EP1199622B1 - Operating element - Google Patents

Operating element Download PDF

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Publication number
EP1199622B1
EP1199622B1 EP01122079A EP01122079A EP1199622B1 EP 1199622 B1 EP1199622 B1 EP 1199622B1 EP 01122079 A EP01122079 A EP 01122079A EP 01122079 A EP01122079 A EP 01122079A EP 1199622 B1 EP1199622 B1 EP 1199622B1
Authority
EP
European Patent Office
Prior art keywords
control element
platform
element according
elements
handle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP01122079A
Other languages
German (de)
French (fr)
Other versions
EP1199622A1 (en
Inventor
Gerd Prof. Dr. Bernhardt
Sergiy Fedotov
Ruslan Rudik
Nicolai Dr. Tarasinski
Heinz Weiss
Matthias Lang
Jürgen Elser
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Deere and Co
Original Assignee
Deere and Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE2000152050 external-priority patent/DE10052050A1/en
Priority claimed from DE2001111609 external-priority patent/DE10111609A1/en
Application filed by Deere and Co filed Critical Deere and Co
Publication of EP1199622A1 publication Critical patent/EP1199622A1/en
Application granted granted Critical
Publication of EP1199622B1 publication Critical patent/EP1199622B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20213—Interconnected

Definitions

  • the invention relates to an operating element for the manual control of spatial movements of a system to be controlled.
  • operating elements which is for example an operating lever or a joystick, which are pivotable about one or two axes.
  • These controls allow activation of the mechanism in two degrees of freedom.
  • EP-A-0 981 078 a Joystickartig trained operating lever, which can be moved by means of a universal joint in two directions, forwards and backwards as well as to the left and right.
  • the US-A-5,451,134 describes a handling and lifting device which can be moved in six degrees of freedom and in which six length-adjustable supports are arranged in the manner of a hexapod between a lower platform and an upper platform.
  • a control device is provided with a corresponding configuration of struts, which are arranged articulated between a base plate and an actuating platform.
  • the struts are telescopically extendable so that the actuation platform can be moved by a joystick attached thereto with respect to the baseplate within six degrees of freedom.
  • the lengths of the struts are converted by respective cable arrangements and a potentiometer into electrical signals which, with interposition serve a servo arrangement of the control of the handling and lifting device.
  • a joystick control has become known in which a base plate and a handle are provided, between which extend a plurality of cylindrical length-adjustable potentiometer. Adjacent Potentiometerlaunche attack with their respective first ends in three vertices of an equilateral triangle on the base plate and with their respective second ends in three vertices of an equilateral triangle on the handle.
  • the handle can be moved in six degrees of freedom. The lengths of the potentiometers and their resistances change accordingly, the resistance changes being used as control signals.
  • the aim of the present invention is to obtain a control element which allows the control of more than two and up to six degrees of freedom.
  • the driving of the six degrees of freedom should be possible at the same time.
  • the operator should only a handle, such as an operating lever, are available, which makes it possible to operate all degrees of freedom without additional activation elements must be pressed.
  • the object underlying the invention is seen to provide an operating element of the type mentioned, by which overcomes the aforementioned problems and the objectives are achieved.
  • an operating element of the type mentioned by which overcomes the aforementioned problems and the objectives are achieved.
  • An embodiment of the operating element according to the invention includes a handle which can be designed as an operating lever and can be actuated by an operator.
  • the handle is attached to a platform so that the platform follows the movement of the handle, or so that forces applied to the handle are transferred to the platform.
  • At least six connecting elements are arranged between the platform and a stationary console.
  • force measuring sensors are provided for detecting the tensile and compressive forces acting in the connecting elements.
  • On the handle forces can be exercised in preferably six degrees of freedom: in three different translational directions and three different axes of rotation. This leads to force signals that are assigned to the connecting elements.
  • the force signals are evaluated by an evaluation unit and used to control the motion sequences of the system to be controlled.
  • the evaluation unit calculates from the measured values, which reflect the kinematics of the handle, the respective forces and moments exerted on the handle and outputs corresponding control signals to the system to be controlled.
  • the operating element according to the invention can thus be used for the manual control of spatial movements of a controlled Systems, for example, a virtual system, are used. It can be done with only one control element control spatial movement of a system to be controlled in up to six degrees of freedom without additional switches and the like must be operated. The control can thus be done in a simple and ergonomic way.
  • Hexapods are basically known and are used, for example, in measuring devices for checking the positional accuracy of machine tools ( DE-A-35 04 464 ), in motor coordinate measuring machines ( DE-A-197 20 049 ) and used in robot kinematics.
  • Hexapod is to be understood as an arrangement of connecting elements that allows movements in six degrees of freedom.
  • the hexapod may contain six or more (e.g., eight) connectors.
  • the handle for example, can pivot laterally in two directions, rotate about its axis, shift laterally in two directions and slide out and in toward its axis. Since force transducers are used, the movements of the handle can be so small that they are not perceived by the operator. In this case, the operator will not make a certain spatial adjustment of the handle to set control commands, but to exert forces on the handle that correspond to the desired control signals. Such versatile operation of a handle is not possible with the previously known controls.
  • the invention can be used for the control of mechanisms with more than two degrees of freedom.
  • a preferred one Use case arises in connection with an attachment interface for coupling work equipment to a work vehicle, as in the post-published DE-A-199 51 840 is described.
  • six hydraulic cylinders arranged in the manner of a hexapod are provided between a tractor body and a coupling frame. These hydraulic cylinders can be controlled by the control element according to the invention by using the signals of each force transducer of the operating hexapod to control a corresponding hydraulic cylinder of the attachment interface hexapod.
  • Another application of the invention is in the computer field, in which the operating element is used as a so-called "three-dimensional mouse" and serves to control virtual spatial movement sequences that can be made visible on a screen, for example.
  • the connecting elements are arranged in the manner of a hexapod.
  • the connecting elements are formed substantially rigid in their longitudinal extent, so that they are neither longer nor shorter by exerting axial forces.
  • the tensile and compressive forces transmitted to the fasteners by actuation of the handle are measured by force transducers.
  • force transducer for example, strain gauges or piezoelectric transducer into consideration.
  • the points of engagement of the connecting elements on the platform and / or on the console are preferably approximately in the region of the corners of each equilateral triangle.
  • two connecting elements are articulated near each corner, and can be pivoted in each case in two directions.
  • two connecting elements can each engage at two adjacent corners of the quadrangle, and in each case one or in each case two of the remaining connecting elements can be articulated to the other two corners of the quadrangle.
  • connecting elements In order to avoid that bending forces are transmitted to the connecting elements, it is expedient to connect the connecting elements articulated to the platform and / or articulated to the console. As a result of the articulated connection occur in the connecting elements only tensile and compressive forces, so that the structure remains statically determined. The forces can be detected by force transducers.
  • connecting elements rigidly to the console and to connect articulated to the platform.
  • one or more rubber-like elements are used for the articulated connections, which allow lateral tilting of the connecting elements relative to the platform, but are sufficiently rigid to transmit tensile and compressive forces.
  • An embodiment of the invention provides that the platform contains bending elements, on each of which a rigid connecting element engages and which bend in the event of force or moment loads on the handle.
  • the bending elements are preferably rod-shaped or tab-shaped and rigidly connected to the platform with at least one end. They are aligned transversely to the longitudinal extent of the connecting elements. The term transverse also includes other angles between the orientations of the bending element and the connecting element in addition to a right-angled design. Conveniently, the bending elements are connected only with one of its ends to the platform and stand with its other, free end of the side from the platform.
  • connecting elements engage each
  • a connecting element engages in the area of the free end of each rod or tab.
  • the tabs can be formed, for example, such that the platform is slotted in their corners and the slots are substantially aligned with the platform center.
  • a strain gauges oriented substantially in the radial direction, ie towards the center of the platform arranged.
  • the two strain gauges are connected to form a half bridge.
  • the half-bridge can be amplified to a full bridge and provides an output signal in the form of a bridge detuning.
  • the bridge voltage can be supplied to a measuring amplifier, which is integrated in a microcontroller.
  • a measuring amplifier which is integrated in a microcontroller.
  • six output voltages are thus formed for six connection elements of six associated measurement amplifiers, which are a measure of the forces occurring in the connecting elements.
  • the microcontroller can also take over the entire geometry calculation. It converts the output signals into force and torque components and outputs this data via a bus line, for example a CAN bus.
  • the absolute value of each force and moment component is a measure of the speed with which the system to be controlled should move.
  • the directions of the forces give the direction of translation and the direction of the moments dictates the direction of rotation of the system.
  • the transmitter may have integrated semiconductor elements, as is customary for pressure and acceleration sensors.
  • the handle in the manner of an angle lever, in which one leg, for example, protrudes perpendicularly from the platform and the other free leg, which is essentially bent at right angles, runs approximately parallel to the platform.
  • the free leg is up in its unactuated resting position and can be easily operated by an operator in the context of six degrees of freedom.
  • At least one control is arranged in the region of the free end of the handle according to a preferred embodiment of the invention. It is about in this case, for example, a switch or pushbutton operable with a finger or a thumb through which an electrical switch is actuated, or a roller connected to an electrical analogue transmitter. It can also be an activation flap mounted on the handle, as for example in the DE-A-0 981 078 has been described.
  • Such controls can meet safety requirements and control other functions without the operator having to remove her hand from the handle.
  • the control can be integrated into the mode of operation such that the system to be controlled can only be moved by actuating the handle when an operating switch integrated in the handle is actuated. This allows an unintended operation of the system to be controlled, z. B. while driving, avoid.
  • the output characteristic of the evaluation unit depends non-linearly on the measured tensile or compressive forces, so that given a linear increase in bending force, a non-linear operating speed for the system to be controlled is predetermined.
  • a non-linear operating speed for the system to be controlled is predetermined.
  • coordinate transformations can be used to calculate the forces or paths in any spatial coordinate system.
  • the force variables in the main axis directions of the handle can be determined.
  • the motion quantities for example, target speeds in the respective directions
  • One possible area of application in which the operating element according to the invention can facilitate operation is the control of a system designed as a hexapod, for example the hexapod system of the attachment device of a work vehicle.
  • a system hexapod is used as the system to be controlled, for example hexapod device mounting, then it may be advantageous to adapt the geometry of the operator hexapod to the geometry of the system hexapod so that they are similar to one another.
  • the length dimensions and articulation points of the connecting elements can be in a fixed relationship to the length dimensions and articulation points of the drive elements of the system hexapods, so that the kinematics of the two hexapod arrangements are similar or identical to one another. This can be transmitted directly to the drive elements, for example, on the hydraulic cylinder strokes of the system to be controlled by the evaluation and measurement programming signals reduce the programming effort for a control unit.
  • the evaluation unit generates control signals which serve to control a coupling device, for example a coupling triangle, of a vehicle attachment device.
  • a coupling device for example a coupling triangle
  • the operator can thus use the coupling triangle as desired from the vehicle state in order to carry out coupling operations or to move the attached device as desired.
  • the operating element can, for.
  • a vehicle power lift such as a front linkage, serve.
  • a particularly preferred application for the operating element according to the invention lies in the vehicle control, in which the operating element of the control of a vehicle component is used.
  • the console of the operating element is part of a vehicle console, in particular part of the vehicle state.
  • FIG. 1 shows an operating element, in which between a substantially triangular platform 60 and a vehicle console or mounting plate 62 connecting elements are arranged, which are designed as rigid connecting rods 64, 66, 68, 70, 72, 74.
  • the ends of the connecting rods 64, 66, 68, 70, 72, 74 are arranged in corner areas of equilateral triangles. They are rigidly connected to the mounting plate 62 and communicate with the platform via a respective rubber element 76, which forms an articulated connection.
  • the platform 60 is substantially formed as an equilateral triangle, wherein about two connecting elements 64, 66, 68, 70, 72, 74 formed fasteners attack approximately in the region of each corner of this triangle.
  • the respective other ends of the connecting rods 64, 66, 68, 70, 72, 74 are fastened to the vehicle console 62, which is only partially shown, wherein the fastening points also essentially form an equilateral triangle, which, however, is rotated by 60 ° with respect to the platform triangle.
  • the articulation points between the connecting rods 64, 66, 68, 70, 72, 74 and the platform 60 and the console 62 allow an all-round deflection of the connecting rods 64, 66, 68, 70, 72, 74 to.
  • the connecting rods 64, 66, 68, 70, 72, 74 are in the manner of a Hexapods between the platform 60 and the console 62 arranged.
  • a perpendicular to the platform 60 aligned handle 78 is fixed, which has been shown only schematically.
  • the handle 78 may also be a joystick-like operating lever 78 fastened to the platform 60, which has two legs extending substantially perpendicular to one another, of which a first leg is substantially perpendicular to the platform 60 protrudes and a second leg is angled upwards.
  • the second leg is an ergonomically designed operating handle and allows for easy operation.
  • the operating lever 78 may be equipped with additional actuating elements, in which at its second leg laterally a control in the form of a pressure switch (activation button) is arranged.
  • a control in the form of a pressure switch (activation button) is arranged.
  • the evaluation unit 32 emits signals to the system 36 to be controlled only when the pressure switch is actuated.
  • two mutually parallel tabs 80 are formed, which are separated by a respective slot 82.
  • the tabs 80 and slots 82 are aligned with the center of the platform 60, so the handle 78, out.
  • At the free ends of the tabs 80 is one end of a connecting rod 64, 66, 68, 70, 72, 74 attached with the interposition of a rubber element 76.
  • an upper strain gauge 84 is fastened on the upper side of each lug 80.
  • the strain gauges 84 are aligned parallel to the tabs 80 with their longitudinal extent to the platform center.
  • the strain gauges 84 are in a region of the respective tab 80, which lies between the rubber element 76 and the middle of the platform facing the end of the slot 82.
  • each tab 80 On the rear side of each tab 80 opposite the visible platform front side, opposite to the upper strain gauge 84, there is in each case a lower strain gauge 86 which is not visible in FIG. 1 but shown in FIG. 3.
  • FIG. 2 shows that the control element 78 is disposed on a right console 30 in the vehicle cabin, where it is easily accessible to the operator.
  • an attachment interface 36 for coupling of implements is shown, as in the post-published DE-A-199 51 840 is described in detail.
  • the mounting interface 36 includes a coupling frame 38 with hooks 40 for attachment of implements, not shown.
  • Between the coupling frame 38 and the tractor body 42 extend six hydraulic cylinders 44, 46, 48, 50, 52, 54, which are arranged and operated in the manner of a hexapod.
  • the spatial articulation of the hydraulic cylinders and their length dimensions are in a fixed proportional relationship to the spatial articulation points of the connecting elements 64, 66, 68, 70, 72, 74 of the operating element 78th
  • the evaluation device 32 determines the measured value of each strain gauge 84 and outputs proportional control signals to the hydraulic cylinders 44, 46, 48, 50, 52, 54.
  • a front strain gauge 84 and a rear strain gauge 86 are interconnected in a half-bridge.
  • the half bridge is supplemented by three supplementary resistors 88, 90, 98 to a full bridge.
  • the resistor 98 is an adjustable resistor through which a manual, rough zero balance of the bridge circuit can be made.
  • a bridge supply voltage U s is applied to the successively connected in series strain gauges 84, 86.
  • the bridge provides at a center tap between the two strain gauges 84, 86 on the one hand and at a center tap between the two supplementary resistors 88, 90 on the other hand, a bridge voltage U B in the form of a bridge detuning.
  • strain gauges 84, 86 in a bridge circuit results in a temperature compensation between the front and the back of the platform 60.
  • the use of two strain gauges 84, 86 per tab 80 also results in a doubling of the output signal compared to only one strain gauge.
  • the bridge voltage U B is amplified by a measuring amplifier 92 and then fed to an input signal conditioning 94.
  • the input signal conditioning 94 is connected to a nulling device 96.
  • the zero balance device may be a corresponding program part. Due to the integrated zero adjustment, drifts of the measuring amplifier 92 as well as small plastic changes of the system or voltage fluctuations can be compensated automatically. The automatic zeroing is performed only when no operation of the operating element is to take place and therefore a arranged on the operating handle 78 activation switch is not actuated.
  • the output voltage U A of the input signal conditioning 94 is a measure of the force in the respective connecting rod 64, 66, 68, 70, 72, 74. For each strain gauge pair 84, 86 an output voltage U A is provided.
  • the output voltages U A of all strain gage pairs 84, 86, of which only one was shown in FIG. 3, are fed to a geometry calculation unit 100, by which the measurement signals are converted into force and moment components.
  • the magnitude of the forces is a measure of the speed with which the system to be controlled is to be moved, while the direction of the forces reflects the direction of translation and the direction of the moments reflects the direction of
  • the output signals of the geometry calculating unit 100 are subjected to non-linear conversion in an output signal conditioning 102, which is connected to a characteristic memory 104, according to the provided characteristics, and outputted to a CAN bus 106 via a connector, not shown. Due to the output signal processing 102, a signal output is only permitted if an actuation of the operating element is to take place and therefore an activation switch arranged on the activation switch 78 is actuated.
  • the makeup resistors 88, 90, 98 amplifiers 92, input signal conditioning 94 and nulling devices 96 associated with each strain gauge pair 84, 86 are combined to form a common integrated device 108 together with the geometry calculation unit 100, the output signal conditioning 102, and the characteristic memory 104.
  • This device 108 is preferably mounted on the back of the platform 60. It can, however be convenient to accommodate the device 108 in an external controller housing.

