Force sense handle control transfer device

Abstract

A force sense handle control transfer device comprises a base which is composed of a fixing plate and a fixing frame, and the fixing plate is provided with a central through hole; the walking mechanism comprises a plurality of rollers which are respectively arranged at two ends of the fixed rod; the driving wheel is arranged in the middle of the outer side surface of one fixing rod; the output end of the walking driving motor and speed reducer is connected with the driving wheel; the swing mechanism comprises a fixed pipe which is vertically arranged at the central through hole of the fixed plate, and the upper end of the fixed pipe is fixedly sleeved with a connecting plate; a through hole is formed in one side surface of the lower part; the rotary gear sleeves the upper end of the fixed pipe, a connecting cover plate is arranged on the top surface of the rotary gear, and the bottom surface of the connecting cover plate is connected with the top surface of the connecting plate; the rotary driving motor and the speed reducer are vertically arranged below the fixed plate, and a rotary driving gear is arranged at the output end; the lifting mechanism comprises a lifting rod arranged in the fixed pipe, one side face of the lifting rod is provided with a linear guide rail and a sliding block, and the fixed pipe is connected with the sliding block; the lifting rack is arranged beside the linear guide rail in parallel; the lifting driving motor and the speed reducer are arranged on one outer side face of the fixing pipe, and a lifting gear is arranged at the output end; a data processing module and an execution module are arranged in the controller; the walking driving motor, the rotary driving motor and the lifting driving motor are electrically connected with the controller; and the force sense handle controller is internally provided with a force sense sensing module which is electrically connected with the controller.

Description

TECHNICAL FIELD

[0001] The utility model relates to conveying, transfer equipment especially relates to a force sense handle control transfer device. BACKGROUND

[0002] The truss transfer is widely applied to short distance power-assisted carrying scene, and the walking of the truss transfer is driven by two layers of tracks to move in X direction of the upper track and Y direction of the lower track, and the walking power is usually in three modes according to the load and the working condition.

[0003] 1, the operator directly pushes the mechanical arm to walk, namely manual, mainly applied to the application of light load.

[0004] 2, the motor drive device is controlled by the operator through the press and release action of the button, namely electric.

[0005] 3, the motor drive device is controlled by PLC according to the preset program, namely automatic.

[0006] Although the transfer equipment realizes the labor saving and efficiency improvement through the motor drive, the control performance is not ideal, the control mode is to realize the whole process transfer operation of the equipment through the operation button or the joystick handle, direct start or stop, cannot fully and well flexibly transfer and execute the transition, causes the equipment to flash, shake and stop, directly affects the control performance and transfer effect of the equipment, and many working conditions and application scenes cannot meet the requirements, so that the manual walking is forced to be used, so that the operation is very laborious.

[0007] The existing PLC program control truss transfer walking technology is mainly used in the existing scene with fixed track and repeatable operation, if any track in the XY plane changes, the preset program needs to be modified and edited, and in the product manufacturing transfer process in the complex and rare irregular inclined line, curve and other track points, the program setting is modified every time the product is replaced, which seriously affects the operation progress, cannot completely meet and satisfy the high efficient development process of modern enterprises, and causes local waste. SUMMARY

[0008] The utility model discloses a force sense handle control transfer device, walking, rotation, lifting and other transplanting actions can be realized through the force sense handle controller.

[0009] To achieve the above object, the technical scheme of the utility model is:

[0010] A force sense handle control transfer device comprises:

[0011] A base is mainly composed of a fixed plate and a fixed frame under the fixed plate, a center through hole is arranged in the center of the fixed plate, and the fixed frame is composed of a plurality of fixed rods.

[0012] The walking mechanism comprises:

[0013] A plurality of rollers are arranged at both ends of the fixed rod respectively;

[0014] A driving wheel is arranged at the middle of the outer side of a fixed rod;

[0015] A walking driving motor and a speed reducer are connected to the output end of the driving wheel;

[0016] The rotating mechanism comprises:

[0017] A fixed tube is vertically arranged at the central through hole of the fixed plate of the base, the upper end of the fixed tube extends out of the fixed plate and is sleeved with a connecting plate; a through hole is arranged on one side of the lower part of the fixed tube;

[0018] A rotating gear with external teeth is sleeved on the upper end of the fixed tube, a connecting cover plate is arranged on the top surface of the rotating gear, and the bottom surface of the connecting cover plate is connected to the top surface of the connecting plate;

[0019] A rotating driving motor and a speed reducer are vertically arranged below the fixed plate, the output end of the rotating driving motor and the speed reducer penetrates through the fixed plate, and the output end is provided with a rotating driving gear which is engaged with the rotating gear;

