CN111071334A - 转向控制装置 - Google Patents

转向控制装置 Download PDF

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CN111071334A
CN111071334A CN201910962916.8A CN201910962916A CN111071334A CN 111071334 A CN111071334 A CN 111071334A CN 201910962916 A CN201910962916 A CN 201910962916A CN 111071334 A CN111071334 A CN 111071334A
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control device
steering control
handle member
armrest
motor
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CN111071334B (zh
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索伦·温克勒·拉斯马森
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Danfoss Power Solutions ApS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/12—Hand levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • 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
    • G05G2009/04766—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 providing feel, e.g. indexing means, means to create counterforce
    • 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
    • G05G2009/04774—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 additional switches or sensors on the handle
    • 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
    • G05G2009/04781—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 additional rotation of the controlling member
    • 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
    • G05G9/04785—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 the controlling member being the operating part of a switch arrangement
    • G05G9/04788—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 the controlling member being the operating part of a switch arrangement comprising additional control elements
    • G05G9/04792—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 the controlling member being the operating part of a switch arrangement comprising additional control elements for rotary control around the axis of the controlling member

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Controls (AREA)
  • Mechanical Control Devices (AREA)

Abstract

描述了一种转向控制装置(1)，所述转向控制装置(1)包括操纵杆(2)和扶手(3)，所述扶手(3)具有臂支撑表面(4)，其中，所述操纵杆(2)包括手柄构件(5)，抓握表面(6)位于所述手柄构件(5)的周向上。应将在振动环境中意外的转向输入的风险最小化。为此，手柄构件(5)的旋转轴线(9)延伸通过被抓握表面(6)环绕的空间。

Description

转向控制装置
技术领域
本发明涉及一种转向控制装置，所述转向控制装置包括操纵杆和扶手(armrest)，所述扶手具有臂支撑表面，其中，所述操纵杆包括手柄构件，抓握表面位于所述手柄构件的周向上。
背景技术
例如根据US 7 675 258 B2已知了这样的转向控制装置。
使配备有这样的转向控制装置的车辆转向的操作者或驾驶员必须依赖于期望的转向方向将手柄构件向左或向右倾斜。
在振动环境中(就像在工作机器中那样)经常会出现问题，因为存在操作者可能无意间将操纵杆沿非预期方向移动的可能性。
此外，对操作者来说，使用这样的转向控制装置是疲惫的，从而在一段时间的工作之后操作者将非常疲劳。
发明内容
本发明潜在的或根本的目的是为了最小化振动环境中意外的转向输入的风险。
使用如开头描述的转向控制装置解决了这个问题，其中，手柄构件的旋转轴线延伸通过被抓握表面环绕的空间。
在操作期间，操作者在抓握表面处抓握所述手柄构件。换句话说，操作者的手掌接触手柄构件的抓握表面，因此，手柄构件的旋转轴线位于手掌内部。可以大大减少意外的转向输入。可以以人体工程学的方式处理操纵杆。操作者只需在转向输入时扭转手腕，这比移动前臂产生的压力小。
在本发明的实施例中，手柄构件经由杆连接到手臂手腕，其中杆从扶手在臂支撑表面的水平或高度处或其下方的区域伸出。操作者可以将前臂放在扶手上，并且将手沿手臂手腕向前伸到手柄构件所在的位置。然后，手柄构件自动地处于正确的位置，以被操作者的手抓握。
在本发明的实施例中，杆与臂支撑表面之间的角度是可调节的。手柄构件的位置可以适应特定的操作者。一旦角度已被调节，杆的角位置就可以被固定。
在本发明的实施例中，所述角度在-30°到+30°的范围内。通常这足以使转向控制装置适应许多操作者。
在本发明的实施例中，杆具有可调节的长度。杆可以针对不同的操作者被调节成不同的正手长度。
在本发明的实施例中，手柄构件能够绕旋转轴线旋转150°。这是相当大的转动角或转向角，这允许转向控制的对应的高分辨率。常规的操纵杆仅允许倾斜18°到45°范围内的角度。
在本发明的实施例中，手柄构件的唯一可能的运动是旋转。手柄构件实现了方向盘的功能，但是采用了更舒适的致动方式。
在本发明的实施例中，电机布置在手柄构件内。电机可以用于如下面将解释的多种目的。由于电机布置在手柄构件内，因此不需要额外的构造空间。
在本发明的实施例中，电机包括与杆连接的定子和与手柄构件连接的转子。
在本发明的实施例中，转子包括磁体装置。磁体装置包括多个永磁体。因此，不需要向转子供应电流，从而可以使电机的构造保持简单。
在本发明的实施例中，磁体装置被附接到手柄构件内部。这是简单的构造。例如，可以从手柄构件的正面进入或访问手柄构件的内部。
在本发明的实施例中，电机呈BLDC马达的形式。BLDC马达是一种简单的电动马达，可以控制其产生预定的扭矩或旋转到预定的角度。因此，所述马达可以用于产生力反馈，或者马达可以用于(例如，经由全球定位系统支持的转向系统)自动地驱动配备有这样的转向控制装置的车辆。代替BLDC马达，可以使用任何其它合适的马达，例如PMSM马达(永磁同步马达)。
在本发明的实施例中，电机输出角位置信号。同一机器可以同时用作马达和角度传感器。
在本发明的实施例中，手柄构件至少部分为柱形形式。这使操作者感到舒适。此外，它简化了电机在手柄构件内的安装。在本发明的实施例中，至少一个按钮布置在手柄构件处。所述按钮可以用于例如喇叭、灯、或转向灯。
附图说明
现在将参照附图更详细地描述本发明的实施例，其中：
图1显示了转向控制装置的侧视图，和
图2显示了转向控制装置的立体图。
具体实施方式
转向控制装置1包括操纵杆2和具有臂支撑表面4的扶手3。操纵杆2包括手柄构件5。抓握表面6位于手柄构件5的周向上。抓握表面6是被使用转向控制装置以使配备有转向控制装置1的车辆进行转向的操作者的手掌接触的表面。
手柄构件5经由杆7连接到扶手3。杆7从扶手3在臂支撑表面4下方的区域伸出。可替代地，杆可以与臂支撑表面处于同一水平处。
示意性地显示了铰链8，杆7用铰链8连接到扶手3。因此，可以调节杆7与臂支撑表面4之间的角度。所述角度在-30°到+30°的范围内。一旦调节了期望的角度，就固定了杆7相对于臂支撑表面4的角位置。所述固定可以是可释放的，以便另一操作者可以调节另一角度。
杆7的长度可以被调节以改变扶手3与手柄6之间的距离，从而可以针对不同的操作者将杆7的长度调节成不同的正手长度。为此，杆本身可以是可伸缩的形式。可替代地，杆7可以或多或少地移位到扶手3中。在这两种情况下，固定调节后的长度都是有利的。
手柄构件6能够绕轴线9旋转，所述轴线9对应于杆7的纵向轴线。可以将手柄构件6绕轴线9旋转150°，即向左旋转75°，向右旋转75°。这给出了对应的高分辨率，并且产生相当敏感的转向行为。
手柄构件6唯一可能的运动是旋转。因此，可以使操作者的工作载荷保持较低。
手柄构件6相对于臂支撑表面4的位置允许相当符合人体工程学的工作位置。操作者可以将前臂放在扶手3上，更确切地说，放在扶手3的臂支撑表面4上，而手可以抓握操纵杆2的手柄构件6。在此位置，操作者只需旋转其手腕以转动手柄构件6。
电机10布置在手柄构件6内。电机10包括定子11和转子12。定子11连接到杆7，转子12连接到手柄构件。转子12包括具有多个永磁体的磁体装置。所述磁体装置附接到手柄构件6内部。
以这种方式，电机可以采用BLDC马达的形式。可以通过印刷电路板13(例如，布置在杆7的末端上)控制电机。例如，可以使用电机10创建力反馈。为此，电机10呈高扭矩低速马达的形式。电机的转子11包括多个线圈，其中每个线圈绕铁芯缠绕。例如，线圈的缠绕轴线相对于旋转轴线9沿径向布置。由印刷电路板13控制向线圈的供电。
电机可以与角度传感器同时使用，所述角度传感器输出指示手柄构件6相对于杆7的角位置的信号。
由于可以将完整的电气设备放置在手柄构件6内，因此只需要几根线用于供电和几根线用于总线信号，这些线可以被轻松地容纳在扶手中。
至少一个按钮14-17布置在手柄构件5处。按钮14、15可以用于操作转向灯。按钮16可以用于打开或关闭车辆的灯。按钮17可以用于致动车辆的喇叭。
特别是从图2可以看出，手柄构件5至少部分为柱形形式。这使操作者感到舒适。
图2中示出的构造可以实现为单个单元，然后所述单个单元被放置在车辆的已经存在的扶手3上。只需要连接电线。
在所有实施例中，电线和总线连接线可以被引导通过杆7，并且如果需要或期望的话，可以被引导通过扶手3。