Description

Die Erfindung betrifft ein Bedienungselement zur manuellen Ansteuerung räumlicher Bewegungsabläufe eines zu steuernden Systems.The invention relates to an operating element for the manual control of spatial movements of a system to be controlled.

Für die Ansteuerung von Mechanismen werden Bedienungselemente eingesetzt, bei denen es sich beispielsweise um einen Bedienungshebel oder um einen Joystick handelt, die um eine oder zwei Achsen verschwenkbar sind. Diese Bedienungselemente ermöglichen eine Ansteuerung des Mechanismus in zwei Freiheitsgraden. So beschreibt beispielsweise die EP-A-0 981 078 einen joystickartig ausgebildeten Bedienungshebel, der sich mittels eines Kreuzgelenks in zwei Richtungen, nach vorn und hinten sowie nach links und rechts bewegen lässt. Auf dem Betätigungsgriff des Bedienungshebels befinden sich zwei elektrische Druckschalter zur manuellen Auslösung weiterer Steuersignale.For the control of mechanisms operating elements are used, which is for example an operating lever or a joystick, which are pivotable about one or two axes. These controls allow activation of the mechanism in two degrees of freedom. For example, describes the EP-A-0 981 078 a Joystickartig trained operating lever, which can be moved by means of a universal joint in two directions, forwards and backwards as well as to the left and right. On the operating handle of the operating lever there are two electrical pressure switches for manual triggering of further control signals.

