EP3343311B1 - Operating lever with active feedback unit - Google Patents

Description

Technical area

1. a) eine Montageplattform,
2. b) eine Nachführvorrichtung mit Rahmen und/oder Gehäuse, welche beweglich auf der Montageplattform angeordnet ist,
3. c) einen Steuerhebel, welcher in einem Gelenk um eine Achse schwenkbar gelagert ist, wobei das Gelenk in dem Rahmen und/oder Gehäuse der Nachführvorrichtung vorgesehen Ist,
4. d) einen Führungsgeber, welcher die Auslenkung als Führungswinkel ω des Steuerhebels erfasst und ein der Auslenkung ω zugeordnetes Signal erzeugt,
5. e) eine Auswerte- und Verarbeitungseinheit, welche das Signal von dem Führungsgeber verarbeitet und eine Lenkhydraulik für die Steuerung der Maschine entsprechend der Auslenkung um den Führungswinkel ω ansteuert, wobei die Maschine um die Lenkachse um einen Lenkwinkel α gelenkt wird,
6. f) einen Rückheimechanismus, welcher den Steuerhebel nach einer Steuerungsanweisung Immer in eine relative Ausgangsposition in dem Rahmen und/oder Gehäuse der Nachführvorrichtung zurückführt
7. g) eine Regeleinrichtung, welche die Nachführvorrichtung um einen Rückmeldewinkel β nachführt, sodass der Rückmeldewinkel β dem Lenkwinkel α entspricht.

The invention relates to a machine with a steering axis and a manual control transmitter for controlling the machine, containing

1. a) an assembly platform,
2. b) a tracking device with frame and / or housing which is movably arranged on the mounting platform,
3. c) a control lever which is mounted pivotably about an axis in a joint, the joint being provided in the frame and / or housing of the tracking device,
4. d) a guide sensor which detects the deflection as the guide angle ω of the control lever and generates a signal assigned to the deflection ω,
5. e) an evaluation and processing unit which processes the signal from the guide transmitter and controls a hydraulic steering system for controlling the machine according to the deflection by the guide angle ω, the machine being steered around the steering axis by a steering angle α
6. f) a return mechanism which always returns the control lever to a relative starting position in the frame and / or housing of the tracking device after a control instruction
7. g) a control device which adjusts the tracking device by a feedback angle β so that the feedback angle β corresponds to the steering angle α.

description

Such manual control transmitters are often used to control heavy machinery. For example, they are used to control cranes, wheel loaders, excavators, forklifts or as cruise control for rail vehicles and ships. They can be operated like a joystick. In principle, many types of machines that are operated manually can be controlled with a manual control transmitter. The modular design supports the use of a manual control transmitter in many machine control arrangements.

The control takes place via the respective angular position of the control shaft, which is connected to the control lever. The angular position can be recorded without contact or with contact. It is known to determine the angular position optically, for example, by means of a coded disk. The angular position can e.g. but can also be determined electronically using a potentiometer.

There are manual control transmitters that are only operated via one axis. Multi-axis manual control transmitters are also used. The multi-axis manual control transmitters therefore have at least two non-parallel control shafts that are driven by a suitable gear.

State of the art

From the DE 20 2010 000 176 a remote control for controlling vehicles with a shunting device is known, the remote control having an input device and In the degrees of freedom of the mobility of the input device, the degrees of freedom of the mobility of the vehicle to be controlled are mapped.

The EP 0 671 604 A1 describes a joystick that has two potentiometers that are coupled to a control lever via a cardanic deflection. Each position of the control lever is assigned a corresponding position of the potentiometer slider, so that the voltage values tapped at the potentiometer terminals can be fed to an evaluation circuit. A device for converting an at least one-dimensional mechanical deflection into an electrical variable corresponding to this deflection is proposed there, in which one end of a sliding contact pair is controlled with electrical control signals via at least two contact surfaces. The other end of the pair of sliding contacts is shifted over a number of parallel conductor tracks required for a specific resolution. By shifting the pair of sliding contacts, the control signals are passed on as evaluation signals via the contacted conductor tracks at their end.

