Excavator electric control handle with force feedback damping function

Abstract

The utility model discloses an excavator electric control handle with a force feedback damping function, and relates to the field of electric control handles, the excavator electric control handle comprises a grip, the bottom of the grip is fixedly connected with a protective sleeve, the bottom of the protective sleeve is fixedly connected with a bottom plate, the bottom of the bottom plate is fixedly connected with a mounting cylinder, and the outer wall of the mounting cylinder is fixedly connected with a connecting piece; by means of the structure, the excavator electric control handle with the force feedback damping function can achieve the effect that when a worker operates the grip, an external power source is used for powering on the magnetic ring, the magnetic pole of the iron core is determined through different current directions in the coil, and therefore the force feedback damping function is achieved. The iron core can generate an effective feedback force to the tail end of the grip under the assistance of the magnetic ring, so that a damping effect is formed, and accurate, comfortable and safe operation experience can be provided. Meanwhile, due to the high-precision control and feedback functions, the working efficiency and precision of the excavator can be improved, and the operation cost and the safety risk are reduced.

Description

Technical Field

[0001] This application relates to the field of electronic control handles, and particularly to an excavator electronic control handle with a force feedback damping function. Background Art

[0002] The force feedback industrial electronic control handle of an excavator with a damping function is a specially designed handle for controlling various operations of the excavator. It has force feedback technology, can simulate the physical force feeling in the real environment, and adjusts the resistance and feedback force of the handle through the damping function, enabling the operator to more intuitively perceive and operate the excavator.

[0003] When the current excavator electronic control handle is actually used, it can only perform multi-directional control drives. When encountering operations that require fine engineering, it cannot assist the operator in performing fine operations in a timely manner. Depending solely on the operator's work experience, errors are likely to occur, thus affecting the construction progress. Utility Model Content

[0004] In order to improve the problem of insufficient operation accuracy, this application provides an excavator electronic control handle with a force feedback damping function.

[0005] The excavator electronic control handle with a force feedback damping function provided by this application adopts the following technical solutions:

[0006] An excavator electronic control handle with a force feedback damping function includes a grip. A protective sleeve is fixedly connected to the bottom of the grip. A bottom plate is fixedly connected to the bottom of the protective sleeve. An installation cylinder is fixedly connected to the bottom of the bottom plate. A connecting piece is fixedly connected to the outer wall of the installation cylinder. A damping mechanism is arranged inside the protective sleeve;

[0007] The damping mechanism includes a control cylinder fixedly connected to the top of the inner wall of the protective sleeve. A spherical joint is clamped inside the control cylinder. A connecting column fixedly connected to the bottom of the spherical joint and the bottom of the inner wall of the installation cylinder is fixedly connected through the top of the bottom plate. An arc-shaped piece is fixedly penetrated outside the control cylinder. A linkage is arranged on the outer wall of the arc-shaped piece. A connecting pipe is fixedly connected to the side of the linkage away from the arc-shaped piece. A limiting plate is fixedly connected to the side of the connecting pipe away from the linkage.

[0008] By adopting the above technical solutions, the control operation of the grip becomes more accurate.

[0009] Preferably, the damping mechanism further includes an iron core fixedly connected to the side of the limiting plate away from the connecting pipe. A magnetic ring is fixedly connected to the outer wall of the iron core.

[0010] By adopting the above technical solutions, the magnetic ring is fixedly connected to the limiting plate.

[0011] Preferably, a spring is fixedly connected to the side of the limiting plate close to the iron core.

[0012] By adopting the above technical solution, the connection between the spring and the limiting plate is made more stable.

[0013] Preferably, a limiting member is slidably connected to the side wall of the limiting plate.

[0014] By adopting the above technical solution, the movement direction of the limiting plate is constrained by the limiting member.

[0015] Preferably, a connection disc fixedly connected to one end of the spring away from the limiting plate is fixedly connected to the side of the limiting member away from the limiting plate.

[0016] By adopting the above technical solution, the connection disc is fixedly connected to both the limiting member and the spring simultaneously.

[0017] Preferably, the iron core and the magnetic ring are movably and penetratingly connected to the side wall of the connection disc.

[0018] By adopting the above technical solution, the operation of the mechanism is made more stable by the iron core penetrating the side wall of the connection disc.

[0019] Preferably, an auxiliary member fixedly connected to the top of the bottom plate is fixedly connected to the side of the connection disc away from the limiting member.

[0020] By adopting the above technical solution, the connection disc is fixedly connected to the bottom plate.

[0021] Preferably, a magnetic block that fits the inner wall of the auxiliary member is fixedly connected to the top of the bottom plate, and a through hole is formed through the top of the bottom plate.

