Kinematic structure with two-dimensional force sensor

Abstract

The application provides a motion structure with a two-dimensional force sensor and relates to the technical field of motion control. The motion structure comprises a body and a handle control assembly. The bottom of the body is provided with a plurality of groups of front wheels and a plurality of groups of driving wheels. The driving wheels are all internally provided with motors. The bottom of the body is provided with a driving steering device for controlling the motors. The handle control assembly comprises a handle shell and a plurality of two-dimensional force sensing devices. The two-dimensional force sensing devices are fixedly connected to the two sides of the handle shell. The two-dimensional force sensing devices are used for sensing vector actions and converting forces into signals for being transmitted to the motors.

Description

Technical Field

[0001] This application relates to the field of motion control technology, and in particular to a motion structure with a two-dimensional force sensor. Background Technology

[0002] Mobile medical imaging devices need to be flexible in their movement to meet the requirements of bedside or confined space scanning. In recent years, some technologies have attempted to introduce force sensing into mobile carts or robotic systems to improve maneuverability.

[0003] The relevant technology can be found in Chinese invention patent CN116360464A. This invention provides a method and system for controlling the motion path of a mobile DR device. It acquires first and second real-time pressure data from a pressure sensor to determine whether a device movement command is activated. If activated, the first and second real-time pressure data are transmitted to a path analysis module. The path analysis module analyzes the data and outputs path control parameters, which are then used to control the mobile DR device in real time.

[0004] However, the existing motion structure still has the following shortcomings: the sensing device uses a pressure sensor, which can only detect pressure in a single direction and cannot directly obtain the complex resultant force direction. If the resultant force direction is required, it needs to be indirectly calculated by the difference between the pressure data at the left and right ends, which is a complicated process. Utility Model Content

[0005] This application provides a motion structure with a two-dimensional force sensor, which solves the problem that the complex resultant force direction cannot be directly obtained. If the resultant force direction needs to be obtained, it needs to be indirectly calculated by the difference between the pressure data of the left and right ends, which is a complicated process.

[0006] The technical solution adopted in the embodiments of this application is as follows: In a first aspect, embodiments of this application provide a motion structure with a two-dimensional force sensor, which includes a body and a handle control assembly fixedly connected to the body. The bottom of the machine body is equipped with several sets of front wheels and several sets of drive wheels. Each drive wheel has a built-in motor, and the bottom of the machine body is equipped with a drive steering mechanism to control the motors. The handle control assembly includes a handle housing and several two-dimensional force sensing devices. The two-dimensional force sensing devices are fixedly connected to both sides of the handle housing. The two-dimensional force sensing devices are used to sense vector motion and convert force into signals that are transmitted to the motor.

[0007] By adopting the above technical solution, force is applied to the handle control component, and the two-dimensional force sensing device on the handle control component will directly convert the received vector force into a signal and send it to the motor. After receiving the signal, the motor drives the drive wheel to move, thereby generating electric propulsion. This realizes the direct conversion of vector force into electrical signal and its transmission to the motor. The motor then causes the drive wheel to move, generating electric propulsion, thus reducing the consumption of manpower and time.

[0008] In one alternative implementation, the motor integrates a brake.

[0009] By adopting the above technical solution, the motor integrates a brake, which can stop the moving structure in time, thereby reducing the occurrence of accidents.

[0010] In one alternative implementation, the handle control assembly is detachably connected to the body.

[0011] By adopting the above technical solution, the handle control component is detachably connected to the machine body, which facilitates the installation and removal of the handle and achieves the effect of convenient disassembly and maintenance.

[0012] In one alternative implementation, the grip portion of the handle control assembly is provided with a hand grip groove.

[0013] By adopting the above technical solution, the grip part of the handle control component is provided with an ergonomic hand grip groove, which achieves the effect of convenient gripping and comfortable use for users.

[0014] In one alternative implementation, the grip portion of the handle control assembly is provided with an anti-slip rubber layer.

[0015] By adopting the above technical solution, the grip part of the handle control component is provided with an anti-slip rubber layer, which reduces the chance of the user's hand slipping and achieves the effect of convenient use.