In the EP 0856 453 A2 describes an electrohydraulic steering system for vehicles which has a manual steering and an automatic steering (autopilot) which can be activated via a switch. The steering system consists of at least one hydraulic steering cylinder for adjusting the steerable wheels, at least one sensor for determining the actual wheel lock angle, at least one electrically operated hydraulic control valve that regulates the application of hydraulic fluid to the steering cylinder and at least one automatic steering signal transmitter for generating electrical steering signals - Target values for the wheel lock angle. The automatically generated steering signal setpoint values and the actual wheel lock angle are fed to an electronic control and evaluation device. The control and evaluation device determines an electrical control signal for the hydraulic control valve from the steering signal setpoint value generated by the actual wheel lock angle and the automatically generated steering signal. For manual steering, a steering signal transmitter is provided that comes from a manual Adjustment movement also generates a corresponding electrical steering signal setpoint value, which is also fed to the control and evaluation device. Depending on which steering is active, the control and evaluation device evaluates the manual or automatic steering signal target values. A steering lever ("joystick") can also be used as a manual steering signal transmitter.

From the EP 1316 491 A2 a device and a method for operating a vehicle are known in which a restoring force and a reaction force are applied to an actuating element. The actuating element is arranged so that it can be displaced with respect to the vehicle and is actuated by a driver. The restoring force and the reaction force move the actuating element into an initial position according to its state and its actuation.

The disadvantage of such a device is that the driver is not adequately and directly conveyed about how the machine or the vehicle actually behaves.

Disclosure of the invention

The object of the invention is to avoid the disadvantages of the prior art and to create a manual control transmitter for controlling a machine, in which the user immediately receives feedback from the manual control transmitter, e.g. in which direction the machine or parts of the machine control.

According to the invention, the object is achieved in that in a manual control transmitter for controlling a machine of the type mentioned above the guide angle (ω) is recorded for a target value specification of the steering speed and steering direction.

The invention is based on the principle that the control lever of the manual control transmitter assumes the deflected position that is also assigned to the machine. For this purpose, the control lever is always returned to a relative starting position within the tracking device after a control instruction. The deflected position of the control lever is finally achieved by the tracking device in which the control lever is mounted. This starting position of the control lever is therefore deflected separately. To do this, the effect of the control instruction is determined and assigned to a position of the control lever. In the case of a rail vehicle, for example, the speed can be set by operating the manual control transmitter. This defines a setpoint. If the rail vehicle is now the speed reached, the control device adjusts the control lever by a corresponding angle that is assigned to this speed. With the present invention, the user immediately sees which setpoint has been set.

An advantageous embodiment of the manual control transmitter according to the invention results from the fact that the drive has a rotor which tracks the tracking device by an angle β which is determined by the position assigned to the machine controlled with the deflection ω. This measure causes the tracking device to rotate with the control lever through an associated angle with the rotor. This saves space and the respective position of the control lever is easy for the user to grasp.

In a preferred embodiment of the manual control transmitter according to the invention, the drive of the tracking device has a gear. The drives often turn too fast so that the speed can be reduced by a gearbox.

In a preferred embodiment of the manual control transmitter according to the invention, the transmission of the drive of the tracking device is provided in a self-locking manner. This measure serves to ensure that the deflection of the control lever is better adapted to the deflection actually carried out.

Another useful embodiment of the invention is that the return mechanism has a damping unit which generates damping when the control lever is deflected. In order to prevent the control lever from overshooting by the reset mechanism and to improve the feel, the deflection is dampened by means of the damping unit. This is achieved, for example, via an engine brake. An additional damping motor acts on the lever if necessary. As a passive brake, the damping motor can also be loaded with braking resistors. There is also the option of actively operating a damping motor, for example in order to generate restoring forces, jolting effects or the like as an additional force feedback element. In the present exemplary embodiment, the damping motor is connected to the control lever via a non-self-locking gear. This ensures that if the damping motor fails, the Control lever is returned to its relative center position by means of spring return. In this case, the haptics change, but the functionality of detecting the guide angle ω is still given. The damping unit therefore preferably has a spring, a magnet, an engine brake and / or an active engine brake which generates the damping. However, a hydraulic and / or pneumatic damping element can also advantageously be contained in the damping unit.

A special variant of the manual control transmitter according to the invention consists in that the control lever in the joint is designed to be pivotable about at least two mutually perpendicular axes, with at least one damping unit being assigned to each axis. This advantageous measure has the effect that the control lever of the manual control transmitter has more degrees of freedom. This plurality of degrees of freedom enables a machine to be controlled in a more complex manner. For example, one deflection can be used for the speed and the other deflection for the steering of a vehicle.

