large and small carts to move in the tilted direction until the tilt angle is the same as the tilt angle of the initial position of the gyroscope sensor.

5. The follow-up handle according to claim 2, characterized in that: A connecting rod is installed in the shell, and a first cylindrical handle and a second cylindrical handle are installed on the connecting rod. The first cylindrical handle is located above the second cylindrical handle. A first rocker sensor and a second rocker sensor are also installed on the connecting rod. Rocker arm holes are provided on the first cylindrical handle and the second cylindrical handle. The rocker arm of the first rocker sensor is inserted into the rocker arm hole of the first cylindrical handle, and the rocker arm of the second rocker sensor is inserted into the rocker arm hole of the second cylindrical handle. The first cylindrical handle can slide up and down and rotate circumferentially around the connecting rod, and can return to an initial position after sliding up and down and rotating circumferentially. The second cylindrical handle can slide up and down and rotate circumferentially around the connecting rod, and can return to an initial position after sliding up and down and rotating circumferentially. After detecting the action signal of the first cylindrical handle, the first rocker sensor sends the detected action signal of the first cylindrical handle to the controller. After detecting the action signal of the second cylindrical handle, the second rocker sensor sends the detected action signal of the second cylindrical handle to the controller. The controller generates a control command according to the received action signal, and sends the control command in a wired or wireless manner to control the corresponding actuator to execute the corresponding control command.

6. A follow-up handle according to claim 5, characterized in that: The first cylindrical handle includes a first cylindrical body, a roller is provided on the first cylindrical body, the roller is fixed on the first cylindrical body, a rocker hole is provided at the upper end of the first cylindrical body, the rocker hole radially penetrates the first cylindrical body, a first through hole is provided at the lower end of the first cylindrical body, the first through hole radially penetrates the first cylindrical body, the second cylindrical handle includes a second cylindrical body, annular grooves are provided at both upper and lower ends of the second cylindrical body, a rocker hole is provided in the annular groove at the upper end, a second through hole is provided in the annular groove at the lower end, the second through hole radially penetrates the second cylindrical body, and a finger groove is provided in the middle part of the second cylindrical body.

7. A follow-up handle according to claim 6, characterized in that: The upper end of the first cylindrical handle extends into the outer shell through the through hole, and a dust cover is provided on the connecting rod between the first cylindrical handle and the second cylindrical handle, and the upper end of the dust cover is buckled on the lower end of the first cylindrical body to cover the first through hole; the lower end of the dust cover is buckled on the upper end of the second cylindrical body to cover the rocker arm hole on the second cylindrical body; a dust cover is also provided on the connecting rod below the second cylindrical handle, and the dust cover is buckled on the lower end of the second cylindrical body to cover the second through hole.

8. The follow-up handle according to claim 6, characterized in that: The first through hole and the second through hole are both provided with reset holes at positions corresponding to those on the connecting rod, the reset holes are tapered holes, the first through hole and the second through hole are threaded holes, reset parts are installed in the first through hole and the second through hole, the reset parts are steel ball spring ball top screws.

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