[0022] By adopting the above technical solution, the connection between the magnetic block and the bottom plate, and between the mechanism and the device is made closer.

[0023] In summary, the present application includes at least one of the following beneficial technical effects:

[0024] 1. When the operator operates the grip, the external power supply will energize the magnetic ring. By different current directions in the coil, the magnetic pole carried by the iron core is determined, so that the iron core is attracted and disconnected from the magnetic block. With the assistance of the magnetic ring, the iron core will generate an effective feedback force to the end of the grip, thus forming a damping effect, and being able to provide an accurate, comfortable and safe operation experience. At the same time, due to its high-precision control and feedback functions, it can also improve the operation efficiency and accuracy of the excavator, and reduce the operation cost and safety risk. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an overall structural display diagram of the electro-hydraulic control handle of the excavator with the force feedback damping function of the present application;

[0026] Figure 2 This is a diagram showing the internal structure of the electro-hydraulic control handle of an excavator with a force feedback damping function in this application;

[0027] Figure 3 This is a partial diagram showing the connection disc of the electro-hydraulic control handle of an excavator with a force feedback damping function in this application;

[0028] Figure 4 This is a diagram showing the overall side sectional view of the electro-hydraulic control handle of an excavator with a force feedback damping function in this application;

[0029] Figure 5 This is the electro-hydraulic control handle of an excavator with a force feedback damping function in this application Figure 4 The partial diagram at position A.

[0030] Reference numerals:

[0031] 1. Grip; 11. Protective sleeve; 12. Base plate; 13. Mounting cylinder; 14. Connecting piece;

[0032] 2. Damping mechanism; 21. Control cylinder; 22. Spherical joint; 23. Connecting column; 24. Arc-shaped piece; 25. Linking piece; 26. Connecting pipe; 27. Limiting plate; 28. Iron core; 29. Magnetic ring; 210. Spring; 211. Limiting part; 212. Connection disc; 213. Auxiliary piece; 214. Magnet; 215. Through hole. Detailed implementation mode

[0033] The following will further elaborate on this application in conjunction with the attached Figures 1-5 For a more detailed description of this application.

[0034] The embodiment of this application discloses an electro-hydraulic control handle of an excavator with a force feedback damping function.

[0035] Embodiment 1

[0036] Referring to Figure 1 , an electro-hydraulic control handle of an excavator with a force feedback damping function includes a grip 1 for facilitating the operation of the staff. The bottom of the grip 1 is fixedly connected to the top of the protective sleeve 11. The protective sleeve 11 is made of rubber material and can be folded and stretched as the grip 1 tilts. The internal structure is protected by the protective sleeve 11. The side of the protective sleeve 11 away from the grip 1 is fixedly connected to the top of the base plate 12, making the protection more complete. The side of the base plate 12 away from the protective sleeve 11 is fixedly connected to the top of the mounting cylinder 13. A connection hole is provided through the bottom of the mounting cylinder 13, facilitating the connection of external wires to internal devices. The outer wall of the mounting cylinder 13 is fixedly connected to one side of the connecting piece 14 close to the mounting cylinder 13, enabling the handle to be connected to other components through the mounting cylinder 13 and the connecting piece 14. A damping mechanism 2 is arranged inside the protective sleeve 11.

[0037] The staff passes the connecting wire through the connecting hole at the bottom of the mounting cylinder 13, and then through the through hole 215 opened at the top of the bottom plate 12, so as to connect the connecting wire with the magnetic ring 29, facilitating subsequent power-on, and then connect the connecting wire with the magnetic block 214, thus facilitating the startup of the subsequent mechanism.

[0038] Refer to Figure 2 , Figure 3 , the damping mechanism 2 includes a control cylinder 21 fixedly connected to the top of the inner wall of the protective sleeve 11. An arc-shaped chute is provided on the inner wall of the control cylinder 21. The side wall of the spherical joint 22 is clamped with the arc-shaped chute, so that the spherical joint 22 is slidably connected to the control cylinder 21. One side of the spherical joint 22 away from the control cylinder 21 is fixedly connected to one end of the connecting column 23 close to the spherical joint 22. One end of the connecting column 23 away from the control cylinder 21 is fixedly connected to the bottom of the inner wall of the mounting cylinder 13. A circular hole one is penetrated through the top of the bottom plate 12, and the connecting column 23 is fixedly penetrated through the circular hole one, so that the connecting column 23 is fixedly connected to the bottom plate 12. A circular hole two is penetrated through the top of the arc-shaped member 24, and the control cylinder 21 is fixedly penetrated through the circular hole two, so that the control cylinder 21 is fixedly connected to the arc-shaped member 24. The outer wall of the arc-shaped member 24 is attached to one side of the linkage member 25 close to the arc-shaped member 24. Thus, when the arc-shaped member 24 is driven by the control cylinder 21 to tilt towards the linkage member 25, a pressure will be exerted on the linkage member 25. One side of the linkage member 25 away from the arc-shaped member 24 is fixedly connected to one end of the connecting pipe 26 close to the linkage member 25, so that the linkage member 25 can drive the connecting pipe 26 to move.