Another advantageous embodiment of the manual control transmitter according to the invention is that the machine is designed as a mobile machine, in particular as a rail vehicle, a wheel loader or a crane. These manual control transmitters are particularly useful for such vehicles. When working with these vehicles, users can quickly see which steering position the wheels have, for example.

Further refinements and advantages emerge from the subject matter of the subclaims and the drawings with the associated descriptions. An exemplary embodiment is explained in more detail below with reference to the accompanying drawings. The invention is not intended to be restricted solely to these exemplary embodiments listed. They only serve to explain the invention in more detail. The invention is intended to relate to all subjects which a person skilled in the art would now and in the future use as obvious for realizing the invention.

Brief description of the drawing

Fig. 1

shows in a schematic diagram the basic principle of a manual control transmitter according to the invention.

Fig. 2

shows a hand control transmitter according to the invention from the side with a neutral deflection in a schematic principle sketch.

Fig. 3

shows in a schematic sketch according to FIG Fig. 2 a hand control transmitter according to the invention from the side with a deflection.

Fig. 4

shows in a schematic principle sketch the functional principle of the control device for the manual control transmitter according to the invention.

Preferred embodiment

In Fig. 1 10 shows the basic diagram of a manual control transmitter 12 according to the invention. The manual control transmitter 12 is used to control a machine, such as a wheel loader. The manual control transmitter 12 has a mounting platform 14. Tracking device 16 with a housing 18 is provided on this mounting platform 14. The housing 18 can for example be tubular or spherical. The tracking device 16 is provided movably on the mounting platform 17. In the present exemplary embodiment, a rotational movement of the tracking device 16 is provided.

A control unit 19 is provided in the housing 18 of the tracking device 16. The control unit 19 has a control shaft 20 which is mounted pivotably about an axis 22. The rotatably or pivotably mounted control shaft 20 forms a joint 23 for a control lever 24. The control lever 24 is provided on the control shaft 20 of the control unit 19 with a control knob 26. The control lever 24 protrudes with its control knob 26 from an opening 27 of the housing 18. The opening 27 is configured in the housing 18 such that the control lever 24 can be deflected relative to the housing 18. The deflection ω or the respective position which the control lever 24 experiences by a user for operating or controlling the machine is detected by a guide sensor 28. The angle ω of the deflection is also referred to below as the guide angle ω. The guide sensor 28 generates an angle signal which corresponds to a respective deflection ω of the control lever 24 about the axis 22. A return mechanism 30 always returns the control lever 24 to its starting position 32 in the housing 18 of the tracking device 16 without the action of force. The position can, however, change relative to the mounting platform 14 if the tracking device 16 changes its position.

The tracking device 16 is designed with an actuator 34. The tracking device 16 also contains a motor drive 36 which controls a rotor 40 with a gear 38. The motor drive 36 is preferably designed as a direct current motor. An angle encoder 42 controls the motor drive so that the rotor 40 rotates through an angle β with respect to the mounting platform 14. The rotor 40 changes its angular position relative to the mounting platform 14.

The control unit 19 is integrated in the rotor 40. The angle β of the rotor 40, which is measured in relation to the mounting platform, is referred to as the feedback angle. The actuator 34 has a self-locking property, so that the position of the rotor 40 cannot be changed by the action of the control lever 24.

In Fig. 2 the manual control transmitter 12 is shown in a neutral deflection. As far as this Fig. 2 of the Fig. 1 the same reference numerals are used. The manual control transmitter 12 is in this embodiment for a wheel loader 44 as Machine trained. The wheel loader 44 is shown schematically via its drive axles 46. In the center of the wheel loader 44 is its steering axis 48. Both the guide angle ω of the deflection of the control lever 24 with the control shaft 20 about the axis 22, and the feedback angle β of the rotor 40 of the tracking device 16 are in a neutral steering position. Therefore, all wheels, front wheels 50 and rear wheels 52 are aligned straight. However, two possible deflections of the control lever 24 are shown in dashed lines.

As soon as the control lever 24 is deflected by a guide angle ω (dashed position), the wheel loader 44, as in FIG Fig. 3 to see the steering axis 48 steered by a steering angle α. A control device 57 adjusts the tracking device 16 of the manual control transmitter 12 accordingly by this feedback angle β, so that the feedback angle β again corresponds to the steering angle α. For this purpose, the tracking device 16 is rotated about an assigned position which is defined by the steering angle α or feedback angle β.