Für die Ansteuerung der Bewegung in mehr als zwei Freiheitsgraden, z. B. für räumliche Bewegungsabläufe, können zusätzliche Steuerelemente, wie Rollen oder elektrische Druckknöpfe in den Bedienungshebel integriert sein. Dadurch wird jedoch die Bedienung kompliziert und ist ergonomisch nicht optimal.For controlling the movement in more than two degrees of freedom, z. As for spatial movements, additional controls, such as rollers or electric push buttons can be integrated into the operating lever. However, this operation is complicated and ergonomically not optimal.

Die US-A-5,451,134 beschreibt eine in sechs Freiheitsgraden bewegbare Handhabungs- und Hebeeinrichtung, bei der zwischen einer unteren Plattform und einer oberen Plattform sechs längenveränderbare Stützen nach Art eines Hexapod angeordnet sind. Zur Betätigung dieser Stützen ist eine Steuereinrichtung mit einer entsprechenden Konfiguration von Streben vorgesehen, die gelenkig zwischen einer Grundplatte und einer Betätigungsplattform angeordnet sind. Die Streben sind teleskopartig verlängerbar, so dass sich die Betätigungsplattform durch einen hieran befestigten Steuerknüppel bezüglich der Grundplatte innerhalb von sechs Freiheitsgraden bewegen lässt. Die Längen der Streben werden durch jeweilige Seilanordnungen und ein Potentiometer in elektrische Signale umgewandelt, welche unter Zwischenschaltung einer Servoanordnung der Ansteuerung der Handhabungs- und Hebeeinrichtung dienen.The US-A-5,451,134 describes a handling and lifting device which can be moved in six degrees of freedom and in which six length-adjustable supports are arranged in the manner of a hexapod between a lower platform and an upper platform. To actuate these supports a control device is provided with a corresponding configuration of struts, which are arranged articulated between a base plate and an actuating platform. The struts are telescopically extendable so that the actuation platform can be moved by a joystick attached thereto with respect to the baseplate within six degrees of freedom. The lengths of the struts are converted by respective cable arrangements and a potentiometer into electrical signals which, with interposition serve a servo arrangement of the control of the handling and lifting device.

Durch die US-A-4,641,123 ist eine Joysticksteuerung bekannt geworden bei der eine Grundplatte und ein Handgriff vorgesehen sind, zwischen denen sich mehrere zylindrische längenverstellbare Potentiometer erstrecken. Benachbarte Potentiometerpaare greifen mit ihren jeweils ersten Enden in drei Eckpunkten eines gleichseitigen Dreiecks an der Grundplatte und mit ihren jeweils zweiten Enden in drei Eckpunkten eines gleichseitigen Dreiecks an dem Handgriff an. Der Handgriff lässt sich in sechs Freiheitsgrade bewegen. Dabei ändern sich die Längen der Potentiometer und deren Widerstände entsprechend, wobei die Widerstandsänderungen als Steuersignale genutzt werden.By the US-A-4,641,123 a joystick control has become known in which a base plate and a handle are provided, between which extend a plurality of cylindrical length-adjustable potentiometer. Adjacent Potentiometerpaare attack with their respective first ends in three vertices of an equilateral triangle on the base plate and with their respective second ends in three vertices of an equilateral triangle on the handle. The handle can be moved in six degrees of freedom. The lengths of the potentiometers and their resistances change accordingly, the resistance changes being used as control signals.

Ziel der vorliegenden Erfindung ist es, ein Bedienungselement zu erhalten, welches das Steuern von mehr als zwei und bis zu sechs Freiheitsgraden erlaubt. Das Ansteuern der sechs Freiheitsgrade soll gleichzeitig möglich sein. Dem Bediener soll dabei lediglich eine Handhabe, beispielsweise ein Bedienhebel, zur Verfügung stehen, der das Bedienen aller Freiheitsgrade möglich macht, ohne dass zusätzliche Aktivierungselemente betätigt werden müssen.The aim of the present invention is to obtain a control element which allows the control of more than two and up to six degrees of freedom. The driving of the six degrees of freedom should be possible at the same time. The operator should only a handle, such as an operating lever, are available, which makes it possible to operate all degrees of freedom without additional activation elements must be pressed.

Die der Erfindung zugrunde liegende Aufgabe wird darin gesehen, ein Bedienungselement der eingangs genannten Art anzugeben, durch welches die vorgenannten Probleme überwunden und die Ziele erreicht werden. Insbesondere soll durch eine einfache, ergonomische Bedienung eine Ansteuerung in mehr als zwei Freiheitsgraden möglich sein.The object underlying the invention is seen to provide an operating element of the type mentioned, by which overcomes the aforementioned problems and the objectives are achieved. In particular, should be possible by a simple, ergonomic operation control in more than two degrees of freedom.

Die Aufgabe wird erfindungsgemäß durch die Lehre des Patentanspruchs 1 gelöst. Weitere vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung gehen aus den Unteransprüchen hervor.The object is achieved by the teaching of claim 1. Further advantageous embodiments and modifications of the invention will become apparent from the dependent claims.

Aus der JP-A-62235615 ist ein Bedienungselement gemäß Oberbegriff des Patentanspruchs 1 bekannt.From the JP-A-62235615 is an operating element according to the preamble of claim 1 is known.

Eine Ausführungsform des erfindungsgemäßen Bedienungselementes enthält eine Handhabe, die als Bedienungshebel ausgebildet sein kann und sich von einer Bedienungsperson betätigen lässt. Die Handhabe ist an einer Plattform befestigt, so dass die Plattform der Bewegung der Handhabe folgt bzw. so dass auf die Handhabe ausgeübte Kräfte auf die Plattform übertragen werden. Zwischen der Plattform und einer feststehenden Konsole sind wenigstens sechs Verbindungselemente angeordnet. Des Weiteren sind Kraftmessgeber zur Erfassung der in den Verbindungselementen wirkenden Zug- und Druckkräfte vorgesehen. Auf die Handhabe lassen sich Kräfte in vorzugsweise sechs Freiheitsgraden ausüben: in drei unterschiedliche translatorische Richtungen und -um drei unterschiedliche Drehachsen. Dies führt zu Kraftsignalen, die den Verbindungselementen zugeordnet sind.An embodiment of the operating element according to the invention includes a handle which can be designed as an operating lever and can be actuated by an operator. The handle is attached to a platform so that the platform follows the movement of the handle, or so that forces applied to the handle are transferred to the platform. At least six connecting elements are arranged between the platform and a stationary console. Furthermore, force measuring sensors are provided for detecting the tensile and compressive forces acting in the connecting elements. On the handle forces can be exercised in preferably six degrees of freedom: in three different translational directions and three different axes of rotation. This leads to force signals that are assigned to the connecting elements.

Aus den Kraftsignalen lassen sich drei Koordinaten und drei Orientierungswinkel bestimmen, welche die auf die Handhabe ausgeübten Kraftvektoren und Momentvektoren widerspiegeln. Die Messsignale der Kraftmessgeber spiegeln die auf die Handhabe ausgeübten Kräfte und Momente in eindeutiger Weise wider. Bei der Koordinatenberechnung können bekannte Methoden eingesetzt werden ( Hebsacker, M.: Die Auslegung der Kinematik des Hexaglide - "Methodik für die Auslegung paralleler Werkzeugmaschinen", VDI Berichte Nr. 1427, 1998 ).From the force signals, three coordinates and three orientation angles can be determined, which reflect the force vectors and torque vectors exerted on the handle. The measuring signals of the force transducers clearly reflect the forces and moments exerted on the handle. In coordinate calculation, known methods can be used ( Hebsacker, M .: The Interpretation of the Kinematics of the Hexaglide - "Methodology for the Design of Parallel Machine Tools", VDI Reports No. 1427, 1998 ).

Die Kraftsignale werden durch eine Auswerteeinheit ausgewertet und zur Ansteuerung der Bewegungsabläufe des zu steuernden Systems herangezogen. Dabei berechnet die Auswerteeinheit aus den Messwerten, welche die Kinematik der Handhabe widerspiegeln, die jeweilige auf die Handhabe ausgeübten Kräfte und Momente und gibt entsprechende Steuersignale an das zu steuernde System ab.The force signals are evaluated by an evaluation unit and used to control the motion sequences of the system to be controlled. In this case, the evaluation unit calculates from the measured values, which reflect the kinematics of the handle, the respective forces and moments exerted on the handle and outputs corresponding control signals to the system to be controlled.

Das erfindungsgemäße Bedienungselement kann damit zur manuellen Ansteuerung räumlicher Bewegungsabläufe eines zu steuernden Systems, beispielsweise auch eines virtuellen Systems, verwendet werden. Es lässt sich mit lediglich einem Bedienungselement eine Ansteuerung räumlicher Bewegungsabläufe eines zu steuernden Systems in bis zu sechs Freiheitsgraden vornehmen, ohne dass zusätzliche Schalter und dergleichen betätigt werden müssen. Die Ansteuerung kann damit auf einfache und ergonomisch günstige Weise erfolgen.The operating element according to the invention can thus be used for the manual control of spatial movements of a controlled Systems, for example, a virtual system, are used. It can be done with only one control element control spatial movement of a system to be controlled in up to six degrees of freedom without additional switches and the like must be operated. The control can thus be done in a simple and ergonomic way.

