Remote control device for solenoid operated swivel rod and wheeled apparatus

Abstract

The application discloses a remote operating device for operating a rotary lever of an electromagnetic valve and a wheeled device. The remote operating device comprises a housing fixed to the electromagnetic valve or a mounting structure thereof, an extended rotating shaft rotatably arranged in the housing, a flexible traction member and a rotation limiting assembly. A driving shaft end of the extended rotating shaft is in transmission connection with the operating rotary lever of the electromagnetic valve, a driven shaft end is in fixed connection with a winding connection end of the flexible traction member, an operating end of the flexible traction member is exposed outside the housing for traction, the traction operating end drives the extended rotating shaft to rotate the operating rotary lever from a locking state to a release state, and the rotation limiting assembly is in cooperation with a rotation limiting part fixed to the housing through a limiting pin, a limiting block with a sector space, or further, a plurality of nested intermediate limiting blocks are additionally arranged to limit the maximum rotation angle of the extended rotating shaft. The wheeled device comprises a device main body, the electromagnetic valve and the remote operating device.

Description

Technical Field

[0001] This application relates to a remote operating device for the operating lever of a solenoid valve, specifically a remote operating device for an emergency release lever. This application also relates to wheeled equipment. This application belongs to the field of remote operating technology for hydraulic systems. Background Technology

[0002] For mobile wheeled equipment (such as surgical robot platforms), sufficient braking capacity and vehicle stability are required in both parked and operational states to ensure the onboard devices can accurately perform their functions. Currently, there are two main types of methods for achieving parking braking: Firstly, toothed or latch-like braking devices are installed on the running wheels, achieving braking through the interlocking of the latches. However, a certain gap must be left between the latches for proper insertion and engagement. This gap structure can cause the vehicle body to still wobble after parking. In precision working conditions (such as surgical robot scenarios), this slight wobble can have serious consequences.

[0003] Secondly, a friction-pressing device is installed to achieve braking by the friction between the pressure plate and the wheel when the vehicle is parked. However, when the external force on the vehicle exceeds this friction force, the vehicle will be pushed, resulting in insufficient reliability.

[0004] To meet the requirements of high stability, a hydraulic foot support system is usually adopted: the foot support retracts when the vehicle is moving and extends to support the ground when parked or working, providing stable support and braking force.

[0005] This hydraulic system controls the outriggers via solenoid valves. These solenoid valves, acting as electrically controlled on / off elements, switch the hydraulic path to extend, hold, and retract the outriggers, providing high stability and reliability. The hydraulic outrigger system has four operating states: extended, locked, retracted, and reset. In the locked state, the power unit stops and the valve assembly closes, keeping the hydraulic outriggers extended.

[0006] However, solenoid valves require electrical power. In the event of a power outage or sudden loss, the solenoid valves lose power and cannot switch the hydraulic circuit, leaving the foot braces extended. This prevents wheeled equipment from moving or being quickly evacuated. For precision equipment platforms such as surgical robots, this inability to disengage will severely hinder the safe evacuation of the equipment in emergency situations.

[0007] In addition, the emergency release lever of the solenoid valve is short and inconvenient to manually turn, making it difficult to operate. Due to the structural characteristics of the emergency release lever, the solenoid valve either needs to have an operating window reserved on the outer wall of the equipment or needs to be installed close to the equipment housing, which takes up internal space.

[0008] Therefore, how to quickly and conveniently drive the solenoid valve operating lever to retract the hydraulic foot support without relying on electricity in the event of a power outage or other emergencies, while also removing the restrictions on the installation position of the solenoid valve and preventing damage to components due to excessive rotation during operation, has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0009] This application was developed in consideration of the above circumstances, and its purpose is to provide a remote operating device and wheeled equipment for a solenoid valve operating lever, which can remotely drive the solenoid valve operating lever to rotate through mechanical pulling in the absence of power, thereby unlocking the hydraulic passage and retracting the foot support. It is labor-saving to operate, flexible in layout, and provides support for rapid operation and emergency release of the lever.

[0010] To address the technical problems existing in the background art, this application provides the following technical solution.

[0011] In one aspect of this application, a remote operating device for an operating lever of a solenoid valve is provided. The operating lever of the solenoid valve can switch between a locked state and a released state by rotation. The remote operating device includes: a housing, the housing being fixed to the solenoid valve or a structural member for mounting the solenoid valve; an extension shaft rotatably disposed within the housing, the extension shaft having a drive shaft end and a driven shaft end, the drive shaft end being drively connected to the operating lever; a flexible traction member having a connecting end and an operating end, the connecting end being wound around and fixedly connected to the driven shaft end, the operating end being exposed outside the housing and adapted to be pulled to drive the extension shaft to rotate, thereby causing the operating lever to rotate from a locked state to a released state; and a rotation limiting assembly disposed within the housing and configured to limit the maximum rotation angle of the extension shaft relative to the housing.

[0012] The beneficial effect of the above-described structure is that by extending the pivot and the flexible traction component, the rotational operation required to operate the solenoid valve operating lever is transformed into an external pulling action, which can realize multiple mechanical actions without electricity, such as mechanically unlocking the hydraulic passage and retracting the foot support, thus ensuring emergency evacuation capability in the event of a power outage.

[0013] The beneficial effects also include the fact that the flexible traction component allows the operating end to be arranged separately from the solenoid valve body, enabling the solenoid valve to be installed internally without the need for an operating window on the outer wall of the equipment, thus freeing up internal space layout flexibility. The exposed part of the flexible traction component occupies little space and can be arranged flexibly. The rotation limit component mechanically constrains the maximum rotation angle of the shaft, avoiding excessive pulling that could damage the operating lever, traction component, and other parts, thereby extending the service life of the mechanism.

[0014] In a further aspect of this application, the rotation limiting assembly includes: a limiting pin extending radially from the extended rotating shaft and rotating with the extended rotating shaft; a limiting block sleeved on the extended rotating shaft and capable of rotating circumferentially relative to the extended rotating shaft, wherein a fan-shaped space is formed within the limiting block, the limiting pin is accommodated within the fan-shaped space and is capable of rotating with the extended rotating shaft relative to the limiting block within a first angular range, the first angular range being 0 to α; and a rotation limiting part fixed to the housing or integrally formed with the housing, the rotation limiting part being configured to restrict the rotation of the limiting block relative to the housing within a second angular range, the second angular range being 0 to β; the first angular range and the second angular range together define the maximum rotation angle θ of the extended rotating shaft, where θ = α + β.

[0015] The beneficial effect of the structure described above is that by superimposing the two-stage stroke of the limiting pin and the fan-shaped space, and the limiting block and the rotating limiting part, controlled rotation of more than 360 degrees can be achieved within the compact internal space of the housing, resulting in a compact structure and reliable limiting.

[0016] In a further aspect of this application, the limiting pin passes through the extended rotating shaft and extends radially from opposite sides, and the limiting block includes two axisymmetric sector spaces; or the limiting pin extends radially from one side of the extended rotating shaft, and the limiting block includes a single sector space.

[0017] The beneficial effects of the configuration described above are that the double-sided limiting pins and the axisymmetric double-sector space configuration make the structure symmetrical and the force balanced, thus improving the stability of rotational limiting; in addition, the single-sided limiting pin and single sector space configuration can achieve a larger rotational angle limiting by expanding the angle of the sector space. The two configurations can be flexibly selected according to the limiting force requirements and cost constraints.

[0018] In a further aspect of this application, the rotation limiting assembly further includes at least one intermediate limiting block. The intermediate limiting block is sleeved on the extended rotating shaft and accommodated within the fan-shaped space of the limiting block. The intermediate limiting block is rotatable relative to the limiting block within a third angular range. An intermediate fan-shaped space is formed within the intermediate limiting block. A limiting pin is accommodated within the intermediate fan-shaped space and is rotatable relative to the intermediate limiting block within a fourth angular range along with the extended rotating shaft. When multiple intermediate limiting blocks exist, the intermediate limiting blocks are nested sequentially. The next-level intermediate limiting block is accommodated within the intermediate fan-shaped space of the previous-level intermediate limiting block and is rotatable relative to the previous-level intermediate limiting block within a corresponding angular range. The sum of the corresponding angular ranges is the fifth angular range. The third angular range, the fourth angular range, and the fifth angular range together define the first angular range.

[0019] The beneficial effect of the above-described structure is that by adding intermediate limit block layers, multi-level nesting can be achieved, which expands the maximum rotation angle without increasing the radial dimension of the shell. It can achieve rotation limit angles of 720°, 1080° or even larger, and adapt to special scenarios that require large rotation angles, such as multi-gear control.

[0020] In a further aspect of this application, the remote operation device further includes an angle feedback component, which includes a first feedback part and a second feedback part. One of the first feedback part and the second feedback part is disposed on the extended rotating shaft and rotates with the extended rotating shaft, while the other is disposed spaced apart in the housing or in the corresponding limiting block of the rotation limiting component in the circumferential direction. When the extended rotating shaft rotates to a preset angle, the first feedback part cooperates with the corresponding second feedback part to generate tactile feedback and / or auditory feedback.