The deflection of the control lever 24 by the guide angle ω is detected by the guide sensor 28 for this purpose. The guide sensor 28 now generates a signal assigned to this guide angle ω. This signal is received by an evaluation and processing unit 53, which controls steering hydraulics (not shown) for controlling the wheel loader 44. This steering movement of the wheel loader 44 is measured by an angle sensor 59. The measured steering angle α is used as a measurement signal for regulating the motor drive 36. The motor drive 36 then follows the rotor 40 by the corresponding feedback angle β. The control lever 24 is then returned to its relative starting position 32 in the housing 18 in a damped manner.

The return mechanism 30 for the control lever 24 is provided in the housing 18 of the tracking device 16. Resilient elements 54 guide the control lever 24 in the housing 18 of the tracking device 16 back into the starting position 32. The starting position 32 is centered if possible. With 58 becomes a damping unit denotes, which reduces a possible overshoot after actuation of the control lever 24. The return of the control lever 24 to its starting position 32 is therefore damped by the damping unit 58. Such a damping effect for preventing the control lever 24 from overshooting can also be achieved, for example, via damping elements 56, such as magnets. Alternatively, this damping can also take place via active motor damping, which, however, is not shown in this exemplary embodiment.

In Fig. 3 the manual control transmitter 12 is shown in the deflected position. As far as the Fig. 3 corresponds to the previous figures, the same reference numerals are used. In this exemplary embodiment, the manual control transmitter 12 is also designed as a machine for the wheel loader 44. The wheel loader 44 is analogous to FIG Fig. 2 again shown stylistically via its drive axles 46. The steering axle 48 is located in the middle of the wheel loader 44. The control lever 24 is in its starting position 32. Opposite the Fig. 2 is the feedback angle β of the rotor 40 of the tracking device 16 is adjusted by an angle β. Therefore, the front wheels 50 are steered at this angle β as described above. As described above, the control device 57 has controlled the tracking device 16 into the desired position, which corresponds to the steering position of the wheel loader.

The return mechanism 30 for the control lever 24 is provided in the housing 18 of the tracking device 16. The resilient elements 54 guide the control lever 24 in the housing 18 of the tracking device 16 back into the starting position 32. The starting position 32 is centered if possible. The return of the control lever 24 to its starting position 32 is damped by the damping unit 58 in order to largely reduce any possible overshoot of the control lever 24. The damping can also take place via active motor damping, which is not shown in this exemplary embodiment.

Based on Fig. 4 the functionality should be described. The operator generates a corresponding one by deflecting the control lever 24 by the guide angle ω Control signal. For this purpose, the guide angle ω is recorded by the guide sensor 28. The guide sensor 28 now generates a signal assigned to this guide angle ω. This signal is received by an evaluation and processing unit 53, which activates steering hydraulics 60 (not shown) for controlling the wheel loader 44. This steering movement or the steering angle α of an articulated joint of the wheel loader 44 is detected by the angle sensor 59. The measured steering angle α is used as a measurement signal for regulating the motor drive 36. The actual value for the feedback angle β and the setpoint, which is formed by the steering angle α of the wheel loader, are included in the control. The motor drive 36 then adjusts the rotor 40 by the corresponding feedback angle β. The control lever 24 is then returned to its relative starting position 32 in the housing 18 in a damped manner.

The operator can use the spring-centered control lever 24 to control the steering hydraulics in both directions at any time and independently of the steering angle α and feedback angle β. The guide angle ω is recorded and is used to specify the target value for the steering speed and direction.

In order to prevent the control lever 24 from overshooting by the return mechanism 30 and to improve the feel, the deflection is damped by means of the damping unit 58. This is achieved, for example, via an engine brake. An additional damping motor (not shown here) then acts on the lever. As a passive brake, the damping motor can be loaded with braking resistors.

There is also the option of actively operating a damping motor, for example to generate counter forces, restoring forces, shaking effects or the like as an additional force feedback element. In the present exemplary embodiment, the damping motor is connected to the control lever 24 via a non-self-locking gear. This ensures that if the damping motor fails, the control lever 24 is returned to its relative central position by means of a spring return. In this case the haptic changes, but the functionality of detecting the guide angle ω is still given.

The tracking device 16 tracks the entire control unit 19 with the control lever 24 to the actual steering angle α. The motorized actuator 34 with self-locking property receives a signal proportional to the steering angle α, compares it with its own feedback angle β and adjusts the control unit 19 until the feedback angle β is equal to the steering angle et. In the resting position (not deflected by the operator), the joystick lever shows the operator the actual steering angle α of the wheel loader via the feedback angle β. In a de-energized state, the control lever 24 remains in its state and thus shows the steering angle α last recorded.