[0020] The lifting mechanism comprises:

[0021] A lifting rod is arranged in the fixed tube, a linear guide rail and a sliding block are arranged on one side of the lifting rod along the length direction, and the fixed tube is connected to the sliding block;

[0022] A lifting rack is arranged in parallel with the linear guide rail and corresponds to the through hole of the lower part of the fixed tube;

[0023] A lifting driving motor and a speed reducer are arranged on one outer side of the fixed tube, the output end of the lifting driving motor and the speed reducer is provided with a lifting gear which is engaged with the lifting rack exposed in the through hole of the lower part of the fixed tube;

[0024] A controller is internally provided with a data processing module and an execution module; the walking driving motor, the rotating driving motor and the lifting driving motor are electrically connected to the controller; the walking driving motor, the rotating driving motor and the lifting driving motor are servo motors; the data processing module is internally provided with a programmable logic controller (PLC); and the execution module is a servo driver;

[0025] A force sense handle controller is internally provided with a force sense induction module which is electrically connected to the controller.

[0026] Further, a walking driving control assembly is further arranged, comprising,

[0027] An adjusting rod is movably connected to the fixed plate of the base through a rotating shaft at one end; a mounting through hole is arranged in the middle of the adjusting rod, and the front end of the speed reducer of the walking driving motor is fixed in the mounting through hole;

[0028] An adjusting cylinder has its cylinder body vertically downward and is connected to the fixed plate of the base via a connector. The end of its piston rod is connected to the other end of the adjusting rod. The adjusting cylinder is electrically connected to the controller.

[0029] Preferably, at least two rotation position sensors are arranged at intervals along the circumference of the rotation gear on the fixing plate of the base on the outer side of the rotation gear. Correspondingly, a sensing element that cooperates with the rotation position sensor is provided on the connecting cover plate on the rotation gear; the rotation position sensor is electrically connected to the controller.

[0030] Preferably, the rotary position sensor is movably mounted on a fixed bracket, which is fixed to the fixed plate.

[0031] Preferably, the fixing plate of the base on the outer side of the rotary gear is provided with a limiting block that can extend to the top of the rotary gear, and correspondingly, the connecting cover plate on the rotary gear is provided with a stop block that cooperates with the limiting block.

[0032] Preferably, the fixing plate of the base on the outer side of the rotary gear is provided with a limiting block that can extend to the top of the rotary gear. Correspondingly, the connecting cover plate on the rotary gear is provided with a stop block that cooperates with the limiting block, and the sensing element is installed at the outer end of the limiting block.

[0033] Preferably, the sidewall of the fixed tube has at least two mounting through holes along the height direction, and each hole is equipped with a height position sensor, which is electrically connected to the controller.

[0034] The beneficial effects of this utility model are:

[0035] This utility model enables transplanting actions such as walking, rotating, and lifting through a force-sensing handle controller.

[0036] This invention, through the cooperation of a force-sensing handle controller and various drive motors (servo motors), combined with a data processing module and an execution module (servo driver), solves the current situation of manual truss transfer and movement. It breaks through the existing motor-driven and PLC-program-controlled truss transfer and movement system technology, improves the phenomenon of motion jerking in the direction and speed changes of the existing transfer system, effectively solves the problem of collecting and identifying the direction and force of operation through the force-sensing handle system, flexibly matching the movement of any direction trajectory, realizing the flexible transition of the entire transfer process within the trajectory, improving the control convenience of transfer within irregular oblique lines, curves and other trajectory points, and achieving precise positioning, precise displacement, precise speed matching and flexible docking of transfer of various types of products throughout the entire transfer process. It greatly enhances the ease of handling in terms of transfer speed and direction, and realizes a comprehensive innovation and replacement of the existing transfer system technology, saving energy and improving new quality productivity. Attached Figure Description

[0037] Figure 1 The utility model discloses a three-dimensional Figure 1

[0038] Figure 2 The utility model discloses a three-dimensional Figure 2

[0039] Figure 3 The utility model discloses a three-dimensional exploded view of the utility model embodiment;

[0040] Figure 4 The utility model discloses a three-dimensional view of the lifting mechanism in the utility model embodiment;

[0041] Figure 5 The utility model discloses a use state schematic diagram of the utility model embodiment. Specific implementation

[0042] Referring to Figures 1-5 The force sense handle control transfer device provided by the utility model comprises:

[0043] The base 1 is mainly composed of a fixed plate 101 and a fixed frame 102 below the fixed plate 101, and a center through hole 1011 is arranged in the center of the fixed plate 101;The fixed frame 102 is composed of a plurality of fixed rods 1021;