[0021] The beneficial effect of the above-described structure is that, in situations where the position of the operating lever cannot be directly observed during flexible traction remote operation, the operator can perceive the rotation of the shaft into place through touch or hearing, confirming the operating status without the need for additional observation devices, thereby improving the controllability and reliability of remote operation.

[0022] In a further aspect of this application, the first feedback portion includes an elastic protrusion, and the second feedback portion includes a positioning recess. The positioning recess is formed in the surface of the second feedback portion, and when the extended shaft is rotated to a preset angle, the elastic protrusion engages with the corresponding positioning recess.

[0023] The beneficial effect of the structure described above is that when the elastic protrusion engages with the positioning recess, it produces a clear tactile feedback and a clicking sound, providing clear feedback and a simple and reliable structure.

[0024] In a further aspect of this application, the first feedback portion includes a rigid protrusion or friction region, and the second feedback portion includes a flexible protrusion configured to sweep across the rigid protrusion or friction region and provide a blocking force when the extended shaft rotates, and the flexible protrusion deforms when the force exceeds a threshold of the blocking force to allow the flexible protrusion to pass over.

[0025] The beneficial effect of the structure described above is that it provides a feedback force by providing a blocking force when the flexible protrusion is swept over and by deforming to allow it to pass when the force exceeds a threshold. The stiffness design of the flexible protrusion can be used to flexibly adjust the magnitude of the abruptness or contact feedback force to adapt to different operating force requirements.

[0026] In a further aspect of this application, the first feedback part includes a bidirectional ratchet and a bidirectional pawl, and the second feedback part includes a ratchet engagement part. When the extended shaft rotates, the pawl engagement part rotates together until it pushes the bidirectional pawl, causing one end of the bidirectional pawl to climb along the inclined tooth surface of the bidirectional ratchet and exceed the tooth tip. Then the pawl engagement part extends beyond the other end of the bidirectional pawl, and the bidirectional pawl returns and engages in the original tooth groove under the action of the elastic restoring force.

[0027] The beneficial effect of the structure described above is that the combination of the bidirectional ratchet and pawl can generate continuous step-like feedback in both the forward rotation and reverse reset directions. The feedback rhythm is clear and the gear feel is strong, which is suitable for multi-gear operation scenarios that require clear gear perception.

[0028] In a further aspect of this application, multiple second feedback sections correspond to multiple preset rotation angles of the extended shaft. During the rotation of the extended shaft, the first feedback section cooperates with multiple second feedback sections in sequence. The operating lever corresponds to different open and closed states of the solenoid valve at each preset rotation angle, and different open and closed states of the solenoid valve correspond to different hydraulic actuation actions.

[0029] The beneficial effect of the above-described structure is that it transforms continuous rotation into multiple discrete gears, each gear corresponding to different open / closed states of the passage and hydraulic actuation actions, realizing mechanically programmable multi-level safety control logic, and triggering different hydraulic actuation actions by pulling at different rotation angles in a single continuous motion.

[0030] In a further aspect of this application, the remote operation device further includes a sensor configured to detect the rotation angle of the extended shaft or the relative position of the first feedback unit and the second feedback unit, and to emit an electronic signal when the extended shaft reaches a preset rotation angle or the first feedback unit and the second feedback unit reach a preset relative position, the electronic signal being configured to trigger at least one of the following: a change in the color, pattern or text of the display device, a prompt sound from the sound-emitting device, vibration of the vibrator, and counting by a counter.

[0031] The beneficial effect of the above-mentioned structure is that electronic signal feedback is superimposed on mechanical feedback, which can transmit the gear status to the operator or control system. It can adapt to noisy environments, limited visibility, or complex scenarios that require remote status reporting through multi-modal methods such as lights, screen displays, prompts, vibrations, and counting.

[0032] In a further aspect of this application, the remote operating device also includes a reset elastic element, one end of which acts on the extension shaft and the other end of which acts on the housing. The reset elastic element is configured such that: when the flexible traction member drives the extension shaft to rotate from the locked state to the released state, the reset elastic element stores energy; when the traction force applied to the flexible traction member is released, the reset elastic element releases energy and drives the extension shaft to rotate toward the locked state.

[0033] The beneficial effect of the above-described structure is that releasing the traction component automatically drives the operating lever to return to the initial locking angle, eliminating the need for manual reset and rewinding of the operating lever, thus reducing operational steps and the risk of missed operations.

[0034] In a further aspect of this application, the extension shaft is provided with a stop hole, and the housing is provided with a locking hole, through which a rod-shaped tool is passed and inserted into the locking hole to prevent the extension shaft from rotating relative to the housing.

[0035] The beneficial effect of the above-described structure is that the extended shaft can be temporarily locked during assembly, transportation, or long-term maintenance to prevent the shaft from springing back after the elastic element is released from its pre-compression state, which could lead to assembly difficulties or component damage, thereby improving assembly convenience and maintenance safety.

[0036] In a further aspect of this application, the operating lever has two actuating protrusions extending radially from opposite sides; the drive shaft end of the extended shaft is cylindrical to receive the operating lever, and the opposite sides of the cylindrical wall of the drive shaft end are provided with receiving openings to receive the actuating protrusions; the receiving openings have a predetermined length in the axial direction to allow the actuating protrusions to generate axial displacement during the rotation of the operating lever.

[0037] The beneficial effects of the above-described structure are that the receiving opening and the actuating protrusion cooperate to achieve non-slip circumferential transmission; the predetermined axial length of the receiving opening can absorb the axial displacement during the rotation of the operating rod, avoiding axial jamming or sticking after remote transfer, and ensuring smooth rotation.

[0038] In a further aspect of this application, the extended shaft includes: a drive section including a drive shaft end for transmission connection with an operating lever; and a main body section detachably connected to the drive section in the axial direction and adjustable and fixed relative to the drive section in the circumferential direction.

[0039] The beneficial effect of the above-described structure is that the circumferential angle of the drive section and the main body section can be adjusted and then fixed, which can absorb the phase deviation between the factory initial angle of the operating rod of different solenoid valves and the pre-installed angle of the extended shaft, realize flexible installation by adjusting the phase first and then fixing, and improve the adaptability of the device to different solenoid valve models.

[0040] In a further aspect of this application, the drive section is cylindrical to receive the first end of the main body section. The cylindrical wall of the drive section is provided with a circumferential opening. The drive section also includes a cylindrical wall clamping part, which is disposed at the circumferential opening and cooperates with the cylindrical wall of the drive section on the opposite side of the circumferential opening to clamp the first end of the main body section.

[0041] The beneficial effect of the above-described structure is that the circumferential alignment phase deviation is achieved through the clamping fit between the circumferential opening and the cylinder wall clamping part, and the angle adjustment operation is simple and the fixation is reliable.

[0042] In a further aspect of this application, the extended shaft also includes a driven section; the main body section has a second end having an engagement shape, the driven section includes a driven shaft end for connection with a flexible traction member, and a connecting end having an engagement shape that mates with the second end for detachable transmission connection with the second end.

[0043] The beneficial effect of the configuration described above is that the driven section and the main body are detachably connected by a mating shape, and the driven section or traction component can be replaced separately during maintenance, reducing maintenance costs.

[0044] In a further aspect of this application, the driven shaft end includes a turntable portion having a winding groove, the connecting end of the flexible traction member is wound around the winding groove and fixedly connected to the turntable portion, and the operating end passes through the housing.

[0045] The beneficial effects of the above-described structure are that the winding groove guides and constrains the winding path of the flexible traction component, preventing the traction component from becoming tangled, derailed, or stuck during the pulling process. Furthermore, the rotation angle of the extended shaft can be adjusted by matching the diameter of the turntable with the pulling length of the traction component, thereby improving transmission reliability and control accuracy.

[0046] In a further aspect of this application, the housing includes a bottom cover disposed below the solenoid valve to receive leakage, the bottom cover having a groove for accumulating leakage, and the remote operating device including a level sensor disposed in the groove.

[0047] The beneficial effects of the above-described structure are that the bottom cover receives the hydraulic oil leaking when the solenoid valve seal fails, preventing oil from contaminating the inside of the equipment or the surrounding environment; the liquid accumulator collects the leaked liquid and, together with the liquid level sensor, monitors the leakage status in real time, issuing an early warning when the leakage reaches the threshold, thus enhancing the system's safety early warning capability.

[0048] In another aspect of this application, a wheeled device is provided, comprising: a device body; a solenoid valve disposed inside the device body; and a remote operation device according to any of the foregoing, wherein the housing is fixed to the solenoid valve or a structural member fixed to the device body for mounting the solenoid valve, and the operating end of a flexible traction member is arranged at an emergency accessible position outside the device body or inside the device body.

[0049] The beneficial effect of the above-described structure is that it integrates the remote operation device into the wheeled equipment, with the operation end extending to the outside of the equipment or to an emergency accessible location. Operators can quickly pull and unlock the device in an emergency, which greatly improves the emergency operation response speed and safety of the equipment. It is especially suitable for wheeled platforms such as surgical robots and precision testing equipment that have high requirements for parking stability and emergency evacuation capabilities.