[0016] In one alternative implementation, the handle housing is made of ABS engineering plastic.

[0017] By adopting the above technical solution, the handle shell is made of ABS engineering plastic, which has good strength and toughness and is easy to process, thus achieving the effect of easy production and good quality.

[0018] In one alternative implementation, both the drive wheel and the front wheel are provided with anti-slip treads.

[0019] By adopting the above technical solution, anti-slip patterns are set on the surface of the drive wheel and the front wheel, which enhances the grip of the front wheel and the drive wheel, reduces slippage, and achieves the effect of less slippage and more precise movement.

[0020] In one alternative implementation, both the drive wheel and the front wheel are drilled with blind holes of varying sizes and depths.

[0021] By adopting the above technical solution, blind holes of varying sizes and depths are drilled in the drive wheel and front wheel. Sound waves of different frequencies are reflected and canceled out in the cavity, which significantly reduces noise and achieves the effect of reducing noise and improving user comfort.

[0022] In summary, this application includes at least one of the following beneficial technical effects: 1. The motion structure includes a two-dimensional force sensor and a drive wheel with a built-in motor. The two-dimensional force sensor can send a signal to the motor according to the force it receives, thereby controlling the movement of the drive wheel and generating electric propulsion. 2. The two-dimensional force sensor is equipped with multiple sets of X-axis and Y-axis guide shafts and multiple sets of X-axis and Y-axis reset springs, which can accurately sense the force received and thus accurately control the boost direction. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a motion structure with a two-dimensional force sensor.

[0024] Figure 2 This is a schematic diagram of the handle control assembly.

[0025] Figure 3 This is an exploded view of a two-dimensional force sensing device.

[0026] Explanation of reference numerals in the attached drawings: 1. Front wheel; 2. Drive wheel; 3. Handle control assembly; 4. Brake unlock button; 5. Sensor mounting plate; 6. Vertical limit component; 7. Two-dimensional force sensor; 8. Y-axis guide shaft; 9. Y-axis return spring; 10. Sensing plate; 11. X-axis guide shaft; 12. X-axis return spring; 13. Two-dimensional force sensing device. Detailed Implementation

[0027] The present application will be further described in detail below with reference to all the accompanying drawings in the embodiments of the present application.

[0028] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" refers to a connection where the relative positional relationship remains unchanged after the connection. It should be understood that when component A is fixedly connected to component C via component B, changes in the relative positional relationship due to deformation of components A, B, and C are permissible. The integrated structure obtained by the two components through a one-piece molding process means that during the formation of one of the two components, that component is connected to the other component, without requiring further processing (such as bonding, welding, snap-fit ​​connections, or screw connections) to connect the two components.

[0029] The directional terms mentioned in the embodiments of this application, such as "upper", "lower", "side", etc., are only for reference to the direction of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0030] The term "multiple" refers to at least two. The term "more than" includes the stated number. The term "and / or" describes a relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0031] This application discloses a motion structure with a two-dimensional force sensor.

[0032] Reference Figure 1 A motion structure with a two-dimensional force sensor, including a body whose frame is an existing design and will not be described in detail here.

[0033] A handle control assembly 3 is detachably connected to one side of the body. The handle control assembly 3 includes a handle shell, which is made of ABS engineering plastic. This material has good strength and toughness and is easy to process. The handle shell made of this material is not easy to break or deform.

[0034] The handle housing has an ergonomically designed grip groove and is also fitted with anti-slip rubber.

[0035] The inner wall of the grip part of the handle shell is provided with a two-dimensional force sensing device 13. The two-dimensional force sensing device 13 includes a sensing plate 10, a two-dimensional force sensor 7 and a sensor fixing plate 5. The sensing plate 10 is connected to the handle shell by bolts. The other side of the sensing plate 10 is connected to the two-dimensional force sensor 7 by a floating connector. The other side of the two-dimensional force sensor 7 is connected to the sensor fixing plate 5 by bolts. The other side of the sensor fixing plate 5 is fixedly connected to the body.