Es ist von besonderem Vorteil, die Verbindungselemente nach Art eines Hexapoden anzuordnen. Hexapoden sind grundsätzlich bekannt und werden beispielsweise bei Messgeräten zur Überprüfung der Positionsgenauigkeit von Werkzeugmaschinen ( DE-A-35 04 464 ), bei motorischen Koordinatenmessgeräten ( DE-A-197 20 049 ) und bei Roboterkinematiken verwendet. Unter Hexapod soll eine Anordnung von Verbindungselementen verstanden werden, die Bewegungen in sechs Freiheitsgraden ermöglicht. Das Hexapod kann sechs oder mehr (beispielsweise acht) Verbindungselemente enthalten. Durch die Anwendung der Hexapod-Anordnung im Zusammenhang mit einem erfindungsgemäßen bedienungselement wird es möglich, die Handhabe und mit ihr die Plattform in sechs Freiheitsgraden zu bewegen und die Bewegungsabläufe in eindeutiger Weise in Steuersignale umzusetzen. Die Handhabe lässt sich beispielsweise in zwei Richtungen seitlich verschwenken, um ihre Achse verdrehen, sich seitlich in zwei Richtungen verschieben und in Richtung ihrer Achse heraus- und hineinschieben. Da Kraftmessgeber eingesetzt werden, können die Bewegungen der Handhabe so klein sein, dass sie von der Bedienungsperson nicht wahrgenommen werden. In diesem Fall wird die Bedienungsperson zur Einstellung von Steuerbefehlen nicht eine bestimmte räumliche Verstellung der Handhabe vornehmen, sondern Kräfte auf die Handhabe ausüben, die den gewünschten Steuersignalen entsprechen. Eine derart vielseitige Betätigung einer Handhabe ist mit den bisher bekannten Bedienungselementen nicht möglich.It is of particular advantage to arrange the connecting elements in the manner of a hexapod. Hexapods are basically known and are used, for example, in measuring devices for checking the positional accuracy of machine tools ( DE-A-35 04 464 ), in motor coordinate measuring machines ( DE-A-197 20 049 ) and used in robot kinematics. Hexapod is to be understood as an arrangement of connecting elements that allows movements in six degrees of freedom. The hexapod may contain six or more (e.g., eight) connectors. By using the hexapod arrangement in connection with a control element according to the invention, it becomes possible to move the handle and with it the platform in six degrees of freedom and to implement the motion sequences in a clear manner in control signals. The handle, for example, can pivot laterally in two directions, rotate about its axis, shift laterally in two directions and slide out and in toward its axis. Since force transducers are used, the movements of the handle can be so small that they are not perceived by the operator. In this case, the operator will not make a certain spatial adjustment of the handle to set control commands, but to exert forces on the handle that correspond to the desired control signals. Such versatile operation of a handle is not possible with the previously known controls.

Die Erfindung lässt sich für die Steuerung von Mechanismen mit mehr als zwei Freiheitsgraden einsetzen. Ein bevorzugter Anwendungsfall ergibt sich im Zusammenhang mit einer Anbauschnittstelle zur Kopplung von Arbeitsgeräten an ein Arbeitsfahrzeug, wie es in der nachveröffentlichten DE-A-199 51 840 beschrieben ist. Bei der beschriebenen Anbauschnittstelle sind zwischen einem Traktorrumpf und einem Koppelrahmen sechs nach Art eines Hexapoden angeordnete Hydraulikzylinder vorgesehen. Diese Hydraulikzylinder können durch das erfindungsgemäße Bedienungselement angesteuert werden, indem die Signale jedes Kraftmessgebers des Bedienungs-Hexapoden zur Ansteuerung eines entsprechenden Hydraulikzylinders des Anbauschnittstellen-Hexapod herangezogen werden.The invention can be used for the control of mechanisms with more than two degrees of freedom. A preferred one Use case arises in connection with an attachment interface for coupling work equipment to a work vehicle, as in the post-published DE-A-199 51 840 is described. In the attachment interface described, six hydraulic cylinders arranged in the manner of a hexapod are provided between a tractor body and a coupling frame. These hydraulic cylinders can be controlled by the control element according to the invention by using the signals of each force transducer of the operating hexapod to control a corresponding hydraulic cylinder of the attachment interface hexapod.

Ein weiterer Anwendungsfall der Erfindung liegt im Computerbereich, bei dem das Bedienungselement als sogenannte "dreidimensionale Maus" verwendet wird und der Ansteuerung virtueller räumlicher Bewegungsabläufe dient, die beispielsweise auf einem Bildschirm sichtbar gemacht werden können.Another application of the invention is in the computer field, in which the operating element is used as a so-called "three-dimensional mouse" and serves to control virtual spatial movement sequences that can be made visible on a screen, for example.

Gemäß einer bevorzugten Ausgestaltung der Erfindung sind die Verbindungselemente nach Art eines Hexapoden angeordnet.According to a preferred embodiment of the invention, the connecting elements are arranged in the manner of a hexapod.

In einer Ausführungsform der Erfindung sind die Verbindungselemente in ihrer Längserstreckung im Wesentlichen starr ausgebildet sind, so dass sie durch Ausübung axialer Kräfte weder länger noch kürzer werden. Die durch Betätigungen der Handhabe auf die Verbindungselemente übertragenen Zug- und Druckkräfte werden durch Kraftmessgeber gemessen. Als Kraftmessgeber kommen beispielsweise Dehnmessstreifen oder piezoelektrische Aufnehmer in Betracht.In one embodiment of the invention, the connecting elements are formed substantially rigid in their longitudinal extent, so that they are neither longer nor shorter by exerting axial forces. The tensile and compressive forces transmitted to the fasteners by actuation of the handle are measured by force transducers. As a force transducer, for example, strain gauges or piezoelectric transducer into consideration.

Die Angriffspunkte der Verbindungselemente an der Plattform und/oder an der Konsole liegen vorzugsweise in etwa im Bereich der Ecken jeweils eines gleichseitigen Dreiecks. Dabei sind in der Nähe jeder Ecke zwei Verbindungselemente angelenkt, und lassen sich jeweils in zwei Richtungen verschwenken. Es kann jedoch auch zweckmäßig sein, die Anlenkstellen in etwa in den Ecken eines Vierecks oder eines Sechsecks oder in einer anderen geometrischen Figur anzuordnen. Bei einem Viereck können beispielsweise jeweils zwei Verbindungselemente an zwei benachbarten Ecken des Vierecks angreifen, und jeweils eines oder jeweils zwei der übrigen Verbindungselemente an den anderen beiden Ecken des Vierecks angelenkt sein.The points of engagement of the connecting elements on the platform and / or on the console are preferably approximately in the region of the corners of each equilateral triangle. In this case, two connecting elements are articulated near each corner, and can be pivoted in each case in two directions. However, it may also be expedient to have the articulation points approximately in the corners of a quadrangle or a hexagon or in another to arrange geometric figure. In the case of a quadrangle, for example, two connecting elements can each engage at two adjacent corners of the quadrangle, and in each case one or in each case two of the remaining connecting elements can be articulated to the other two corners of the quadrangle.

Um zu vermeiden, dass Biegekräfte auf die Verbindungselemente übertragen werden ist es zweckmäßig die Verbindungselemente gelenkig mit der Plattform und/oder gelenkig mit der Konsole zu verbinden. Infolge der gelenkigen Anbindung treten in den Verbindungselementen lediglich Zug- und Druckkräfte auf, so dass die Struktur statisch bestimmt bleibt. Die Kräfte können durch Kraftmessgeber erfasst werden.In order to avoid that bending forces are transmitted to the connecting elements, it is expedient to connect the connecting elements articulated to the platform and / or articulated to the console. As a result of the articulated connection occur in the connecting elements only tensile and compressive forces, so that the structure remains statically determined. The forces can be detected by force transducers.

Insbesondere bei der Verwendung von Kraftmessgebern ist es von Vorteil, die Verbindungselemente starr an der Konsole zu befestigen und gelenkig mit der Plattform zu verbinden. Vorzugsweise werden für die gelenkigen Verbindungen jeweils ein oder mehrere gummiartige Elemente verwendet, die ein seitliches Verkippen der Verbindungselemente gegenüber der Plattform zulassen, jedoch ausreichend starr sind, um Zug- und Druckkräfte zu übertragen.In particular, when using force transducers, it is advantageous to attach the connecting elements rigidly to the console and to connect articulated to the platform. Preferably, one or more rubber-like elements are used for the articulated connections, which allow lateral tilting of the connecting elements relative to the platform, but are sufficiently rigid to transmit tensile and compressive forces.

Eine Ausführungsform der Erfindung sieht vor, dass die Plattform Biegeelemente enthält, an denen jeweils ein starres Verbindungselement angreift und die sich bei Kraft- oder Momentbelastungen der Handhabe verbiegen.An embodiment of the invention provides that the platform contains bending elements, on each of which a rigid connecting element engages and which bend in the event of force or moment loads on the handle.

Die Biegeelemente sind vorzugsweise stab- oder laschenförmig ausgebildet und mit wenigstens einem Ende starr mit der Plattform verbunden. Sie sind quer zur Längserstreckung der Verbindungselemente ausgerichtet. Der Begriff quer schließt neben einer rechtwinkligen Ausbildung auch andere Winkel zwischen den Ausrichtungen des Biegeelements und des Verbindungselements ein. Zweckmäßigerweise sind die Biegeelemente lediglich mit einem ihrer Enden mit der Plattform verbunden und stehen mit ihrem anderen, freien Ende seitlich von der Plattform ab.The bending elements are preferably rod-shaped or tab-shaped and rigidly connected to the platform with at least one end. They are aligned transversely to the longitudinal extent of the connecting elements. The term transverse also includes other angles between the orientations of the bending element and the connecting element in addition to a right-angled design. Conveniently, the bending elements are connected only with one of its ends to the platform and stand with its other, free end of the side from the platform.