[0050] In a further aspect of this application, the wheeled equipment also includes: a plurality of hydraulic supports disposed on the equipment body, the hydraulic supports being able to extend to support the ground or retract to allow the wheeled equipment to move; an oil tank disposed inside the equipment body; a pipeline connecting the oil tank and the hydraulic supports; an oil pump disposed inside the equipment body and located on the pipeline, configured to pump oil flow in the pipeline; wherein a solenoid valve is disposed on the pipeline and configured to block or allow oil flow in the pipeline.

[0051] In summary, the remote operating device and wheeled equipment for the solenoid valve operating lever provided in this application, through the cooperation of the extended rotating shaft, flexible traction component and rotation limiting component, realizes remote mechanical pulling and unlocking of the solenoid valve operating lever under power failure conditions.

[0052] Two-level and multi-level nested rotary limiters enable compact, large-angle controlled rotation; various mechanical feedback structures and electronic sensors enable multi-modal positioning sensing and multi-level programmable control. This results in a comprehensive improvement in ease of operation, adaptability, transmission reliability, assembly and maintainability, and safety warning capabilities. Attached Figure Description

[0053] To describe embodiments of the above and other features of this application, the specific structure of the application mentioned in the above brief description will be presented with reference to exemplary embodiments of the application shown in the accompanying drawings. It is understood that these drawings only depict exemplary embodiments of the application and should not be considered as limiting its scope; the application will be described and explained using the drawings and additional features and details. In the drawings: Figure 1 This is a perspective view of a wheeled device according to an embodiment of this application.

[0054] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the remote control device and solenoid valve of the wheeled equipment.

[0055] Figure 3 yes Figure 2 A cross-sectional view of the remote operating device taken at the line frame.

[0056] Figure 4 This is a perspective view of the rotation limiting component of a remote operating device according to an embodiment of this application.

[0057] Figure 5 , Figure 6 This is a schematic diagram of a rotation limiting component of a remote operating device according to an embodiment of this application.

[0058] Figures 7 to 9 This is a schematic diagram of the angle feedback component of a remote operating device according to an embodiment of this application.

[0059] Figure 10 This is a perspective view of the reset elastic element of a remote operating device according to an embodiment of this application.

[0060] Figure 11 This is a partial perspective view of a remote operation device according to an embodiment of this application.

[0061] Figure 12 This is a perspective view showing the connection between the extended shaft of the remote operating device according to an embodiment of this application and the operating lever of the solenoid valve.

[0062] Figure 13 This is a perspective view of the extended rotating shaft of the remote operating device according to an embodiment of this application.

[0063] Figure 14 This is a perspective view of the bottom cover of a remote operating device according to an embodiment of this application.

[0064] Figure 15 It is based on Figure 14 A perspective view of the bottom cover.

[0065] The accompanying drawings are drawn roughly to scale; however, the dimensions in the drawings are merely schematic and do not need to be drawn strictly to scale, but are intended to make the illustration clearer. In other embodiments, other relative dimensions may be used.

[0066] Throughout this and all subsequent content, the same features appearing in different figures are indicated by the same or similar reference numerals.

[0067] List of reference numerals in the attached diagram: 1-Remote operating device; 2-Solenoid valve; 110 - Housing; 111 - Locking hole; 112 - Bottom cover; 112a - Groove; 120 - Extended rotating shaft; 120a - Drive shaft end; 120b - Driven shaft end; 121 - Stop hole; 122 - Receiving opening; 123 - Drive section; 123a - Circumferential opening; 123b - Cylinder wall clamping part; 124 - Main body section; 124a - First end; 124b - Second end; 125 - Driven section; 125a - Connecting end; 126 - Turntable part; 126a - Winding groove; 130 - Flexible traction component; 130a - Connecting end; 130b - Operating end; 131 - Handheld part; 140 - Rotary limiting assembly; 141 - Limiting pin; 142 - Limiting block; 142a - Sector-shaped space; 143 - Rotary limiting part; 144 - Intermediate limiting block; 144a - Intermediate sector-shaped space; 150 - Angle feedback component; 151 - First feedback part; 151a - Elastic protrusion; 151b - Rigid protrusion; 151b′ - Friction area; 151c - Bidirectional ratchet and bidirectional pawl; 152 - Second feedback part; 152a - Positioning recess; 152b - Flexible protrusion; 152c - Pawl mating part; 160 - Reset elastic element; 170 - Liquid level sensor; 210 - Operating lever; 211 - Actuation protrusion. Detailed Implementation

[0068] First, this invention relates to a remote operating device for the operating lever of a solenoid valve and a device including the remote operating device. Specifically, this invention relates to an emergency retraction scenario of the hydraulic outriggers of wheeled equipment in the field of medical devices, but is not limited to the remote operation of the solenoid valve of the hydraulic system in this scenario.

[0069] For ease of understanding, the meanings of some technical terms involved in this invention are explained herein. The following is an explanation of the meanings of key technical terms involved in this invention. The specific structural forms, material selections, numerical parameters, and application scenarios mentioned herein are merely illustrative descriptions to facilitate understanding of the technical solutions of this invention by those skilled in the art, and should not be construed as limiting the scope of protection of this invention.

[0070] The term “fixed” as used in this article is intended to describe a component that is connected to another component and is able to maintain its relative position to the other, so that forces, torques, etc., can be transmitted from one component to the other.

[0071] The directional terms used herein, such as “top,” “bottom,” “upper,” “lower,” “inner,” “inward,” “outer,” and “outward,” are used to assist in describing the orientation of the invention according to the embodiments illustrated in the figures. Unless otherwise stated, such as “horizontal direction,” “direction of gravity,” etc., the directional terms are not absolute up, down, horizontal, vertical, etc., and should not be construed as limiting the invention to any particular direction.

[0072] As used herein, the term "axial" and its variations refer to a direction that extends generally along an axis of symmetry, a central axis, an axis of rotation, or an elongated direction of a particular component or system. For example, an axially extending feature of a component may be a feature that extends generally along a direction parallel to the component's axis of symmetry or elongated direction. Further, for example, axially aligned components may be configured such that their axes of rotation are aligned. Similarly, as used herein, the term "radial" and its variations refer to a direction that is generally perpendicular to the corresponding axial direction. For example, a radially extending structure of a component may extend generally, at least partially, along a direction perpendicular to the component's longitudinal or central axis. As used herein, the term "circumferential" and its variations refer to a direction about the periphery of an object, or about the object's axis of symmetry, axis of rotation, central axis, or an elongated direction of a particular component or system.

[0073] The terms “including,” “having,” “comprising,” and variations thereof, as used herein, are intended as open-ended transitional phrases, terms, or words that require the presence of a specified component / step, but also allow for the presence of other components / steps.

[0074] In this invention, unless explicitly stated otherwise, the terms “first,” “second,” etc., are not intended to indicate any difference in order, position, quantity, or importance, but are merely used as labels to distinguish different positions or components, to differentiate one element, component, region, and / or location from another element, component, region, and / or location.

[0075] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0076] Example 1

[0077] Figure 1 This is a perspective view of a wheeled device according to an embodiment of this application. Figure 2 yes Figure 1 A three-dimensional schematic diagram of the remote control device and solenoid valve of the wheeled equipment. Figure 3 yes Figure 2 A cross-sectional view of the remote operating device taken at the line frame.

[0078] like Figure 1 As shown, this embodiment also provides a wheeled device, which includes a device body, a solenoid valve 2, and a remote operation device 1.

[0079] like Figure 2 and Figure 3As shown, this embodiment provides a remote operating device 1 for the operating lever 210 of a solenoid valve 2. The solenoid valve 2 is an electrically controlled valve in a hydraulic system that controls the opening and closing of the hydraulic passage. It has a built-in operating lever 210 that can rotate around its own axis. The operating lever 210 can switch between a locked state and a released state by rotation.

[0080] In the locked state, the internal valve core of solenoid valve 2 closes the hydraulic passage, and the hydraulic actuator (e.g., hydraulic foot) remains in a predetermined position. In the released state, the valve core switches positions to open and release the hydraulic passage, allowing the hydraulic actuator to reset. When solenoid valve 2 is energized, this state switching can be completed by electromagnetic drive; in the absence of power, such as during a power outage, manual rotation of the operating lever 210 is required to achieve the state switching.

[0081] The remote operating device 1 may include a housing 110, an extension shaft 120, a flexible traction member 130, and a rotation limiting assembly 140.

[0082] The housing 110 provides an enclosed installation and protective space for the internal components. The housing 110 can be fixed to the valve body of the solenoid valve 2 by bolting, snap-fitting, or other fixing methods known to those skilled in the art, or fixed to a structural component (e.g., mounting plate, mounting bracket) in the main body of the equipment for mounting the solenoid valve 2.

[0083] In this embodiment, the housing 110 can be made of metal (e.g., aluminum alloy, stainless steel) or high-strength engineering plastic, and can be made in two parts or as a single piece.

[0084] The extension shaft 120 is rotatably disposed within the housing 110 and is supported by a structure such as a bearing, a bushing, or a stepped hole in the inner wall of the housing 110, so that it can rotate relative to the housing 110 about its own axis.