[0044] The walking mechanism 2 comprises:

[0045] A plurality of rollers 21 are arranged at the two ends of the fixed rods 1021 respectively;

[0046] A driving wheel 22 is arranged at the middle of the outer side of a fixed rod 1021;

[0047] A walking driving motor and speed reducer 23 are connected with the output end of the driving wheel 22;

[0048] The rotating mechanism 3 comprises:

[0049] The fixed tube 31 is vertically arranged at the center through hole 1011 of the fixed plate 101 of the base 1, the upper end of the fixed tube 31 is arranged outside the fixed plate 101, and a connecting plate 32 is arranged outside the fixed tube 31;One through hole 311 is arranged on one side of the lower part of the fixed tube 31;

[0050] The rotating gear 33 with external teeth is arranged outside the upper end of the fixed tube 31, and a connecting cover plate 34 is arranged on the top surface of the rotating gear 33, and the bottom surface of the connecting cover plate 34 is connected with the top surface of the connecting plate 32;

[0051] The rotating driving motor and speed reducer 35 are vertically arranged below the fixed plate 31, and the output end of the rotating driving motor and speed reducer 35 is arranged through the fixed plate 31, and the output end of the rotating driving motor and speed reducer 35 is arranged with the rotating driving gear 36 engaged with the rotating gear 33;

[0052] The lifting mechanism 4 comprises:​​

[0053] A lifting rod 41 is arranged in the fixed tube 31, and a linear guide rail 42 and a sliding block 421 are arranged on one side of the lifting rod 41 along the length direction, and the fixed tube 31 is connected to the sliding block 421;

[0054] A lifting rack 43 is arranged in parallel to the linear guide rail 42 and corresponds to the through hole 311 of the lower part of the fixed tube 31;

[0055] A lifting drive motor and a speed reducer 44 are arranged on one outer side of the fixed tube 31, and an output end of the lifting drive motor and the speed reducer 44 is provided with a lifting gear 45, and the lifting gear 45 is engaged with the lifting rack 43 exposed in the through hole 311 of the lower part of the fixed tube 31;

[0056] A controller 5 is internally provided with a data processing module and an execution module; the walking drive motor, the rotating drive motor, and the lifting drive motor are electrically connected to the controller; the walking drive motor, the rotating drive motor, and the lifting drive motor are servo motors; the data processing module is internally provided with a programmable logic controller PLC; and the execution module is a servo driver;

[0057] A force sense handle controller 10 is internally provided with a force sense induction module; and is electrically connected to the controller.

[0058] Further, a walking drive control assembly is further arranged, which comprises,

[0059] An adjusting rod 24 is movably connected to the fixed plate 101 of the base 1 through a rotating shaft 25 at one end; a mounting through hole 241 is arranged in the middle of the adjusting rod 24, and the front end of the speed reducer 23 of the walking drive motor is fixed in the mounting through hole 241;

[0060] An adjusting cylinder 26 is vertically downwardly connected to the fixed plate 101 of the base 1 through a connecting piece, and the piston rod end of the adjusting cylinder 26 is connected to the other end of the adjusting rod 241; and the adjusting cylinder is electrically connected to the controller.

[0061] Preferably, at least two rotating position sensors 6 are arranged on the fixed plate 101 of the base 1 on the outer side of the rotating gear 33 along the circumferential direction of the rotating gear 33, and correspondingly, the connecting cover plate 34 on the rotating gear 33 is provided with an induction piece 7 matched with the rotating position sensor 6; and the rotating position sensor is electrically connected to the controller.

[0062] Preferably, the rotating position sensor 6 is movably arranged in a fixed support 8, and the fixed support 8 is fixed to the fixed plate 101.

[0063] Preferably, the fixing plate 101 of the base 1 outside the rotary gear 33 is provided with a limiting block 37 extending above the rotary gear 33, and correspondingly, the connecting cover plate 34 of the rotary gear 33 is provided with a stop block 38 matching with the limiting block 37.

[0064] Preferably, the fixing plate 101 of the base 1 outside the rotary gear 33 is provided with a limiting block 37 extending above the rotary gear 33, and correspondingly, the connecting cover plate 34 of the rotary gear 33 is provided with a stop block 38 matching with the limiting block 37, and the inductive element 7 is installed at the outer end of the limiting block 37.

[0065] Preferably, the sidewall of the fixing tube 31 is provided with at least two mounting through holes 312 along the height direction, and a height position sensor 9 is arranged at each mounting through hole 312, and the height position sensor 9 is electrically connected with the controller.