[0039] The staff grasps the handle 1 and pushes it to one side. The handle 1 will drive the control cylinder 21 to tilt synchronously. The bottom of the control cylinder 21 will slide on the surface of the spherical joint 22, and the arc-shaped member 24 will tilt synchronously. When the arc-shaped member 24 tilts to one side, the controller will drive the internal damping mechanism 2 to start by collecting the change of the oil cylinder pressure signal. The connecting wire will power on the iron core 28. At this time, the magnetic ring 29 on the tilted side will make the iron core 28 have the same-sex magnetism as the magnetic block 214 after being powered on, so that the iron core 28 and the magnetic block 214 repel each other.

[0040] Refer to Figure 3 , Figure 4, One side of the connecting pipe 26 away from the linkage 25 is fixedly connected to one side of the limiting plate 27 close to the connecting pipe 26, so that the connecting pipe 26 can drive the limiting plate 27 to move. The damping mechanism 2 further includes an iron core 28 fixedly connected to one side of the limiting plate 27 away from the connecting pipe 26. The magnetic coil 29 is closely wound around the outer wall of the iron core 28, so that the magnetic coil 29 is fixedly connected to the iron core 28. One side of the limiting plate 27 close to the iron core 28 is fixedly connected to one side of the spring 210 close to the limiting plate 27. The limiting member 211 on the side wall of the limiting plate 27 is in contact, so that the limiting plate 27 is slidably connected to the limiting member 211. One side of the limiting member 211 away from the limiting plate 27 is fixedly connected to one side of the connecting disc 212 close to the limiting member 211. One side of the connecting disc 212 close to the spring 210 is fixedly connected to one end of the spring 210 away from the limiting plate 27, so as to make the connection tighter.

[0041] When the arc-shaped member 24 is tilted, it will press the linkage 25 on the tilted side to slide towards the magnetic block 214. The linkage 25 always fits the outer wall of the arc-shaped member 24. At this time, the linkage 25 will drive the connecting pipe 26 to slide towards the magnetic block 214. The connecting pipe 26 will drive the limiting plate 27 to slide towards the magnetic block 214. The limiting plate 27 will drive the iron core 28 to slide towards the magnetic block 214. Since the iron core 28 and the magnetic block 214 repel each other at this time, the iron core 28 will apply an effective feedback force to the linkage 25 side under the action of the spring 210, thus forming a damping effect.

[0042] Refer to Figure 4 , Figure 5 , a circular hole three is penetrated through the side wall of the connecting disc 212. The iron core 28 and the magnetic coil 29 are movably penetrated through the circular hole three, so that the iron core 28 and the magnetic coil 29 can pass through the connecting disc 212. One side of the connecting disc 212 away from the limiting member 211 is fixedly connected to one end of the auxiliary member 213 close to the connecting disc 212. One end of the auxiliary member 213 away from the connecting disc 212 is fixedly connected to the top of the bottom plate 12, so as to fix the connecting disc 212 through the auxiliary member 213. One end of the bottom plate 12 close to the magnetic block 214 is fixedly connected to the magnetic block 214. The side wall of the magnetic block 214 is in contact with the inner wall of the auxiliary member 213, so that the auxiliary member 213 limits the magnetic block 214. The bottom plate 12 fixes the magnetic block 214. The magnetic block 214 has magnetism. A through hole 215 is penetrated through the top of the bottom plate 12, so that the connecting wire can pass through the bottom plate 12 and be connected to the magnetic coil 29 and the magnetic block 214.

[0043] When the operator needs to perform fine operations, the current in the coil will flow in the reverse direction, so that the iron core 28 has a magnetic pole opposite to that of the magnetic block 214, so that the iron core 28 and the magnetic block 214 attract each other, so as to reduce the damping effect of the linkage 25 on the arc-shaped member 24, so that the control of the grip 1 is more flexible and more convenient for the staff to operate.

[0044] Among them, the magnetic block 214 and the magnetic coil 29 are both prior arts, and their structural principles will not be elaborated here. It also includes a controller, a connecting wire, a pressure sensor, etc., which are not the main technologies and will not be elaborated either.