[0085] The two ends of the extension shaft 120 are a drive shaft end 120a and a driven shaft end 120b, respectively. The drive shaft end 120a extends towards the solenoid valve 2 and is connected to the operating lever 210, thereby transmitting the rotational torque of the extension shaft 120 to the operating lever 210 in a 1:1 ratio. Rotating the extension shaft 120 causes the operating lever 210 to switch between a locked state and a released state. The driven shaft end 120b extends away from the solenoid valve 2 and is used to connect to the flexible traction member 130.

[0086] The flexible traction element 130 has a connecting end 130a and an operating end 130b. The connecting end 130a is wound around the driven shaft end 120b and fixedly connected by means of crimping, snap-fitting, welding, or fastener locking. The operating end 130b is exposed outside the housing 110 through a through hole in the side wall of the housing 110. When the operator pulls the operating end 130b in a direction away from the housing 110, the wound flexible traction element 130 applies a tangential pulling force to the driven shaft end 120b, causing the extension shaft 120 to rotate in a preset direction, thereby causing the operating lever 210 to rotate from the locked state to the released state, thus unlocking the hydraulic passage.

[0087] In this embodiment, the end of the operating end 130b may be fixed with a handhold 131 so that the operator can grip and apply force. In one embodiment, the handhold 131 is in the form of a pull ring or a pull handle; in other embodiments, the handhold 131 may also be a pull rope end, a non-slip grip, a hidden pull buckle, or other structures that facilitate pulling and applying force.

[0088] The flexible traction component 130 is a long, flexible transmission part with high tensile strength. In this embodiment, steel wire rope is preferred, but plastic-coated steel wire rope, high-strength polymer cable (such as nylon cable), or other equivalent flexible cable can also be used. The flexible traction component is flexible and can be routed along any path inside the equipment. After exiting the housing, only one operating end (such as a pull ring) needs to be exposed, and the exposed part occupies less space than the rigid handle. At the same time, the flexible traction component can adapt to the complex spatial layout inside the equipment and is not limited by the straight path of the rigid rod.

[0089] The rotation limiting component 140 is disposed inside the housing 110 and cooperates with the extension shaft 120 to limit the maximum rotation angle of the extension shaft 120 relative to the housing 110. In remote operation scenarios where the operator cannot directly observe the rotation angle of the extension shaft, the rotation limiting component provides mechanical safety protection, preventing damage to the solenoid valve due to excessive rotation of the operating lever, and also preventing excessive pulling of the flexible traction member 130 from causing it to dislodge from its groove or other components to be damaged.

[0090] The remote operating device of this application extends the rotation of the rotary rod to the outside of the equipment by connecting the proximal end of the extended shaft to the operating lever and the distal end to the flexible traction component. The operator can drive the extended shaft to rotate by pulling the flexible traction component outside the equipment, thereby causing the operating lever to rotate from the locked state to the released state, without opening the equipment casing or contacting the internal solenoid valve.

[0091] In this embodiment, the operation of the remote operating device 1 is as follows: When the solenoid valve 2 is in normal energized working state, the extension shaft 120 and the operating lever 210 are both in a locked state, and the hydraulic actuator remains in a predetermined position. When a power outage or other emergency occurs and manual unlocking is required, the operator grasps the handle 131 and pulls the operating end 130b of the flexible traction member 130. The flexible traction member 130 drives the extension shaft 120 to rotate through the winding structure. The extension shaft 120 transmits torque to the operating lever 210 through the drive shaft end 120a, causing the operating lever 210 to rotate from the locked state to the released state, opening the corresponding hydraulic release passage and allowing the hydraulic system to perform the preset operation. Thus, the operator can complete the unlocking operation without holding the solenoid valve 2 operating lever.

[0092] Next, several embodiments of the remote operation device described in this embodiment will be described with reference to the accompanying drawings. In the following description of the embodiments, the same reference numerals are used to refer to the same structures and functions as in the main embodiment described above, and repeated descriptions are omitted. The description mainly focuses on the differences between each embodiment and the main embodiment or previous modifications.

[0093] Example 2

[0094] Figure 4 This is a perspective view of the rotation limiting component of a remote operating device according to an embodiment of this application.

[0095] like Figure 3 , Figure 4 As shown, in this modified example, the rotation limiting assembly 140 includes a limiting pin 141, a limiting block 142, and a rotation limiting part 143. The limiting pin 141 is a pin-shaped member extending radially along the extended rotating shaft 120 and fixed to the extended rotating shaft 120, and can rotate synchronously with the extended rotating shaft 120. The limiting block 142 is an annular member sleeved on the outer periphery of the extended rotating shaft 120, and can rotate freely in the circumferential direction relative to the extended rotating shaft 120. A fan-shaped space 142a extending circumferentially is formed inside the limiting block 142, and the limiting pin 141 is accommodated in the fan-shaped space 142a.

[0096] Figure 5 This is a schematic diagram of a rotation limiting component of a remote operating device according to an embodiment of this application.

[0097] First refer to Figure 5 In sections A to C, when the extended rotating shaft 120 begins to rotate, the limiting pin 141 first rotates freely in the sector space 142a. At this time, the limiting block 142 remains stationary, and the limiting pin 141 can rotate with the extended rotating shaft 120 relative to the limiting block 142 within a first angular range, which is 0 to α degrees.

[0098] Continue to refer to Figure 5In sections C to E, after the limiting pin 141 abuts against the circumferential end wall of the fan-shaped space 142a, continued rotation will cause the limiting block 142 to rotate synchronously. The rotation limiting part 143 is a stop protrusion fixed to the inner wall of the housing 110 or integrally formed with the housing 110, used to block the circumferential rotation of the limiting block 142. When the limiting block 142 rotates with the extended rotating shaft 120 to abut against the rotation limiting part 143, the limiting block 142 stops rotating, thereby limiting the rotation of the limiting block 142 relative to the housing 110 within a second angle range, the second angle range being 0 to β degrees.

[0099] The first and second angle ranges can jointly define the maximum rotation angle θ of the extended shaft 120, where θ = α + β. Thus, by superimposing the two-stage stroke, a large-angle restricted rotation exceeding 360 degrees, which can be provided by a single-stage sector space, can be achieved within the compact radial dimension of the housing, with clear mechanical stops and reliable limiting.

[0100] Variations

[0101] like Figure 5 As shown in sections A to E, in one embodiment, the limiting pin 141 passes through the extended rotating shaft 120 and extends radially from opposite sides, forming two symmetrically arranged pin ends; correspondingly, the limiting block 142 includes two axisymmetrically arranged sector-shaped spaces 142a, so that the two pin ends are respectively accommodated in the corresponding sector-shaped spaces 142a. This limiting arrangement can achieve a large circumferential rotation angle limit of more than 400 degrees.

[0102] This symmetrical configuration on both sides ensures that the force during the rotational limiting process is symmetrically borne by the fan-shaped space end walls on both sides, reducing the risk of stress concentration and uneven wear on one side, improving the stability and durability of the rotational limiting, and making it suitable for applications with large operating torque.

[0103] Figure 6 This is a schematic diagram of a rotation limiting component of a remote operating device according to an embodiment of this application.

[0104] like Figure 6 As shown in Part A, in one embodiment, the limiting pin 141 extends radially from one side of the extended pivot 120 to form a single pin end; correspondingly, the limiting block 142 may include a single sector space 142a, in which the limiting pin 141 is accommodated.

[0105] This single-sided configuration achieves a circumferential rotation angle limit of more than 700 degrees by expanding the fan-shaped spatial angle; it simplifies the internal structure of the limit block 142 and the assembly process of the limit pin 141, and is suitable for application scenarios with small operating torque and high requirements for structural compactness.

[0106] like Figure 6As shown in parts B and C, in one embodiment, the rotation limiting assembly 140 further includes at least one intermediate limiting block 144. The intermediate limiting block 144 is coaxially sleeved on the annular member around the outer periphery of the extended rotating shaft 120, is accommodated within the fan-shaped space 142a of the limiting block 142, and is rotatable relative to the limiting block 142 within a third angular range; an intermediate fan-shaped space 144a is formed inside the intermediate limiting block 144, and a limiting pin 141 is accommodated within the intermediate fan-shaped space 144a, and is rotatable with the extended rotating shaft 120 relative to the intermediate limiting block 144 within a fourth angular range.

[0107] When only one intermediate limiting block 144 is set, the limiting pin 141 first rotates within the intermediate sector space 144a by a fourth angle range, and then drives the intermediate limiting block 144 to rotate by a third angle range. After the intermediate limiting block 144 abuts against the end wall of the sector space 142a, it drives the limiting block 142 to rotate. The third angle range and the fourth angle range together define the first angle range from 0 to α degrees.

[0108] When multiple intermediate limiting blocks 144 exist, they are nested radially from the inside out: the next level (inner) intermediate limiting block is accommodated in the central sector space of the previous level (outer) intermediate limiting block, and can rotate relative to the previous level intermediate limiting block within the corresponding angular range; the sum of the angular ranges corresponding to each level of intermediate limiting block is the fifth angular range. At this time, the third angular range, the fourth angular range, and the fifth angular range together define the first angular range from 0 to α degrees.