Sofern im Bereich der Ecken einer beispielsweise dreieckförmigen Plattform jeweils zwei oder mehr Verbindungselemente angreifen, ist es vorteilhaft, im Bereich der Ecke jeweils zwei oder mehr als Biegeelement ausgebildete nebeneinander und im Wesentlichen parallel zueinander verlaufende Stäbe oder Laschen vorzusehen. Im Bereich des freien Endes jedes Stabes oder jeder Lasche greift ein Verbindungselement an. Die Laschen lassen sich beispielsweise derart ausbilden, dass die Plattform in ihren Ecken geschlitzt wird und die Schlitze im Wesentlichen zur Plattformmitte ausgerichtet sind.If, in the region of the corners of, for example, a triangular platform, two or more connecting elements engage each, it is advantageous to provide two or more bending elements formed next to one another and substantially mutually parallel rods or tabs in the region of the corner. In the area of the free end of each rod or tab, a connecting element engages. The tabs can be formed, for example, such that the platform is slotted in their corners and the slots are substantially aligned with the platform center.

In einer Ausführungsform der Erfindung ist wenigstens auf der Oberseite oder auf der Unterseite eines Biegeelementes (z. B. einer Laschen) im Bereich zwischen der Befestigungsstelle des Verbindungselements und dem mittleren Bereich der Plattform ein im Wesentlichen in radialer Richtung, also zur Plattformmitte, ausgerichteter Dehnmessstreifen angeordnet. Als Oberseite und Unterseite werden Oberflächen des Biegeelements bezeichnet, die im Wesentlichen quer zur Längserstreckung der Verbindungselemente verlaufen.In one embodiment of the invention, at least on the upper side or on the underside of a bending element (eg a tab) in the region between the attachment point of the connecting element and the central region of the platform, a strain gauges oriented substantially in the radial direction, ie towards the center of the platform arranged. As the top and bottom surfaces of the bending element are referred to, which extend substantially transversely to the longitudinal extent of the connecting elements.

Um eine Temperaturkompensation und eine Signalverstärkung (Verdopplung) zu erreichen, ist es von Vorteil, sowohl auf der Oberseite als auch auf der Unterseite eines Biegeelements je wenigstens einen Dehnmessstreifen anzuordnen. Die beiden Dehnmessstreifen werden zu einer Halbbrücke verschaltet. Die Halbbrücke lässt sich verstärkerintern zu einer Vollbrücke ergänzen und liefert ein Ausgangssignal in Form einer Brückenverstimmung.In order to achieve a temperature compensation and a signal amplification (doubling), it is advantageous to arrange at least one strain gauge both on the upper side and on the underside of a bending element. The two strain gauges are connected to form a half bridge. The half-bridge can be amplified to a full bridge and provides an output signal in the form of a bridge detuning.

Die Brückenspannung kann einem Messverstärker zugeführt werden, der in einem Mikrocontroller integriert ist. Beispielsweise werden somit für sechs Verbindungselemente von sechs zugehörigen Messverstärkern sechs Ausgangsspannungen gebildet, die ein Maß für die in den Verbindungselementen auftretenden Kräfte sind. Der Mikrocontroller kann auch die gesamte Geometrieberechnung übernehmen. Er rechnet die Ausgangssignale in Kraft- und Momentenkomponenten um und gibt diese Daten über eine Busleitung, beispielsweise einen CAN-Bus aus. Der absolute Wert jeder Kraft- und Momentenkomponente ist ein Maß für die Geschwindigkeit, mit der sich das zu steuernde System bewegen soll. Die Richtungen der Kräfte geben die Richtung der Translation und die Richtung der Momente geben die Richtung der Drehung des Systems vor.The bridge voltage can be supplied to a measuring amplifier, which is integrated in a microcontroller. For example, six output voltages are thus formed for six connection elements of six associated measurement amplifiers, which are a measure of the forces occurring in the connecting elements. The microcontroller can also take over the entire geometry calculation. It converts the output signals into force and torque components and outputs this data via a bus line, for example a CAN bus. The absolute value of each force and moment component is a measure of the speed with which the system to be controlled should move. The directions of the forces give the direction of translation and the direction of the moments dictates the direction of rotation of the system.

Um eine zuverlässige Signalverarbeitung zu gewährleisten und Verdrahtungsaufwand einzusparen ist es zweckmäßig, auf der Plattform Kraftmesselemente und eine zugehörige Auswerteelektronik anzuordnen. Die Auswerteelektronik kann integrierte Halbleiterelemente aufweisen, wie es für Druck- und Beschleunigungssensoren üblich ist.In order to ensure reliable signal processing and to save wiring costs, it is expedient to arrange force measuring elements and an associated evaluation electronics on the platform. The transmitter may have integrated semiconductor elements, as is customary for pressure and acceleration sensors.

Es ist von Vorteil, die Handhabe bzw. den Handbedienungshebel des erfindungsgemäßen Bedienungselements nach Art eines Joysticks auszubilden. Bei der Formgebung und Anordnung des Joysticks können ergonomische Gesichtspunkte berücksichtigt werden.It is advantageous to form the handle or the hand lever of the control element according to the invention in the manner of a joystick. Ergonomic aspects can be taken into account in the design and arrangement of the joystick.

Insbesondere ist es zweckmäßig, die Handhabe nach Art eines Winkelhebels auszubilden, bei dem ein Schenkel beispielsweise senkrecht von der Plattform absteht und der andere freie, im Wesentlichen rechtwinklig abgelenkte Schenkel in etwa parallel zur Plattform verläuft. Der freie Schenkel steht in seiner unbetätigten Ruhelage nach oben und lässt sich durch eine Bedienungsperson bequem im Rahmen von sechs Freiheitsgraden betätigen.In particular, it is expedient to form the handle in the manner of an angle lever, in which one leg, for example, protrudes perpendicularly from the platform and the other free leg, which is essentially bent at right angles, runs approximately parallel to the platform. The free leg is up in its unactuated resting position and can be easily operated by an operator in the context of six degrees of freedom.

Um die Funktionsfähigkeit des erfinderischen Bedienungselements weiter zu steigern, ist gemäß einer bevorzugten Weiterbildung der Erfindung im Bereich des freien Endes der Handhabe wenigstens ein Steuerelement angeordnet. Es handelt sich hierbei beispielsweise um einen mit einem Finger oder dem Daumen betätigbaren Schalter oder Druckknopf, durch den ein elektrischer Schalter betätigt wird, oder um eine Rolle, die mit einem elektrischen Analoggeber in Verbindung steht. Es kann auch eine Aktivierungsklappe an der Handhabe montiert sein, wie sie beispielsweise in der DE-A-0 981 078 beschrieben wurde. Durch derartige Steuerelemente lassen sich Sicherheitsanforderungen erfüllen und weitere Funktionen ansteuern, ohne dass die Bedienungsperson ihre Hand von der Handhabe entfernen muss. Beispielsweise kann das Steuerelement derart in die Funktionsweise integriert sein, dass sich das zu steuernde System durch Betätigung der Handhabe nur dann bewegen lässt, wenn ein in der Handhabe integrierter Bedienungsschalter betätigt wird. Hierdurch lässt sich eine nicht beabsichtigte Betätigung des zu steuernden Systems, z. B. während der Fahrt, vermeiden.In order to further increase the functionality of the inventive control element, at least one control is arranged in the region of the free end of the handle according to a preferred embodiment of the invention. It is about in this case, for example, a switch or pushbutton operable with a finger or a thumb through which an electrical switch is actuated, or a roller connected to an electrical analogue transmitter. It can also be an activation flap mounted on the handle, as for example in the DE-A-0 981 078 has been described. Such controls can meet safety requirements and control other functions without the operator having to remove her hand from the handle. For example, the control can be integrated into the mode of operation such that the system to be controlled can only be moved by actuating the handle when an operating switch integrated in the handle is actuated. This allows an unintended operation of the system to be controlled, z. B. while driving, avoid.

Vorzugsweise hängt die Ausgangskennlinie der Auswerteeinheit in nichtlinearerweise von den gemessenen Zug- oder Druckkräften ab, so dass bei einer linearen Biegekraftvergrößerung eine nichtlineare Bediengeschwindigkeit für das zu steuernde System vorgegeben wird. Durch entsprechende Beeinflussung der Ausgangskennlinie besteht auch die Möglichkeit, dem System eine Ansprechschwelle zu geben.Preferably, the output characteristic of the evaluation unit depends non-linearly on the measured tensile or compressive forces, so that given a linear increase in bending force, a non-linear operating speed for the system to be controlled is predetermined. By influencing the output characteristic accordingly, it is also possible to give the system a response threshold.

Aus den beispielweise sechs Messgrößen (gemessene Weg- oder Kraftgrößen) können durch Koordinatentransformationen die Kräfte oder Wege in einem beliebigen räumlichen Koordinatensystem errechnet werden. Insbesondere lassen sich die Kraftgrößen in den Hauptachsrichtungen des Handgriffs bestimmen. Aus diesen werden die Bewegungsgrößen (z. B. Sollgeschwindigkeiten in den jeweiligen Richtungen) der zu bedienenden Struktur berechnet. Ein mögliches Anwendungsgebiet auf dem das erfindungsgemäße Bedienungselement die Bedienung erleichtern kann, ist die Steuerung eines als Hexapod ausgebildeten Systems, beispielsweise das Hexapod-System der Anbauvorrichtung eines Arbeitsfahrzeugs.From the six measured variables (measured path or force quantities), for example, coordinate transformations can be used to calculate the forces or paths in any spatial coordinate system. In particular, the force variables in the main axis directions of the handle can be determined. From these, the motion quantities (for example, target speeds in the respective directions) of the structure to be operated are calculated. One possible area of application in which the operating element according to the invention can facilitate operation is the control of a system designed as a hexapod, for example the hexapod system of the attachment device of a work vehicle.