[0036] Two sets of X-direction guide shafts 11 and two sets of X-direction reset springs 12 are fixedly connected to both ends of the sensing plate 10. Two sets of Y-direction guide shafts 8 and two sets of Y-direction reset springs 9 are fixedly connected to the side of the sensing plate 10 near the two-dimensional force sensor 7. The guide shafts and reset springs are used to enable the two-dimensional force sensing device 13 to accurately sense the direction of the force.

[0037] The sensor fixing plate 5 is provided with a vertical limiting member 6, which is used to limit the stroke of the sensing plate 10 in the vertical direction to prevent the sensing plate 10 from overstepping its bounds.

[0038] The non-grip part of the handle housing also has two brake unlock buttons 4 for controlling the brake.

[0039] The brake unlock button 4 is a mechanical button with a reset spring inside. When the user presses the brake unlock button 4, the reset spring releases its elasticity, allowing the brake unlock button 4 to return to its original position for easy use.

[0040] Two front wheels 1 are located at the bottom of the frame away from the handle control component 3, and two drive wheels 2 are located at the bottom of the frame near the handle control component 3. Each drive wheel 2 is equipped with a brake, which is controlled by the brake unlock button 4 on the handle housing. The drive wheels 2 adopt a built-in motor mechanism, and the motor can drive the drive wheels 2 to move.

[0041] The bottom of the machine body is equipped with a drive steering device, which is located between the two drive wheels 2. The drive steering device can control the motor and the steering of the moving structure.

[0042] Both the front wheel 1 and the drive wheel 2 have anti-slip textures on their surfaces and are drilled with several blind holes of different sizes and depths. These blind holes can reflect and cancel out sound waves of different frequencies within the hole cavity, thus reducing noise.

[0043] The implementation principle of one embodiment of this application is as follows: when the operator applies force on the handle, the force is detected by the two-dimensional force sensor 7, and the sensor output signal is sent to the drive wheel 2 and the steering controller to control the equipment to achieve forward, backward, left turn, right turn and other motion states, thereby realizing electric propulsion.

[0044] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other, and any combination of features in different embodiments is also within the protection scope of this application. That is to say, the multiple embodiments described above can also be arbitrarily combined according to actual needs.

[0045] It should be noted that all the above-mentioned figures are exemplary illustrations of this application and do not represent the actual size of the product. Furthermore, the dimensional proportions between the components in the figures are not intended to limit the actual product of this application. The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A motion structure with a two-dimensional force sensor, characterized in that: Includes the body and handle control components (3). The bottom of the machine body is provided with several sets of front wheels (1) and several sets of drive wheels (2), each of which has a built-in motor. The bottom of the machine body is provided with a drive steering device to control the motor. The handle control assembly (3) includes a handle housing and several two-dimensional force sensing devices (13). The two-dimensional force sensing devices (13) are fixedly connected to both sides of the handle housing. The two-dimensional force sensing devices (13) are used to sense vector motion and convert force into signals to be transmitted to the motor.

2. The motion structure with a two-dimensional force sensor as described in claim 1, characterized in that: The motor integrates a brake.

3. The motion structure with a two-dimensional force sensor as described in claim 1, characterized in that: The handle control assembly (3) is detachably connected to the body.

4. The motion structure with a two-dimensional force sensor as described in claim 3, characterized in that: The grip portion of the handle control assembly (3) is provided with a hand grip groove.

5. The motion structure with a two-dimensional force sensor as described in claim 1, characterized in that: The grip portion of the handle control assembly (3) is provided with an anti-slip rubber layer.

6. The motion structure with a two-dimensional force sensor as described in claim 1, characterized in that: The handle housing is made of ABS engineering plastic.

7. The motion structure with a two-dimensional force sensor as described in claim 1, characterized in that: Both the drive wheel (2) and the front wheel (1) are provided with anti-slip patterns.

8. A motion structure with a two-dimensional force sensor as described in claim 1, characterized in that: Both the drive wheel (2) and the front wheel (1) are drilled with blind holes of varying sizes and depths.

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