[0109] Therefore, without increasing the radial dimension of the housing 110, the angle travel of each level of sector space can be superimposed by increasing the nesting level, which can achieve circumferential large rotation angle limit of more than 720 degrees, 1080 degrees or even larger, and adapt to special application scenarios that require multi-turn rotation unlocking or multi-level control.

[0110] In one embodiment, the remote operating device 1 further includes an angle feedback component 150. The angle feedback component 150 includes a first feedback section 151 and a second feedback section 152. One of the first feedback section 151 and the second feedback section 152 is disposed on the extension shaft 120 and rotates synchronously with the extension shaft 120. The other is disposed circumferentially on the inner circumferential surface of the housing 110 or in a corresponding limiting block (e.g., limiting block 142 or a certain intermediate limiting block 144) in the rotation limiting component 140.

[0111] When the extended shaft 120 rotates to certain preset angles, the first feedback unit 151 and the corresponding second feedback unit 152 cooperate to generate tactile feedback (such as a feeling of sticking or sudden change in resistance perceived by the operator's hand) and / or auditory feedback (such as a "click" sound). During flexible traction remote operation, the operator cannot directly see the angle position of the operating lever 210. The tactile and auditory feedback provided by the angle feedback component 150 allows the operator to intuitively perceive whether the shaft has rotated to the correct position without the need for external observation devices, and provides special prompts such as indicating the current gear position, significantly improving the controllability and reliability of remote operation. The second feedback unit 152 can be provided with only one in the circumferential direction (corresponding to a single position), or multiple units can be provided at intervals (corresponding to multiple preset angles and multiple gear controls, see below for details).

[0112] Figures 7 to 9 This is a schematic diagram of the angle feedback component of a remote operating device according to an embodiment of this application.

[0113] Variations

[0114] like Figure 7 As shown, in one embodiment, the first feedback section 151 includes an elastic protrusion 151a, which may be composed of, for example, a spring-loaded plunger, an elastic metal sheet, or other components with elastic restoring force; the second feedback section 152 includes 10 positioning recesses 152a, which are recessed into the surface of the second feedback section 152.

[0115] When the extension shaft 120 rotates through every 36 degrees, the elastic protrusion 151a engages with the corresponding positioning recess 152a under the action of elastic restoring force, producing a clear tactile feedback and a "click" sound. When the force is continued to be applied, the elastic inclined surface of the elastic protrusion 151a is pushed back by the edge of the positioning recess 152a and continues to rotate past the positioning recess 152a. This feedback structure is simple, provides clear feedback, and is reliable in operation, serving as the basic implementation form of the angle feedback component 150.

[0116] Variations

[0117] like Figure 8 As shown, in one embodiment, the first feedback unit 151 includes a rigid protrusion 151b or a friction region 151b′. The rigid protrusion 151b is a protrusion formed of a rigid material (e.g., metal, hard plastic); the friction region 151b′ is a friction region with a surface roughness significantly higher than the surrounding area. The second feedback unit 152 includes a flexible protrusion 152b, which is made of an elastic material (e.g., rubber, elastomer, spring).

[0118] As the extension shaft 120 rotates, the flexible protrusion 152b sweeps across the rigid protrusion 151b or the friction region 151b′, providing a resistive force during the contact phase to create a perceptible abrupt change in resistance. When the force exceeds the threshold of the resistive force of the flexible protrusion 152b, the flexible protrusion 152b undergoes flexible bending deformation, allowing it to pass over the rigid protrusion 151b or leave the friction region 151b′, completing one feedback cycle and enabling the stroke to continue. The magnitude of the feedback force can be flexibly designed by adjusting the material stiffness, geometry, or preload of the flexible protrusion 152b.

[0119] Variations

[0120] like Figure 9 As shown, in one embodiment, the first feedback unit 151 includes a bidirectional ratchet and a bidirectional pawl 151c disposed within the corresponding limiting block in the rotation limiting assembly 140, and the second feedback unit 152 includes a pawl engagement portion 152c disposed at the extension shaft 120. In the bidirectional ratchet and the bidirectional pawl 151c, the tooth profile of the bidirectional ratchet has an inclined tooth surface in both clockwise and counterclockwise rotational directions; the bidirectional pawl is elastically biased around a pivot by an elastic element (not shown) and abuts against the corresponding bidirectional ratchet.

[0121] In this implementation, the elastic element is a torsion spring, one end of which is connected to the pivot of the bidirectional pawl, and the other end is connected to an operable direction switching mechanism, such as a lever. The direction switching mechanism includes a first switching position that applies a biasing force to the bidirectional pawl in a clockwise direction about the pivot, and a second switching position that applies a biasing force in a counterclockwise direction about the pivot.

[0122] Figure 9 Part A illustrates an arrangement that allows the extension shaft 120 to rotate clockwise. Here, a direction-switching mechanism switches the elastic element to a first switching position, causing the second end of the bidirectional pawl to engage in the groove of the corresponding bidirectional ratchet in its initial state.

[0123] When the extension shaft 120 rotates clockwise, the pawl engagement part 152c rotates with the shaft until it pushes the first end of the bidirectional pawl. The pawl engagement part 152c causes the bidirectional pawl to overcome the biasing force of the elastic element and deflect counterclockwise around the pivot axis. The second end of the bidirectional pawl climbs along the inclined tooth surface of the bidirectional ratchet and exceeds the tooth tip; then the pawl engagement part 152c passes over the first end of the bidirectional pawl. Under the restoring force of the elastic element, the bidirectional pawl quickly returns clockwise and engages in the original tooth groove, producing a clear locking feel and a "click" sound.

[0124] Figure 9Part B illustrates an arrangement where the bidirectional pawl is in a central position, with neither end of the pawl abutting the tooth surface of the bidirectional ratchet, and the pawl engagement portion 152c freely passes over the ends of the bidirectional pawl without pushing against it as the extension shaft 120 rotates. In this arrangement, the extension shaft 120 rotates clockwise and counterclockwise without producing any jamming feedback, and the bidirectional pawl is in a neutral state without providing angular feedback. This central position of the bidirectional pawl represents a transitional state when switching between arrangements of two opposite rotational directions, or between two adjacent feedbacks in the same rotational direction.

[0125] It is understood that the central position of the bidirectional pawl can also be an independently set position that can be adjusted by the elastic element. For example, it can be the third switching position selected by the aforementioned direction switching mechanism. In this case, the direction switching mechanism causes the elastic element to keep the bidirectional pawl in the central position, so that its two ends disengage from the bidirectional ratchet and the pawl mating part 152c can freely pass over it.

[0126] Figure 9 Section C illustrates an arrangement that allows the extension shaft 120 to rotate counterclockwise. Here, a direction-switching mechanism switches the elastic element to a second switching position, causing the first end of the bidirectional pawl to engage in the groove of the corresponding bidirectional ratchet in its initial state.

[0127] When the extension shaft 120 rotates counterclockwise, the pawl engagement part 152c rotates with the shaft until it pushes the second end of the bidirectional pawl. The pawl engagement part 152c causes the bidirectional pawl to overcome the biasing force of the elastic element and deflect clockwise around the pivot axis. The first end of the bidirectional pawl climbs along the inclined tooth surface of the bidirectional ratchet and goes beyond the tooth tip; then the pawl engagement part 152c passes over the second end of the bidirectional pawl. Under the restoring force of the elastic element, the bidirectional pawl quickly returns counterclockwise and engages in the original tooth groove, producing a clear locking sensation and a "click" sound.

[0128] In this example, there is only one pawl engagement part 152c on the extended rotating shaft 120 circumferences upwards. Therefore, the above feedback is repeated once for each clockwise or counterclockwise rotation. It is understandable that multiple pawl engagement parts 152c can be provided on the extended rotating shaft 120 circumferences upwards as needed.

[0129] Compared to the aforementioned embodiments, this embodiment integrates the bidirectional ratchet and bidirectional pawl 151c within the rotation limiting assembly 140. Bidirectional angle feedback is achieved simply by setting a ratchet mating part 152c on the extended rotating shaft 120. The overall structure is compact and easy to assemble. The swing-type structure of the bidirectional pawl ensures good consistency in feedback force and feedback distance in both clockwise and counterclockwise rotational directions. The magnitude of the feedback force can be flexibly set by adjusting the preload of the elastic element, the tooth profile angle of the bidirectional ratchet, and the geometric fit between the bidirectional pawl and the ratchet mating part 152c. This embodiment provides clear feedback, good bidirectional consistency, and high reliability, making it particularly suitable for remote operation scenarios requiring a clear gear feel in both forward and reverse operations.

[0130] Example 3

[0131] In one embodiment, multiple second feedback units 152 correspond to multiple preset rotation angles of the extended shaft 120. As the flexible traction member 130 is pulled, the first feedback unit 151 sequentially cooperates with multiple second feedback units 152, generating feedback once each time it passes through a second feedback unit 152; the operating lever 210 corresponds to different open / closed states of the solenoid valve 2 at each preset rotation angle along with the extended shaft 120, and different open / closed states correspond to different hydraulic actuation actions.