Wird als zu steuerndes System ein System-Hexapod, beispielsweise ein Hexapod-Geräteanbau, verwendet, so kann es von Vorteil sein, die Geometrie des Bedienungselement-Hexapoden an die Geometrie des System-Hexapoden anzupassen, so dass diese zueinander ähnlich sind. Dabei können die Längenabmessungen und Anlenkstellen der Verbindungselemente in einem festen Verhältnis zu den Längenabmessungen und Anlenkstellen der Antriebselemente des System-Hexapoden stehen, so dass die Kinematik der beiden Hexapod-Anordnungen zueinander ähnlich oder identisch ist. Damit lassen sich durch die Auswerteeinheit Messsignale direkt auf die Antriebselemente, beispielsweise auf die Hydraulikzylinderhübe, des zu steuernden Systems übertragen und der Programmierungsaufwand für eine Steuereinheit verringern.If a system hexapod is used as the system to be controlled, for example hexapod device mounting, then it may be advantageous to adapt the geometry of the operator hexapod to the geometry of the system hexapod so that they are similar to one another. The length dimensions and articulation points of the connecting elements can be in a fixed relationship to the length dimensions and articulation points of the drive elements of the system hexapods, so that the kinematics of the two hexapod arrangements are similar or identical to one another. This can be transmitted directly to the drive elements, for example, on the hydraulic cylinder strokes of the system to be controlled by the evaluation and measurement programming signals reduce the programming effort for a control unit.

Für eine besonders bevorzugte Anwendung erzeugt die Auswerteeinheit Steuersignale, die der Ansteuerung einer Koppeleinrichtung, beispielsweise eines Kopplungsdreiecks, einer Fahrzeuganbauvorrichtung dienen. Die Bedienungsperson kann damit von dem Fahrzeugstand aus das Kopplungsdreieck beliebig bedienen, um Koppelvorgänge auszuführen oder das angebaute Gerät wunschgemäß zu bewegen. Das Bedienungselement kann z. B. auch der Ansteuerung eines Fahrzeugkrafthebers, beispielsweise eines Frontkrafthebers, dienen.For a particularly preferred application, the evaluation unit generates control signals which serve to control a coupling device, for example a coupling triangle, of a vehicle attachment device. The operator can thus use the coupling triangle as desired from the vehicle state in order to carry out coupling operations or to move the attached device as desired. The operating element can, for. As well as the control of a vehicle power lift, such as a front linkage, serve.

Ein besonders bevorzugter Anwendungsfall für das erfindungsgemäße Bedienungselement liegt in der Fahrzeugsteuerung, bei der das Bedienungselement der Steuerung einer Fahrzeugkomponente dient. Hierfür ist es zweckmäßig, dass die Konsole des Bedienungselements Teil einer Fahrzeugkonsole, insbesondere Teil des Fahrzeugstands ist.A particularly preferred application for the operating element according to the invention lies in the vehicle control, in which the operating element of the control of a vehicle component is used. For this purpose, it is expedient that the console of the operating element is part of a vehicle console, in particular part of the vehicle state.

Anhand der Zeichnung, die ein Ausführungsbeispiel der Erfindung zeigt, werden nachfolgend die Erfindung sowie weitere Vorteile und vorteilhafte Weiterbildungen und Ausgestaltungen der Erfindung näher beschrieben und erläutert.Reference to the drawing, which shows an embodiment of the invention, the invention and further advantages and advantageous developments and refinements of the invention are described and explained in more detail below.

Es zeigt:

Fig. 1
die perspektivische Darstellung eines erfindungsgemäßen Bedienungselements, das auf einer Befestigungsplatte montiert ist,
Fig. 2
die Heckansicht eines Traktors mit einer Anbauschnittstelle zur Kopplung von Arbeitsgeräten und einem erfindungsgemäßen Bedienungselement und
Fig. 3
eine elektrische Schaltungsanordnung für die Messsignalverarbeitung.
It shows:
Fig. 1
the perspective view of an operating element according to the invention, which is mounted on a mounting plate,
Fig. 2
the rear view of a tractor with a mounting interface for the coupling of implements and a control element according to the invention and
Fig. 3
an electrical circuit arrangement for the measurement signal processing.

Aus Fig. 1 geht ein Bedienungselement hervor, bei dem zwischen einer im Wesentlichen dreieckförmigen Plattform 60 und einer Fahrzeugkonsole oder Befestigungsplatte 62 Verbindungselemente angeordnet sind, die als starre Verbindungsstäbe 64, 66, 68, 70, 72, 74 ausgebildet sind. Die Enden der Verbindungsstäbe 64, 66, 68, 70, 72, 74 sind in Eckbereichen gleichseitiger Dreiecke angeordnet. Sie sind mit der Befestigungsplatte 62 starr verbunden und stehen mit der Plattform über je ein Gummielement 76, das eine gelenkige Verbindung bildet, in Verbindung.From Fig. 1 shows an operating element, in which between a substantially triangular platform 60 and a vehicle console or mounting plate 62 connecting elements are arranged, which are designed as rigid connecting rods 64, 66, 68, 70, 72, 74. The ends of the connecting rods 64, 66, 68, 70, 72, 74 are arranged in corner areas of equilateral triangles. They are rigidly connected to the mounting plate 62 and communicate with the platform via a respective rubber element 76, which forms an articulated connection.

Die Plattform 60 ist im Wesentlichen als gleichseitiges Dreieck ausgebildet, wobei ungefähr im Bereich jeder Ecke dieses Dreiecks je zwei als Verbindungsstäbe 64, 66, 68, 70, 72, 74 ausgebildete Verbindungselemente angreifen. Die jeweils anderen Enden der Verbindungsstäbe 64, 66, 68, 70, 72, 74 sind an der lediglich teilweise dargestellten Fahrzeugkonsole 62 befestigt, wobei die Befestigungsstellen ebenfalls im Wesentlichen ein gleichseitiges Dreieck bilden, das jedoch gegenüber dem Plattformdreieck um 60° verdreht ist. Die Anlenkstellen zwischen den Verbindungsstäben 64, 66, 68, 70, 72, 74 und der Plattform 60 bzw. der Konsole 62 lassen ein allseitiges Auslenken der Verbindungsstäbe 64, 66, 68, 70, 72, 74 zu. Die Verbindungsstäbe 64, 66, 68, 70, 72, 74 sind nach Art eines Hexapoden zwischen der Plattform 60 und der Konsole 62 angeordnet.The platform 60 is substantially formed as an equilateral triangle, wherein about two connecting elements 64, 66, 68, 70, 72, 74 formed fasteners attack approximately in the region of each corner of this triangle. The respective other ends of the connecting rods 64, 66, 68, 70, 72, 74 are fastened to the vehicle console 62, which is only partially shown, wherein the fastening points also essentially form an equilateral triangle, which, however, is rotated by 60 ° with respect to the platform triangle. The articulation points between the connecting rods 64, 66, 68, 70, 72, 74 and the platform 60 and the console 62 allow an all-round deflection of the connecting rods 64, 66, 68, 70, 72, 74 to. The connecting rods 64, 66, 68, 70, 72, 74 are in the manner of a Hexapods between the platform 60 and the console 62 arranged.

In der Mitte der ebenen Plattform 60 ist ein senkrecht zur Plattform 60 ausgerichteter Handgriff 78 befestigt, der lediglich schematisch dargestellt wurde. Bei dem Handgriff 78 kann es sich jedoch, wie in Fig. 2 angedeutet, auch um einen an der Plattform 60 befestigten joystickartigen Bedienungshebel 78 handeln, der zwei im Wesentlichen senkrecht zueinander verlaufende Schenkel aufweist, von denen ein erster Schenkel im Wesentlichen senkrecht von der Plattform 60 absteht und ein zweiter Schenkel nach oben abgewinkelt ist. Der zweite Schenkel ist dabei ein ergonomisch ausgebildeter Bedienungsgriff und lässt eine bequeme Bedienung zu.In the middle of the flat platform 60, a perpendicular to the platform 60 aligned handle 78 is fixed, which has been shown only schematically. However, as indicated in FIG. 2, the handle 78 may also be a joystick-like operating lever 78 fastened to the platform 60, which has two legs extending substantially perpendicular to one another, of which a first leg is substantially perpendicular to the platform 60 protrudes and a second leg is angled upwards. The second leg is an ergonomically designed operating handle and allows for easy operation.

Der Bedienungshebel 78 kann mit zusätzlichen Betätigungselementen bestückt sein, in dem an seinem zweiten Schenkel seitlich ein Steuerelement in Form eines Druckschalters (Aktivierungstaste) angeordnet ist. Um eine unbeabsichtigte Beeinflussung des zu steuernden Systems 36 zu vermeiden, gibt die Auswerteeinheit 32 nur dann Signale an das zu steuernde System 36 ab, wenn der Druckschalter betätigt ist.The operating lever 78 may be equipped with additional actuating elements, in which at its second leg laterally a control in the form of a pressure switch (activation button) is arranged. In order to avoid unintentional influencing of the system 36 to be controlled, the evaluation unit 32 emits signals to the system 36 to be controlled only when the pressure switch is actuated.