[0045] The implementation principle of an electro-hydraulic control handle with a force feedback damping function in an embodiment of this application is as follows:

[0046] When an operator drives the grip 1 to tilt, the external power supply energizes the magnetic coil 29, making the iron core 28 charged. When the iron core 28 has the same magnetic pole as the magnetic block 214, the magnetic block 214 repels the iron core 28. At this time, the iron core 28 applies an effective feedback force to the linkage 25 through the magnetic coil 29, making the linkage 25 have a damping effect on the arc-shaped member 24. When the operator needs to operate with great force, the damping system will appropriately increase the resistance to improve the stability and safety of the operation. When fine operation is required, the coil will be energized in the reverse direction, making the iron core 28 and the magnetic block 214 have opposite magnetic poles, so that the iron core 28 and the magnetic block 214 attract each other, reducing the damping effect of the linkage 25 on the arc-shaped member 24 and making the operation of the grip 1 more flexible.

[0047] Embodiment 2

[0048] The magnetic block 214 is fixedly connected to the side of the limit plate 27 away from the connecting pipe 26, the bottom of the iron core 28 is fixedly connected to the bottom plate 12, and the magnetic coil 29 is wound around the outer wall of the iron core 28, so that the magnetic coil 29 is fixedly connected to the iron core 28. When an operator drives the grip 1 for control, the magnetic coil 29 will be energized by the external power supply, and the wire can be laid on the top of the bottom plate 12, making the laying of the connecting wire simpler and reducing the complexity of the mechanism assembly.

[0049] The above are all the preferred embodiments of this application. The protection scope of this application is not limited by this. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. An electro-hydraulic control handle for an excavator with a force feedback damping function, comprising a grip (1), a protective sleeve (11) is fixedly connected to the bottom of the grip (1), a bottom plate (12) is fixedly connected to the bottom of the protective sleeve (11), an installation cylinder (13) is fixedly connected to the bottom of the bottom plate (12), and a connecting member (14) is fixedly connected to the outer wall of the installation cylinder (13), characterized in that: A damping mechanism (2) is arranged inside the protective cover (11); The damping mechanism (2) includes a control cylinder (21) fixedly connected to the top of the inner wall of the protective cover (11). A spherical joint (22) is clamped inside the inner wall of the control cylinder (21). A connecting column (23) fixedly connected to the bottom of the inner wall of the installation cylinder (13) is fixedly connected to the bottom of the spherical joint (22). The connecting column (23) fixedly penetrates through the top of the bottom plate (12). An arc-shaped member (24) is fixedly penetrated outside the control cylinder (21). A linkage member (25) is arranged on the outer wall of the arc-shaped member (24). A connecting pipe (26) is fixedly connected to the side of the linkage member (25) away from the arc-shaped member (24). A limiting plate (27) is fixedly connected to the side of the connecting pipe (26) away from the linkage member (25).

2. The electro-hydraulic control handle of an excavator with a force feedback damping function according to claim 1, characterized in that: The damping mechanism (2) further includes an iron core (28) fixedly connected to the side of the limiting plate (27) away from the connecting pipe (26). A magnetic ring (29) is fixedly connected to the outer wall of the iron core (28).

3. The electro-hydraulic control handle of an excavator with a force feedback damping function according to claim 2, characterized in that: A spring (210) is fixedly connected to the side of the limiting plate (27) close to the iron core (28).

4. The electro-hydraulic control handle of an excavator with a force feedback damping function according to claim 3, characterized in that: A limiting member (211) is slidably connected to the side wall of the limiting plate (27).

5. The electro-hydraulic control handle of an excavator with a force feedback damping function according to claim 4, characterized in that: A connecting disc (212) fixedly connected to the end of the spring (210) away from the limiting plate (27) is fixedly connected to the side of the limiting member (211) away from the limiting plate (27).

6. The electro-hydraulic control handle of an excavator with a force feedback damping function according to claim 5, characterized in that: The iron core (28) and the magnetic ring (29) movably penetrate through the side wall of the connecting disc (212).

7. The electro-hydraulic control handle of an excavator with a force feedback damping function according to claim 6, characterized in that: An auxiliary member (213) fixedly connected to the top of the bottom plate (12) is fixedly connected to the side of the connecting disc (212) away from the limiting member (211).

8. An electro-hydraulic control handle for an excavator with a force feedback damping function according to claim 7, characterized in that: A magnetic block (214) fitting the inner wall of the auxiliary member (213) is fixedly connected to the top of the bottom plate (12). A through hole (215) is penetrated through the top of the bottom plate (12).

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