[0132] In the exemplary operating mode, the operator can use one of two operating methods: one is to continuously pull the flexible traction member 130, causing the extension shaft 120 to rotate continuously, and the first feedback unit 151 to continuously pass over multiple second feedback units 152 to generate continuous clicking feedback, thereby completing the multi-gear state change in sequence. The other is to pull a predetermined length at a time, causing the extension shaft 120 to rotate through a predetermined angle and generate feedback, realizing a single-stage gear switching; pulling another predetermined length will rotate through the next predetermined angle to enter the next gear, thereby forming a multi-gear state switching in sequence through multiple pulls.

[0133] In multi-level applications, for example, the first level can correspond to the locking of the first set of hydraulic actuators (such as the wheel lock), the second level can correspond to the release of the second set of hydraulic actuators (such as the front foot support), and the third level can correspond to the release of the third set of hydraulic actuators (such as the rear foot support). By pre-setting the correspondence between the angle and the path state, a purely mechanically programmable multi-level safety control logic is formed.

[0134] In one embodiment, this application can also generate tactile, auditory, and visual feedback in a mechatronic manner. The angle feedback assembly 150 also includes a sensor (not shown). The sensor is configured to detect the rotation angle of the extension shaft 120, or to detect the relative position between the first feedback unit 151 and the second feedback unit 152.

[0135] The sensor can be a photoelectric sensor, Hall sensor, infrared sensor, pressure sensor such as a contact microswitch, or other angle / position detection elements known in the art. The sensor can emit an electronic signal when the extended shaft 120 reaches a preset rotation angle, or when the first feedback unit 151 and the second feedback unit 152 reach a preset relative position. The electronic signal can be configured to trigger at least one of the following feedback methods: color, pattern, or text changes on a display device (e.g., LED indicator color change, screen display of current gear number or text prompt); sound prompts from an audible device (e.g., a buzzer or voice prompt); vibration feedback from a vibrator; and counting by a counter (e.g., recording the number of gears switched). Thus, by superimposing electronic multimodal feedback on mechanical tactile / auditory feedback, the effectiveness and recordability of feedback can be further enhanced in high-noise environments (where buzzers and voice prompts are easily identifiable), scenarios where the line of sight is far from the operating point (where light / screen displays are intuitive), or applications requiring the transmission of status information to a control system.

[0136] In one embodiment, the sensor may be, for example, a photoelectric sensor. A shielding disc is coaxially fixed on the extension shaft 120, and the shielding disc may be integrated into the side surface of the turntable portion 126. The edge of the shielding disc has a plurality of light-transmitting grooves along its circumferential direction, and the number and circumferential position of the light-transmitting grooves correspond one-to-one with the preset rotation angle of the extension shaft 120. A pair of photoelectric emitting tubes and photoelectric receiving tubes are fixed on the inner wall of the housing 110 or the corresponding limiting block 142, and the two are respectively placed on the radial sides of the shielding disc, so that the edge of the shielding disc can pass between them.

[0137] As the extension shaft 120 rotates, the light-blocking disc rotates accordingly. When each light-transmitting slot rotates to the position between the photoelectric emitter and the photoelectric receiver, the optical path is opened, the photoelectric receiver receives the light signal and outputs a pulse signal; when the non-light-transmitting area of ​​the light-blocking disc rotates to the position between the two, the optical path is blocked and disconnected. Thus, each pulse output indicates that the extension shaft 120 has reached a preset rotation angle position. After the pulse signal is processed by the controller, it triggers at least one of the electronic multimodal feedback mechanisms.

[0138] In one embodiment, the sensor may be a Hall sensor, for example. Multiple permanent magnets, preferably neodymium iron boron magnets, are embedded circumferentially at intervals on the outer peripheral surface of the extended shaft 120. The number and circumferential position of the multiple permanent magnets correspond one-to-one with each preset rotation angle of the extended shaft 120. A Hall sensor is fixed to the inner wall of the housing 110 or the corresponding limiting block 142. The Hall sensor is preferably a switch-type Hall element, with its sensing surface facing the outer peripheral surface of the extended shaft 120.

[0139] As the extension shaft 120 rotates, each permanent magnet passes the Hall sensor in sequence. When each permanent magnet approaches, the magnetic field strength at the Hall sensor changes, causing the Hall element to output a jump signal; as the permanent magnet moves away, the Hall element outputs a normal signal. Thus, each jump signal indicates that the extension shaft 120 has reached a preset rotation angle position. Based on this, the controller accurately identifies the current gear position and triggers at least one of the electronic multimodal feedback mechanisms.

[0140] In one embodiment, the sensor may be, for example, a contact microswitch. A contact microswitch is fixed at the second feedback section 152. The contacts of each contact microswitch are arranged facing the outer peripheral surface of the extension shaft 120, so that the first feedback section 151 can sequentially push the microswitches as the extension shaft 120 rotates.

[0141] When the extension shaft 120 rotates, the first feedback unit 151 sequentially pushes the contacts of each contact microswitch, causing the on / off state to merge and output a single level signal. After the first feedback unit 151 passes, the contact microswitch resets and opens under the action of its internal spring. Thus, each closing-opening cycle represents the extension shaft 120 reaching a preset rotation angle position. After the switch signal is processed by the controller, it triggers at least one of the following: color, pattern, or text change of the display device; prompt sound of the sound device; vibration of the vibrator; and counting of the counter.

[0142] Example 4

[0143] Figure 10 This is a perspective view of the reset elastic element of a remote operating device according to an embodiment of this application.

[0144] like Figure 3 , Figure 10 As shown, in one embodiment, the remote operating device 1 further includes a reset elastic element 160. The reset elastic element 160 is preferably a coil spring, one end of which acts on the extension shaft 120, and the other end acts on the inner wall of the housing 110 or a structure fixed relative to the housing 110.

[0145] The reset elastic element 160 can be configured such that when the flexible traction element 130 drives the extension shaft 120 to rotate from the locked state to the released state, the reset elastic element 160 is twisted or stretched to store energy; when the traction force applied to the flexible traction element 130 is released, the reset elastic element 160 releases the stored elastic potential energy, drives the extension shaft 120 to rotate in the opposite direction to the locked state, and drives the operating lever 210 to automatically reset to the initial locked position.

[0146] Therefore, when the operating lever 210 is used as an emergency operating lever, the operator does not need to manually tighten the operating lever 210 after emergency unlocking, avoiding the inability of the solenoid valve 2 to switch the hydraulic passage normally after power is restored due to forgetting to reset; the reset action is completed automatically by the mechanical structure, reducing operation steps and lowering the risk of missed operation.

[0147] Figure 11 This is a partial perspective view of a remote operation device according to an embodiment of this application.

[0148] like Figure 3 , Figure 11 As shown, in one embodiment, the driven shaft end 120b of the extension shaft 120 may be provided with a stop hole 121 extending in the radial direction. The housing 110 is provided with a locking hole 111 extending in the radial direction at a corresponding position.

[0149] When it is necessary to temporarily prevent the extension shaft 120 from rotating relative to the housing 110, a rod-shaped tool (such as a pin, a rod-shaped screwdriver, a special locking rod, etc.) can be passed through the stop hole 121 from the outside of the housing 110 and inserted into the locking hole 111 to fix the extension shaft 120 and the housing 110 relative to each other in the circumferential direction. When the reset elastic element 160 is in the pre-tightened state (pre-tensioned during assembly), inserting the rod-shaped tool can prevent the extension shaft 120 from rotating under the pre-tightening force of the reset elastic element 160, which facilitates assembly operations; during transportation or long-term maintenance, the locking structure can also be used to fix the extension shaft 120 at a predetermined angle position. After assembly or maintenance is completed, pulling out the rod-shaped tool will release the lock and allow the reset elastic element 160 to enter the normal working state.

[0150] Example 5

[0151] Figure 12 This is a perspective view showing the connection between the extended shaft of the remote operating device according to an embodiment of this application and the operating lever of the solenoid valve.

[0152] like Figure 3 , Figure 12 As shown, in one embodiment, the operating lever 210 has two actuating protrusions 211 extending radially from opposite sides. The drive shaft end 120a of the extension shaft 120 is cylindrical to receive the end of the operating lever 210, and the cylindrical wall of the drive shaft end 120a has receiving openings 122 on opposite sides. When the operating lever 210 is inserted into the drive shaft end 120a, the two actuating protrusions 211 respectively engage with the corresponding receiving openings 122, thereby reliably transmitting the torque of the extension shaft 120 to the operating lever 210.

[0153] Preferably, the receiving opening 122 has a predetermined length in the axial direction, thereby receiving the axial displacement of the actuating protrusion 211 caused by the movement of the internal mechanism of the valve core during the rotation of the operating lever 210, so as to avoid jamming or sticking due to axial travel after remote transfer and ensure smooth rotation.

[0154] Example 6

[0155] Figure 13 This is a perspective view of the extended rotating shaft of the remote operating device according to an embodiment of this application.