Claims (15)

1.一种转向控制装置(1)，所述转向控制装置(1)包括操纵杆(2)和扶手(3)，所述扶手(3)具有臂支撑表面(4)，其中，所述操纵杆(2)包括手柄构件(5)，抓握表面(6)位于所述手柄构件(5)的周向上，其特征在于，所述手柄构件(5)的旋转轴线(9)延伸通过被所述抓握表面(6)环绕的空间。
2.根据权利要求1所述的转向控制装置，其特征在于，所述手柄构件(5)经由杆(7)连接到所述扶手(3)，其中所述杆(7)从所述扶手(3)的在所述臂支撑表面(4)的水平处或其下方的区域伸出。
3.根据权利要求2所述的转向控制装置，其特征在于，所述杆(7)与所述臂支撑表面(4)之间的角度能够调节。
4.根据权利要求3所述的转向控制装置，其特征在于，所述角度在-30°到30°的范围内。
5.根据权利要求1至4中任一项所述的转向控制装置，其特征在于，所述杆(7)的长度能够调节。
6.根据权利要求1至5中任一项所述的转向控制装置，其特征在于，所述手柄构件(5)能够绕所述旋转轴线(9)旋转150°。
7.根据权利要求1至6中任一项所述的转向控制装置，其特征在于，所述手柄构件(5)的唯一可能的运动是旋转。
8.根据权利要求1至7中任一项所述的转向控制装置，其特征在于，电机(10)布置在所述手柄构件(5)内。
9.根据权利要求8所述的转向控制装置，其特征在于，所述电机(10)包括与所述杆(7)连接的定子(11)和与所述手柄构件(5)连接的转子(12)。
10.根据权利要求9所述的转向控制装置，其特征在于，所述转子(12)包括磁体装置。
11.根据权利要求10所述的转向控制装置，其特征在于，所述磁体装置附接到所述手柄构件(5)内部。
12.根据权利要求8至11中任一项所述的转向控制装置，其特征在于，所述电机(10)呈BLDC马达的形式。
13.根据权利要求8至12中任一项所述的转向控制装置，其特征在于，所述电机(10)输出角位置信号。
14.根据权利要求1至13中任一项所述的转向控制装置，其特征在于，所述手柄构件(5)至少部分地为柱形形式。
15.根据权利要求1至14中任一项所述的转向控制装置，其特征在于，至少一个按钮(14-17)布置在所述手柄构件(5)处。
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