[0066] The force sensing module (an operating handle integrated with a force sensor), a data processing module (a PLC loaded with a specific program), and an execution module (a servo driver) constitute the device. When the operator holds the operating handle and presses the enable button, the sensing input module can collect the X and Y forces of the hand acting on the handle at a high frequency and continuously transmit the forces to the data processing module. The data processing module receives the data from the force sensing module and collects the speed and torque data of the motor. After processing by the data processing module, the control instructions are continuously outputted, the execution module flexibly matches the movement of the device in any direction within the track 100, and the full process of flexible transition of the track is realized.

Claims

1. A force feedback handle control transfer device, characterized by, The device comprises: a base mainly composed of a fixed plate and a fixed frame below the fixed plate, wherein a center through hole is arranged in the center of the fixed plate; the fixed frame is composed of several fixed rods; a walking mechanism comprising: several rollers respectively arranged at both ends of the fixed rods; a driving wheel arranged at the middle of the outer side of a fixed rod; a walking driving motor and a speed reducer, the output end of which is connected to the driving wheel; a rotating mechanism comprising: a fixed tube vertically arranged at the center through hole of the fixed plate of the base, the upper end of the fixed tube extending out of the fixed plate and sleeving a connecting plate, and a through hole being arranged on one side of the lower part of the fixed tube; a rotating gear with external teeth, which is sleeved on the upper end of the fixed tube, and a connecting cover plate is arranged on the top surface of the rotating gear, the bottom surface of the connecting cover plate being connected to the top surface of the connecting plate; a rotating driving motor and a speed reducer vertically arranged below the fixed plate, the output end of which penetrating the fixed plate and being provided with a rotating driving gear engaged with the rotating gear; a lifting mechanism comprising: a lifting rod penetrating the fixed tube, a linear guide rail and a sliding block being arranged on one side of the lifting rod along the length direction, the fixed tube being connected to the sliding block; a lifting rack being arranged in parallel with the linear guide rail and corresponding to the through hole of the lower part of the fixed tube; a lifting driving motor and a speed reducer being arranged on one outer side of the fixed tube, the output end of which being provided with a lifting gear engaged with the lifting rack exposed in the through hole of the lower part of the fixed tube; 2. The force feedback control handle transfer apparatus according to claim 1, wherein a controller, which is internally provided with a data processing module and an execution module; the walking driving motor, the rotating driving motor and the lifting driving motor are electrically connected to the controller; the walking driving motor, the rotating driving motor and the lifting driving motor are servo motors; the data processing module is internally provided with a programmable logic controller (PLC); the execution module is a servo driver; a force sense handle controller, which is internally provided with a force sense induction module, and is electrically connected to the controller. a walking driving control assembly, comprising:

3. The force-reflecting handle control transfer device according to claim 1, wherein an adjusting rod, one end of which is movably connected to the fixed plate of the base through a rotating shaft; an installation through hole being arranged in the middle of the adjusting rod, and the front end of the speed reducer of the walking driving motor being fixed in the installation through hole; 4. The force feedback control handle transfer apparatus according to claim 3, wherein an adjusting cylinder, the cylinder body of which is vertically downward and connected to the fixed plate of the base through a connecting piece, the end of the piston rod of the adjusting cylinder being connected to the other end of the adjusting rod, and the adjusting cylinder being electrically connected to the controller. at least two rotating position sensors are arranged on the fixed plate of the base outside the rotating gear in a circumferential direction, and corresponding, the connecting cover plate on the rotating gear is provided with induction pieces matched with the rotating position sensors; the rotating position sensors are electrically connected to the controller. the rotating position sensors are movably mounted on a fixed support, and the fixed support is fixed on the fixed plate.

6. The force-reflecting handle control transfer device according to claim 3, wherein 5. The force sense handle control transfer device according to claim 1 or 3 or 4, wherein a limiting block extending above the rotating gear is arranged on the fixed plate of the base outside the rotating gear, and corresponding, a stop block matched with the limiting block is protrudingly arranged on the connecting cover plate of the rotating gear. a limiting block extending above the rotating gear is arranged on the fixed plate of the base outside the rotating gear, and corresponding, a stop block matched with the limiting block is protrudingly arranged on the connecting cover plate of the rotating gear, and the induction pieces are mounted on the outer end of the limiting block.

7. The force-reflecting handle control transfer device according to claim 1, wherein The fixed tube side wall is provided with at least two mounting through holes along the height direction, and a height position sensor is arranged respectively, and the height position sensor is electrically connected with the controller.

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