[0156] like Figure 12 , Figure 13 As shown, in one embodiment, the extension shaft 120 has a segmented structure, including a drive section 123 and a main body section 124. The drive section 123 is located near the solenoid valve 2, and includes a drive shaft end 120a which is connected to the operating lever 210 via an actuation protrusion 211 and a receiving opening 122. The main body section 124 is an axially extending main body portion that is detachably connected to the drive section 123 in the axial direction, and can be angularly adjusted relative to the drive section 123 in the circumferential direction before being fixed.

[0157] Because the initial angles of the operating lever 210 of the solenoid valve 2 differ, the driven shaft end 120b of the extended shaft 120 also differs. The circumferentially adjustable structure between the drive section 123 and the main body section 124 allows the drive section 123 to be fitted into the operating lever 210 during assembly, while the reset elastic element 160 is assembled in place, and then the drive section 123 and the main body section 124 are fixed together. This absorbs phase deviation and improves adaptability to different solenoid valve models and installation conditions.

[0158] Better, such as Figure 12 As shown, the drive section 123 is cylindrical to receive the first end 124a of the main body section 124. The cylindrical wall of the drive section 123 may have a circumferentially extending circumferential opening 123a at one point, forming an open window structure at that location. The drive section 123 may also include a cylindrical wall clamping portion 123b, disposed at the circumferential opening 123a, for example, a form-fitting cylindrical wall section.

[0159] By inserting and tightening the fastening bolts, the cylinder wall clamping part 123b and the cylinder wall on the opposite side of the circumferential opening 123a of the drive section 123 work together to clamp and hold the first end 124a of the main body section 124, thereby achieving circumferential and axial fixation of the drive section 123 and the main body section 124. When the bolts are loosened, the cylinder wall can be removed, and the main body section 124 can rotate freely relative to the drive section 123 to adjust the phase, thereby achieving stepless circumferential phase adjustment.

[0160] Example 7

[0161] like Figure 13 As shown, in one embodiment, the extended shaft 120 further includes a driven section 125. The main body section 124 has a first end 124a connected to the drive section 123 and a second end 124b connected to the driven section 125. The cross-section of the second end 124b has a mating shape, such as a single or double lug, a polygonal prism, a spline shape, etc. The driven section 125 includes a driven shaft end 120b (for connection to the flexible traction member 130) and a connecting end 125a. The connecting end 125a has a mating shape that complements the mating shape of the second end 124b, such as a single or double lug, a notch, a key, etc., thereby forming a mating shape fit with the second end 124b to achieve a detachable circumferential transmission connection.

[0162] Thus, the extended shaft 120 forms a three-section split structure consisting of a drive section 123, a main body section 124, and a driven section 125. During maintenance, the driven section 125 can be removed separately to replace the flexible traction component 130 or the winding component, thereby reducing maintenance costs.

[0163] Example 8

[0164] like Figure 3 , Figure 13 As shown, in one embodiment, the driven shaft end 120b includes a turntable portion 126, which is a disc-shaped member coaxially fixed to the extended rotating shaft 120, and its outer peripheral surface is provided with a winding groove 126a extending in the circumferential direction.

[0165] The connecting end 130a of the flexible traction component 130 is wound along the winding groove 126a and fixedly connected to the turntable part 126 by means of pressing, snapping, fasteners, etc. The operating end 130b is led out from the winding groove 126a in the tangential direction and passes through the through hole of the housing 110. The winding groove 126a guides and constrains the winding path of the flexible traction component 130, preventing the flexible traction component 130 from detaching axially or interfering with adjacent components during the pulling process, thus avoiding rope tangling or jamming. At the same time, by reasonably designing the winding diameter of the turntable part 126, the pulling length of the flexible traction component 130 and the rotation angle of the rotating shaft 120 can be preset, improving the transmission reliability.

[0166] Example 9

[0167] Figure 14 This is a perspective view of the bottom cover of a remote operating device according to an embodiment of this application. Figure 15 It is based on Figure 14 A perspective view of the bottom cover.

[0168] like Figure 3 , Figure 14As shown, in one embodiment, the housing 110 includes a bottom cover 112 disposed below the solenoid valve 2. The bottom cover 112 is used to collect hydraulic oil that may leak from the solenoid valve 2 or the pipeline connection, preventing the oil from dripping directly onto other internal components of the equipment or the external environment. The bottom cover 112 has a groove 112a for accumulating leaked fluid; that is, the upper surface of the bottom cover 112 forms a recessed fluid-receiving space in which leaked hydraulic oil can collect.

[0169] Preferably, the remote operation device 1 may further include a liquid level sensor 170, which is disposed at the tank 112a, for example, installed at the bottom or side wall of the tank 112a, to detect the liquid level of leakage accumulated in the tank 112a. When the leakage reaches a preset threshold, the liquid level sensor 170 outputs a detection signal (e.g., triggering an alarm in the equipment's central control system), alerting maintenance personnel that there is a hydraulic oil leak. This allows for timely detection and replacement of seals even when the leakage is small, preventing serious consequences such as the hydraulic foot support failing to extend or parking failure due to large-scale hydraulic oil leakage, thus enhancing the system's safety early warning capability.

[0170] The additional technical features in the above variations can be arbitrarily combined by those skilled in the art to form more implementation methods according to actual needs, without causing structural conflicts. All such combinations should fall within the protection scope of this invention.

[0171] Wheeled equipment examples

[0172] like Figure 1 As shown, this embodiment also provides a wheeled device, which includes a device body, a solenoid valve 2, and a remote operation device 1 as described in any of the foregoing embodiments and variations.

[0173] The main body of the equipment is a wheeled load-bearing frame with wheels around its perimeter. The central area can support related functional modules (such as medical equipment, testing equipment, and work execution mechanisms).

[0174] Solenoid valve 2 is installed inside the main body of the equipment and connected to the hydraulic control pipeline of the equipment. It is used to control the opening and closing of the hydraulic passage in order to control the action of hydraulic actuators (such as hydraulic foot supports).

[0175] The housing 110 of the remote operating device 1 is fixed to the valve body of the solenoid valve 2, or fixed to the structural component of the equipment body for mounting the solenoid valve 2. The operating end 130b of the flexible traction component 130 is led out from the housing 110 and arranged along a preset path, so that it is arranged on the outside of the equipment body (e.g., the emergency operation area on the side of the equipment shell) or in an emergency accessible position inside the equipment body (e.g., a groove, a channel, etc., and may be equipped with a dust cover), so that in an emergency, the operator can quickly pull the operating end 130b to unlock without opening the main compartment of the equipment body.

[0176] In one embodiment, the wheeled equipment also includes multiple hydraulic outriggers, an oil tank, pipelines, and an oil pump. Multiple hydraulic outriggers are located around the bottom of the equipment body and can extend hydraulically to support the ground for parking, or retract to detach from the ground to allow the wheeled equipment to move. The oil tank is located inside the equipment body and stores hydraulic oil. Pipelines connect the oil tank and each hydraulic outrigger, forming a hydraulic oil flow loop. The oil pump is located inside the equipment body and on the pipeline, configured to pump the hydraulic oil in the pipeline to provide pressurized oil for the extension of the hydraulic outriggers. A solenoid valve 2 is located on the pipeline and configured to block or allow the flow of hydraulic oil in the pipeline under different operating conditions, thereby controlling the extension, holding, and retraction of the hydraulic outriggers. In case of power failure or other emergencies, the remote operating device 1 provides a manual mechanical unlocking interface for the solenoid valve 2. By pulling the flexible traction member 130, the operating lever 210 is rotated to the release state, opening the hydraulic release path and allowing the hydraulic outriggers to retract under the action of internal springs, allowing the wheeled equipment to be quickly evacuated.

[0177] In order to make the purpose, technical solution and advantages of the embodiments of this application clearer, the technical solution of this application has been clearly and completely described in conjunction with the specific embodiments and accompanying drawings.

[0178] While various embodiments have been described above, it should be understood that the described implementations are only a part of, and not all, of the embodiments described herein, and are presented by way of example rather than limitation. It will be apparent to those skilled in the art that the disclosed subject matter may be implemented in other specific forms without departing from its spirit and essential characteristics.

Claims

1. A remote operating device for an operating lever of a solenoid valve, wherein the operating lever (210) of the solenoid valve (2) can be switched between a locked state and a released state by rotation, characterized in that, The remote operation device (1) includes: A housing (110), the housing (110) being fixed to the solenoid valve (2) or a structural component for mounting the solenoid valve (2); An extension shaft (120) is rotatably disposed within the housing (110). The extension shaft (120) has a drive shaft end (120a) and a driven shaft end (120b). The drive shaft end (120a) is connected to the operating lever (210) in a transmission manner. A flexible traction member (130) having a connecting end (130a) and an operating end (130b), the connecting end (130a) being wound around and fixedly connected to the driven shaft end (120b), and the operating end (130b) being exposed outside the housing (110) and adapted to be pulled to drive the extension shaft (120) to rotate, thereby causing the operating lever (210) to rotate from the locked state to the released state; and A rotation limiting assembly (140), disposed within the housing (110), is configured to limit the maximum rotation angle of the extended pivot (120) relative to the housing (110).