List of reference symbols

10

Basic diagram of the manual control transmitter

12th

Manual control transmitter

14th

Mounting platform

16

Tracking device

18th

casing

19th

Control unit

20th

Control shaft

22nd

axis

23

joint

24

Control lever

26th

Control knob

27

opening

28

Leader

30th

Return mechanism

32

Starting position

34

Actuator

36

Motor drive

38

transmission

40

rotor

42

Angle encoder

44

Wheel loader

46

Drive axles

48

Steering axle

50

Front wheels

52

Rear wheels

53

Evaluation and processing unit

54

Spring elements

56

Damping elements

57

Control device

58

Damping unit

59

Angle encoder

60

Steering hydraulics

Claims (11)

1. Machine (44) with a steering axis (48) and a manual controller (12) to control the machine (44), comprising

   a) a mounting platform (14),

   b) a tracking device (16) with frame and/or housing (18), which is movably arranged on the mounting platform (14),

   c) a control lever (24), which is mounted to pivot around an axis (22) in a joint (23), whereby the joint (23) is provided in the frame and/or housing (18) of the tracking device (16),

   d) a position sensor (28), which detects the deflection of the control lever (24) as the guide angle (ω) and generates a signal corresponding to the deflection (ω),

   e) an evaluation and processing unit (53), which processes the signal from the position sensor (28) and controls a steering hydraulic system (60) to steer the machine (44) according to the deflection by the guide angle (ω) whereby the machine (44) is steered about the steering axis (48) by a steering angle (a),

   f) a return mechanism (30), which always returns the control lever (24) after a control command to a relative starting position (32) in the frame and/or housing (18) of the tracking device (16),

   g) a control device (57), which guides the tracking device (16) through a feedback angle (β) so that the feedback angle (β) corresponds to the steering angle (α),
   characterized in that

   h) it is possible using the control lever (24) to steer the steering hydraulic system (60) in both directions at any time and independent of the steering angle (α) and feedback angle (β), whereby the guide angle (ω) can be detected to specify target values for the steering speed and steering direction.
2. Machine (44) with a steering axis (48) and manual controller (12) to control the machine (44) according to claim 1, characterized in that the machine (44) has a drive (36) with a rotor (40), which guides the tracking device (16) through an angle (β), which defines the position associated with the machine (44) being controlled according to the deflection (ω).
3. Machine (44) with a steering axis (48) and manual controller (12) to control the machine (44) according to claim 2, characterized in that the drive (36) of the tracking device (16) has a gearbox (38).
4. Machine (44) with a steering axis (48) and manual controller (12) to control the machine (44) according to claim 3, characterized in that the gearbox (38) of the drive (36) of the tracking device (16) is designed to be self-locking.
5. Machine (44) with a steering axis (48) and manual controller (12) to control the machine (44) according to one of claims 1 to 4, characterized in that the return mechanism (30) has a damping unit (58), which generates a damping force for the control lever (24) upon deflection of the control lever (24).
6. Machine (44) with a steering axis (48) and manual controller (12) to control the machine (44) according to one of claims 1 to 5, characterized in that the return mechanism (30) has a spring element (54).
7. Machine (44) with a steering axis (48) and manual controller (12) to control the machine (44) according to one of claims 1 to 6, characterized in that the damping unit (58) comprises a magnet to generate the damping force.
8. Machine (44) with a steering axis (48) and manual controller (12) to control the machine (44) according to one of claims 1 to 7, characterized in that the damping unit (58) comprises an engine brake and/or an active engine brake.
9. Machine (44) with a steering axis (48) and manual controller (12) to control the machine (44) according to one of claims 1 to 8, characterized in that the damping unit (58) comprises a hydraulic and/or pneumatic damping element
10. Machine (44) with a steering axis (48) and manual controller (12) to control the machine (44) according to one of the previous claims, characterized in that the control lever (24) in the joint (23) is arranged to pivot about at least two perpendicular axes (22), whereby each axis (22) has at least one damping unit (58) associated with it.
11. Machine (44) with a steering axis (48) and manual controller (12) to control the machine (44) according to one of claims 1 to 8, characterized in that the machine (44) is designed as a mobile machine (44), and in particular as a rail vehicle, a wheel loader (44), or a crane.

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