Im Bereich der drei Ecken der Plattform 60 sind jeweils zwei parallel zueinander ausgerichtete Laschen 80 ausgebildet, die durch jeweils einen Schlitz 82 voneinander getrennt sind. Die Laschen 80 und Schlitze 82 sind zur Mitte der Plattform 60, also zum Handgriff 78, hin ausgerichtet. An den freien Enden der Laschen 80 ist je ein Ende eines Verbindungsstabes 64, 66, 68, 70, 72, 74 unter Zwischenschaltung eines Gummielements 76 befestigt.In the region of the three corners of the platform 60, two mutually parallel tabs 80 are formed, which are separated by a respective slot 82. The tabs 80 and slots 82 are aligned with the center of the platform 60, so the handle 78, out. At the free ends of the tabs 80 is one end of a connecting rod 64, 66, 68, 70, 72, 74 attached with the interposition of a rubber element 76.

Wie aus Fig. 1 ersichtlich ist auf der Oberseite jeder Lasche 80 ein oberer Dehnmessstreifen 84 befestigt. Die Dehnmessstreifen 84 sind parallel zu den Laschen 80 mit ihrer Längserstreckung auf die Plattformmitte hin ausgerichtet. Die Dehnmessstreifen 84 sind in einem Bereich der jeweiligen Lasche 80 angeordnet, der zwischen dem Gummielement 76 und dem der Plattformmitte zugewandten Ende des Schlitzes 82 liegt. Kräfte, die bei einer Betätigung des Handgriffs 78 von einer Lasche 80 auf den zugehörigen starren Verbindungsstab 64, 66, 68, 70, 72, 74 ausgeübt werden, führen zu einer entsprechenden Verbiegung der Lasche 80 nach oben oder unten und damit zu einer entsprechenden Widerstandsänderung des Dehnmessstreifens 84.As can be seen from FIG. 1, an upper strain gauge 84 is fastened on the upper side of each lug 80. The strain gauges 84 are aligned parallel to the tabs 80 with their longitudinal extent to the platform center. The strain gauges 84 are in a region of the respective tab 80, which lies between the rubber element 76 and the middle of the platform facing the end of the slot 82. Forces which are exerted by a tab 80 on the associated rigid connecting rod 64, 66, 68, 70, 72, 74 upon actuation of the handle 78, lead to a corresponding bending of the tab 80 up or down and thus to a corresponding change in resistance of the strain gauge 84.

Auf der zur sichtbaren Plattformvorderseite gegenüberliegenden Rückseite jeder Lasche 80 befindet sich gegenüberliegend zum oberen Dehnmessstreifen 84 jeweils ein unterer, in Fig. 1 nicht sichtbarer, jedoch in Fig. 3 dargestellter Dehnmessstreifen 86.On the rear side of each tab 80 opposite the visible platform front side, opposite to the upper strain gauge 84, there is in each case a lower strain gauge 86 which is not visible in FIG. 1 but shown in FIG. 3.

Aus Fig. 2 geht hervor, dass das Bedienungselement 78 auf einer rechten Konsole 30 in der Fahrzeugkabine angeordnet ist, wo es für die Bedienungsperson gut zugänglich ist. Im Heck des Fahrzeugs ist eine Anbauschnittstelle 36 zur Kopplung von Arbeitsgeräten dargestellt, wie sie in der nachveröffentlichten DE-A-199 51 840 im einzelnen beschrieben ist. Die Anbauschnittstelle 36 enthält einen Kopplungsrahmen 38 mit Haken 40 zur Befestigung von nicht dargestellten Arbeitsgeräten. Zwischen dem Kopplungsrahmen 38 und dem Traktorrumpf 42 erstrecken sich sechs Hydraulikzylinder 44, 46, 48, 50, 52, 54, die nach Art eines Hexapoden angeordnet und betätigt werden. Die räumliche Anlenkung der Hydraulikzylinder und deren Längenabmessungen stehen in einem festen Proportionalverhältnis zu den räumlichen Anlenkpunkten der Verbindungselementen 64, 66, 68, 70, 72, 74 des Bedienungselements 78.From Fig. 2 shows that the control element 78 is disposed on a right console 30 in the vehicle cabin, where it is easily accessible to the operator. In the rear of the vehicle, an attachment interface 36 for coupling of implements is shown, as in the post-published DE-A-199 51 840 is described in detail. The mounting interface 36 includes a coupling frame 38 with hooks 40 for attachment of implements, not shown. Between the coupling frame 38 and the tractor body 42 extend six hydraulic cylinders 44, 46, 48, 50, 52, 54, which are arranged and operated in the manner of a hexapod. The spatial articulation of the hydraulic cylinders and their length dimensions are in a fixed proportional relationship to the spatial articulation points of the connecting elements 64, 66, 68, 70, 72, 74 of the operating element 78th

Diese Geometrie erleichtert die Ansteuerung der Anbauschnittstelle 36, deren Lage und Bewegung der Lage und Bewegung des Bedienungselements 78 folgen soll. Bei der Ansteuerung ermittelt die Auswerteeinrichtung 32 den Messwert jedes Dehnmessstreifens 84 und gibt proportionale Steuersignale an die Hydraulikzylinder 44, 46, 48, 50, 52, 54 ab.This geometry facilitates the control of the attachment interface 36, the position and movement of the position and movement of the operating element 78 should follow. During the control, the evaluation device 32 determines the measured value of each strain gauge 84 and outputs proportional control signals to the hydraulic cylinders 44, 46, 48, 50, 52, 54.

Wie aus Fig. 3 hervorgeht, sind jeweils ein vorderseitiger Dehnmessstreifen 84 und ein rückseitiger Dehnmessstreifen 86 in einer Halbbrücke zusammengeschaltet. Die Halbbrücke ist durch drei Ergänzungswiderstände 88, 90, 98 zu einer Vollbrücke ergänzt. Bei dem Widerstand 98 handelt es sich um einen verstellbaren Widerstand, durch welchen ein manueller, grober Nullabgleich der Brückenschaltung vorgenommen werden kann. An die hintereinander in Reihe geschalteten Dehnmessstreifen 84, 86 ist eine Brückenspeisespannung Us angelegt. Die Brücke liefert an einem Mittelabgriff zwischen den beiden Dehnmessstreifen 84, 86 einerseits und an einem Mittelabgriff zwischen den beiden Ergänzungswiderständen 88, 90 andererseits eine Brückenspannung UB in Form einer Brückenverstimmung. Die Anordnung der Dehnmessstreifen 84, 86 in einer Brückenschaltung hat eine Temperaturkompensation zwischen Vorder- und Rückseite der Plattform 60 zur Folge. Durch die Verwendung zweier Dehnmessstreifen 84, 86 je Lasche 80 ergibt sich des weiteren eine Verdoppelung des Ausgangssignals gegenüber lediglich einem Dehnmessstreifen.As is apparent from Fig. 3, in each case a front strain gauge 84 and a rear strain gauge 86 are interconnected in a half-bridge. The half bridge is supplemented by three supplementary resistors 88, 90, 98 to a full bridge. The resistor 98 is an adjustable resistor through which a manual, rough zero balance of the bridge circuit can be made. To the successively connected in series strain gauges 84, 86, a bridge supply voltage U s is applied. The bridge provides at a center tap between the two strain gauges 84, 86 on the one hand and at a center tap between the two supplementary resistors 88, 90 on the other hand, a bridge voltage U B in the form of a bridge detuning. The arrangement of the strain gauges 84, 86 in a bridge circuit results in a temperature compensation between the front and the back of the platform 60. The use of two strain gauges 84, 86 per tab 80 also results in a doubling of the output signal compared to only one strain gauge.

Die Brückenspannung UB wird durch einen Messverstärker 92 verstärkt und dann einer Eingangssignalaufbereitung 94 zugeführt. Die Eingangssignalaufbereitung 94 steht mit einer Nullabgleichvorrichtung 96 in Verbindung. Bei der Nullabgleichsvorrichtung kann es sich um ein entsprechendes Programmteil handeln. Durch den integrierten Nullabgleich lassen sich Drifts des Messverstärkers 92 sowie kleine plastische Änderungen des Systems bzw. Spannungsschwankungen automatisch ausgleichen. Der automatische Nullabgleich wird nur dann durchgeführt, wenn keine Betätigung des Bedienungselements erfolgen soll und daher ein am Betätigungsgriff 78 angeordneter Aktivierungsschalter nicht betätigt wird. Die Ausgangsspannung UA der Eingangssignalaufbereitung 94 ist ein Maß für die Kraft in dem jeweiligen Verbindungsstab 64, 66, 68, 70, 72, 74. Für jedes Dehnungsmessstreifenpaar 84, 86 wird eine Ausgangsspannung UA bereitgestellt.The bridge voltage U B is amplified by a measuring amplifier 92 and then fed to an input signal conditioning 94. The input signal conditioning 94 is connected to a nulling device 96. The zero balance device may be a corresponding program part. Due to the integrated zero adjustment, drifts of the measuring amplifier 92 as well as small plastic changes of the system or voltage fluctuations can be compensated automatically. The automatic zeroing is performed only when no operation of the operating element is to take place and therefore a arranged on the operating handle 78 activation switch is not actuated. The output voltage U A of the input signal conditioning 94 is a measure of the force in the respective connecting rod 64, 66, 68, 70, 72, 74. For each strain gauge pair 84, 86 an output voltage U A is provided.