2. The remote operation device according to claim 1, characterized in that, The rotation limiting assembly (140) includes: A limiting pin (141) extends radially from the extended pivot (120) and rotates with the extended pivot (120); A limiting block (142) is sleeved on the extended rotating shaft (120) and can rotate in the circumferential direction relative to the extended rotating shaft (120). A fan-shaped space (142a) is formed in the limiting block (142). The limiting pin (141) is accommodated in the fan-shaped space (142a) and can rotate with the extended rotating shaft (120) relative to the limiting block (142) within a first angle range, where the first angle range is from 0 to α. A rotation limiting part (143) is fixed to the housing (110) or integrally formed with the housing (110). The rotation limiting part (143) is configured to restrict the limiting block (142) from rotating relative to the housing (110) within a second angle range, the second angle range being 0 to β. The first angle range and the second angle range together define the maximum rotation angle θ of the extended shaft (120), where θ = α + β.

3. The remote operation device according to claim 2, characterized in that, The limiting pin (141) passes through the extended pivot (120) and extends radially from opposite sides; the limiting block (142) includes two axisymmetric sector spaces (142a); or The limiting pin (141) extends radially from one side of the extended pivot (120), and the limiting block (142) includes a single sector space (142a).

4. The remote operation device according to claim 2, characterized in that, The rotation limiting assembly (140) also includes at least one intermediate limiting block (144). The intermediate limiting block (144) is sleeved on the extended rotating shaft (120) and accommodated within the fan-shaped space (142a) of the limiting block (142). The intermediate limiting block (144) is capable of rotating relative to the limiting block (142) within a third angle range. A central sector-shaped space (144a) is formed within the central limiting block (144). The limiting pin (141) is accommodated within the central sector-shaped space (144a) and can rotate relative to the central limiting block (144) within a fourth angular range with the extension shaft (120). When multiple intermediate limiting blocks (144) exist, the intermediate limiting blocks (144) are nested sequentially. The next-level intermediate limiting block (144) is accommodated within the intermediate sector space (144a) of the previous-level intermediate limiting block (144) and can rotate relative to the previous-level intermediate limiting block (144) within a corresponding angle range. The sum of the corresponding angle ranges is the fifth angle range. The third angle range, the fourth angle range, and the fifth angle range together define the first angle range.

5. The remote operation device according to any one of claims 1 to 4, characterized in that, It also includes an angle feedback component (150), which includes a first feedback part (151) and a second feedback part (152). One of the first feedback part (151) and the second feedback part (152) is disposed in the extension shaft (120) and rotates with the extension shaft (120). The other is disposed circumferentially spaced in the housing (110) or in the corresponding limiting block of the rotation limiting component (140). When the extended shaft (120) rotates to a preset angle, the first feedback unit (151) cooperates with the corresponding second feedback unit (152) to generate tactile feedback and / or auditory feedback.

6. The remote operation device according to claim 5, characterized in that, The first feedback unit (151) includes an elastic protrusion (151a). The second feedback unit (152) includes a positioning recess (152a), which is recessed into the surface of the second feedback unit (152). When the extended shaft (120) rotates to a preset angle, the elastic protrusion (151a) engages with the corresponding positioning recess (152a).

7. The remote operation device according to claim 5, characterized in that, The first feedback unit (151) includes a rigid protrusion (151b) or a friction region (151b′). The second feedback unit (152) includes a flexible protrusion (152b). The flexible protrusion (152b) is configured to sweep across the rigid protrusion (151b) or the friction area (151b′) and provide a blocking force when the extended pivot (120) rotates, and the flexible protrusion (152b) deforms when the force exceeds a threshold of the blocking force to allow the flexible protrusion (152b) to pass over.

8. The remote operation device according to claim 5, characterized in that, The first feedback unit (151) includes a bidirectional ratchet and a bidirectional pawl (151c). The second feedback unit (152) includes a pawl engagement part (152c). When the extended shaft (120) rotates, the pawl engagement part (152c) rotates together until it pushes the bidirectional pawl, causing one end of the bidirectional pawl to climb up along the inclined tooth surface of the bidirectional ratchet and exceed the tooth tip. Then the pawl engagement part (152c) extends beyond the other end of the bidirectional pawl, and the bidirectional pawl returns and engages in the original tooth groove under the action of the elastic restoring force.

9. The remote operation device according to claim 5, characterized in that, The multiple second feedback units (152) correspond to multiple preset rotation angles of the extended rotating shaft (120). During the rotation of the extended rotating shaft (120), the first feedback unit (151) cooperates with the multiple second feedback units (152) in sequence. The operating lever (210) corresponds to different open / closed states of the solenoid valve (2) at each preset rotation angle, and different open / closed states of the solenoid valve (2) correspond to different hydraulic actuation actions.

10. The remote operation device according to claim 5, characterized in that, Also includes The sensor is configured to: The rotation angle of the extended shaft (120) or the relative position of the first feedback unit (151) and the second feedback unit (152) is detected, and An electronic signal is emitted when the extended rotating shaft (120) reaches a preset rotation angle or when the first feedback unit (151) and the second feedback unit (152) reach a preset relative position. The electronic signal is configured to trigger at least one of the following: the color, pattern or text of the display device, the prompt sound of the sound device, the vibration of the vibrator, and the counting of the counter.

11. The remote operation device according to claim 1, characterized in that, It also includes a reset elastic element (160). One end of the reset elastic element (160) acts on the extended rotating shaft (120), and the other end acts on the housing (110). The reset elastic element (160) is configured as follows: When the flexible traction member (130) drives the extended shaft (120) to rotate from the locked state to the released state, the reset elastic member (160) stores energy; When the traction force applied to the flexible traction member (130) is released, the reset elastic member (160) releases energy and drives the extension shaft (120) to rotate toward the locked state.

12. The remote operation device according to claim 11, characterized in that, The extended shaft (120) is provided with a stop hole (121), and the housing (110) is provided with a locking hole (111). A rod-shaped tool can be passed through the stop hole (121) and inserted into the locking hole (111) to prevent the extension shaft (120) from rotating relative to the housing (110).

13. The remote operation device according to claim 1, characterized in that, The operating lever (210) has two actuating protrusions (211) extending radially from opposite sides. The drive shaft end (120a) of the extended rotating shaft (120) is cylindrical to receive the operating lever (210), and receiving openings (122) are provided on opposite sides of the cylindrical wall of the drive shaft end (120a) to receive the actuation protrusion (211). The receiving opening (122) has a predetermined length in the axial direction to allow the actuating protrusion (211) to generate axial displacement during the rotation of the operating lever (210).

14. The remote operation device according to claim 1, characterized in that, The extended pivot (120) includes: Drive section (123), the drive section (123) including the drive shaft end (120a) for drive connection with the operating lever (210); and The main body segment (124) is detachably connected to the drive segment (123) in the axial direction and can be adjusted and fixed relative to the drive segment (123) in the circumferential direction.

15. The remote operation device according to claim 14, characterized in that, The drive section (123) is cylindrical to receive the first end (124a) of the main body section (124), and the cylindrical wall of the drive section (123) is provided with a circumferential opening (123a). The drive section (123) further includes a cylinder wall clamping part (123b), which is disposed at the circumferential opening (123a) and cooperates with the drive section (123) on the cylinder wall opposite the circumferential opening (123a) to clamp the first end (124a) of the main body section (124).

16. The remote operation device according to claim 14, characterized in that, The extended rotating shaft (120) also includes a driven section (125); The main body segment (124) has a second end (124b) having an mating shape. The driven section (125) includes the driven shaft end (120b) for connection with the flexible traction member (130), and a connecting end (125a) having an engagement shape that mates with the second end (124b) for detachable transmission connection with the second end (124b).

17. The remote operation device according to claim 1, characterized in that, The driven shaft end (120b) includes a turntable portion (126) having a winding groove (126a). The connecting end (130a) of the flexible traction member (130) is wound around the winding groove (126a) and fixedly connected to the turntable part (126), and the operating end (130b) passes through the housing (110).

18. The remote operation device according to claim 1, characterized in that, The housing (110) includes a bottom cover (112) disposed below the solenoid valve (2) to receive leakage liquid, and the bottom cover (112) has a groove (112a) for accumulating leakage liquid. The remote operation device also includes a liquid level sensor (170), which is disposed at the tank (112a).

19. A wheeled device, characterized in that, include: Equipment body; Solenoid valve (2) is installed inside the main body of the device; as well as According to any one of claims 1 to 18, the housing (110) is fixed to the solenoid valve (2) or to a structural member on the device body for mounting the solenoid valve (2), and the operating end (130b) of the flexible traction member (130) is arranged in an emergency accessible position outside the device body or inside the device body.

20. The wheeled device according to claim 19, characterized in that, Also includes: Multiple hydraulic supports are provided on the main body of the equipment, and the hydraulic supports can extend to support the ground or retract to allow the wheeled equipment to move; The fuel tank is located inside the main body of the equipment; Pipelines are connected between the oil tank and the hydraulic foot support; An oil pump, disposed inside the main body of the equipment and located on the pipeline, is configured to pump the oil flow in the pipeline; wherein... The solenoid valve (2) is disposed on the pipeline and is configured to block or allow the flow of oil in the pipeline.

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