Die Ausgangsspannungen UA aller Dehnungsmessstreifenpaare 84, 86, von denen in Fig. 3 nur eines dargestellt wurde, werden einer Geometrieberechnungseinheit 100 zugeführt, durch welche die Messsignale in Kraft- und Momentenkomponenten umgerechnet werden. Die Berechnung der Kraftkomponenten Fx, Fy und Fz und der Momentkomponenten Mx, My und Mz erfolgt auf übliche Weise durch Koordinatentransformation aus der jeweiligen Geometrie (Richtung) der Verbindungsstäbe 84, 86, 88, 90, 92, 94 und den Kraftmesswerten der Dehnungsmessstreifen 84, 86. Nach der Umrechnung liegen folgende Daten vor: Kraft Fx in x-Richtung, Kraft Fy in y-Richtung, Kraft Fz in z-Richtung, Moment Mx um die x-Achse, Moment My um die y-Achse und Moment Mz um die z-Achse. Die Größe der Kräfte ist dabei ein Maß für die Geschwindigkeit, mit der das zu steuernde System bewegt werden soll, während die Richtung der Kräfte die Richtung der Translation widerspiegelt und die Richtung der Momente die Richtung der Drehung des Systems widerspiegeln.The output voltages U A of all strain gage pairs 84, 86, of which only one was shown in FIG. 3, are fed to a geometry calculation unit 100, by which the measurement signals are converted into force and moment components. The calculation of the force components F x , F y and F z and the moment components M x , M y and M z in the usual way by coordinate transformation of the respective geometry (direction) of the connecting rods 84, 86, 88, 90, 92, 94 and After the conversion, the following data are available: force F x in the x-direction, force F y in the y-direction, force F z in the z-direction, moment M x about the x-axis, moment M y about the y-axis and moment M z about the z-axis. The magnitude of the forces is a measure of the speed with which the system to be controlled is to be moved, while the direction of the forces reflects the direction of translation and the direction of the moments reflects the direction of rotation of the system.

Die Ausgangssignale der Geometrieberechnungseinheit 100 werden in einer Ausgangssignalaufbereitung 102, die mit einem Kennlinienspeicher 104 in Verbindung steht, entsprechend der bereitgestellten Kennlinien einer nicht linearen Umwandlung unterzogen und über einen nicht gezeigten Stecker auf einen CAN-Bus 106 ausgegeben. Durch die Ausgangssignalaufbereitung 102 wird eine Signalausgabe nur dann zugelassen, wenn eine Betätigung des Bedienungselements erfolgen soll und daher ein am Betätigungsgriff 78 angeordneter Aktivierungsschalter betätigt ist.The output signals of the geometry calculating unit 100 are subjected to non-linear conversion in an output signal conditioning 102, which is connected to a characteristic memory 104, according to the provided characteristics, and outputted to a CAN bus 106 via a connector, not shown. Due to the output signal processing 102, a signal output is only permitted if an actuation of the operating element is to take place and therefore an activation switch arranged on the activation switch 78 is actuated.

Die jedem Dehnmessstreifenpaar 84, 86 zugeordneten Ergänzungswiderstände 88, 90, 98 Verstärker 92, Einganssignalaufbereitungen 94 und Nullabgleichvorrichtungen 96 sind gemeinsam mit der Geometrieberechnungseinheit 100, der Ausgangssignalaufbereitung 102 und dem Kennlinienspeicher 104 zu einem gemeinsamen integrierten Bauelement 108 zusammengefasst. Dieses Bauelement 108 ist vorzugsweise auf der Rückseite der Plattform 60 befestigt. Es kann jedoch auch zweckmäßig sein, das Bauelement 108 in einem externen Controllergehäuse unterzubringen.The makeup resistors 88, 90, 98 amplifiers 92, input signal conditioning 94 and nulling devices 96 associated with each strain gauge pair 84, 86 are combined to form a common integrated device 108 together with the geometry calculation unit 100, the output signal conditioning 102, and the characteristic memory 104. This device 108 is preferably mounted on the back of the platform 60. It can, however be convenient to accommodate the device 108 in an external controller housing.

Auch wenn die Erfindung lediglich anhand eines Ausführungsbeispiels beschrieben wurde, erschließen sich für den Fachmann im Lichte der vorstehenden Beschreibung sowie der Zeichnung viele verschiedenartige Alternativen, Modifikationen und Varianten, die unter die vorliegende Erfindung fallen.Although the invention has been described by way of example only, in light of the foregoing description and the drawings, those skilled in the art will recognize many different alternatives, modifications and variations which are within the scope of the present invention.

Claims (18)

  1. Control element for driving three-dimensional movement procedures in a system (36) to be controlled,
    - having a handle (78) which can be operated by an operator and is attached to a platform (60),
    - having at least six connection elements (64, 66, 68, 70, 72, 74), which are arranged between the platform (60) and a stationary bracket (62) and are essentially rigid in their longitudinal extent,
    - having force measurement transmitters (84) for detection of the tension and compression forces acting in the connection elements (64, 66, 68, 70, 72, 74), and
    - having an evaluation unit (32, 108) for evaluation of the measurement signals and for production of driver signals for the three-dimensional movement procedures, characterized in that the platform (60) contains bending elements (80) on each of which a rigid connection element (64, 66, 68, 70, 72, 74) acts and which bend in response to force or moment loads from the handle (78), and in that a strain gauge (84, 86), which is aligned essentially in the radial direction and acts as a force measurement transmitter, is arranged at least on the upper face or on the lower face of the bending elements (80), in the area between the attachment point of the connection element (64, 66, 68, 70, 72, 74) and the central area of the platform (60).
  2. Control element according to Claim 1, characterized in that the connection elements (64, 66, 68, 70, 72, 74) are arranged in the form of a hexapod.
  3. Control element according to Claim 1 or 2, characterized in that the points at which the connection elements (64, 66, 68, 70, 72, 74) act on the platform (60) and/or on the bracket (62) are in each case located in the area of the corners of an essentially equilateral triangle, and in that two connection elements (64, 66, 68, 70, 72, 74) in each case act in the area of each of the three corners.
  4. Control element according to one of Claims 1 to 3, characterized in that the connection elements (64, 66, 68, 70, 72, 74) are connected to the platform (60) in an articulated manner.
  5. Control element according to one of Claims 1 to 3, characterized in that the connection elements (64, 66, 68, 70, 72, 74) are rigidly attached to the bracket (62).
  6. Control element according to one of Claims 4 or 5, characterized in that the articulated connection between a connection element (64, 66, 68, 70, 72, 74) and the platform (60) is formed by one or more rubber-like elements (76).
  7. Control element according to Claim 1, characterized in that the bending elements (80) are in the form of rods or lugs, and are rigidly connected to the platform (60) at at least one end, and in that the bending elements (80) are aligned transversely with respect to the longitudinal extent of the connection elements (64, 66, 68, 70, 72, 74).
  8. Control element according to Claim 1 or 7, characterized in that two or more rods or lugs (80) which run alongside one another and are in the form of bending elements are provided in the area of at least one corner of a platform (60) at whose corners two or more connection elements (64, 66, 68, 70, 72, 74) act, and in that one connection element (64, 66, 68, 70, 72, 74) acts on each rod or each lug (80).
  9. Control element according to Claim 1, 7 or 8, characterized in that at least one straining gauge (84, 86) is in each case arranged on the upper face and the lower face of a bending element (80), and in that in each case one strain gauge (84, 86) on the upper face and on the lower face are connected to form a half bridge.
  10. Control element according to one of Claims 1 to 9, characterized in that force measurement elements (80) and associated evaluation electronics (108) are arranged on the platform (60).
  11. Control element according to one of Claims 1 to 10, characterized in that the handle (78) is in the form of a joystick.
  12. Control element according to one of Claims 1 to 11, characterized in that the handle (78) is a lever which projects from the platform (60) and whose free end (16) points essentially upwards.
  13. Control element according to one of Claims 1 to 12, characterized in that at least one controlling element, such as a switch, push button, roller or activation flap is arranged in the area of the free end (16) of the handle (78).
  14. Control element according to one of Claims 1 to 13, characterized in that the evaluation unit (108) provides a non-linear output characteristic.
  15. Control element according to one of Claims 2 to 14, characterized in that the evaluation unit (32, 108) forms control signals for a system (36) that is to be controlled and is in the form of a hexapod.
  16. Arrangement of a control element according to one of Claims 2 to 15, characterized in that the geometry of a control element hexapod and the geometry of a hexapod of the system (36) to be controlled are similar to one another.
  17. Arrangement of a control element according to one of Claims 1 to 16, characterized in that the control signals produced by the evaluation unit (32, 108) are used to drive the coupling device, for example the coupling triangle (38), of a vehicle attachment apparatus (36).
  18. Arrangement of a control element according to one of Claims 1 to 17, characterized in that the bracket (62) is part of a vehicle stand, and the control element (78) is used to control vehicle components (36).
EP01122079A 2000-10-20 2001-09-14 Operating element Expired - Lifetime EP1199622B1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE2000152050 DE10052050A1 (en) 2000-10-20 2000-10-20 Operating element has operator handle on platform, connecting elements between platform, bracket, displacement and/or force sensors, unit for evaluating signals and providing drive signals
DE10052050 2000-10-20
DE2001111609 DE10111609A1 (en) 2001-03-10 2001-03-10 Operating element has operator handle on platform, connecting elements between platform, bracket, displacement and/or force sensors, unit for evaluating signals and providing drive signals
DE10111609 2001-03-10

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EP1199622A1 EP1199622A1 (en) 2002-04-24
EP1199622B1 true EP1199622B1 (en) 2007-12-12

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DE50113363D1 (en) 2008-01-24

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