DE102017105008A1 - Control lever with active feedback unit - Google Patents

Abstract

The invention relates to a manual control transmitter (12) for controlling a machine (44), which comprises an assembly platform (14) on which a tracking device (16) with frame and / or housing (18) is arranged. A control lever (24) is pivotally mounted in a hinge about an axis (22), wherein the hinge (23) in the frame and / or housing (18) of the tracking device (16) is provided. A master encoder (28) detects the deflection (ω) of the control lever (24) and generates a signal associated with the deflection (ω). The signal is processed by an evaluation and processing unit (53) and controls the machine according to the deflection (ω). A return mechanism (30) returns the control lever (24) to an initial position (32) in the frame and / or housing (18) of the tracking device (16).

Description

Technical area

1. a) eine Montageplattform,
2. b) eine Nachführvorrichtung mit Rahmen und/oder Gehäuse, welche 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 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 die Maschine entsprechend der Auslenkung ω ansteuert,
6. f) einen Rückholmechanismus, welcher den Steuerhebel in eine Ausgangsposition in dem Rahmen und/oder Gehäuse der Nachführvorrichtung zurückführt.

The invention relates to a manual control transmitter for controlling a machine, comprising

1. a) an assembly platform,
2. b) a tracking device with frame and / or housing, which is arranged on the mounting platform,
3. c) a control lever, which is pivotally mounted in a hinge about an axis, wherein the hinge is provided in the frame and / or housing of the tracking device,
4. d) a guide transmitter which detects the deflection ω of the control lever and generates a signal associated with the deflection ω,
5. e) an evaluation and processing unit which processes the signal from the leading encoder and drives the machine according to the deflection ω,
6. f) a return mechanism which returns the control lever to an initial position in the frame and / or housing of the tracking device.

description

Such hand control transmitters are often used to control heavy machinery. For example, they are used to control cranes, wheel loaders, excavators, forklifts or as a travel controller for rail vehicles and ships. They can be operated like a joystick. Basically, many types of machines that are manually operated can be controlled with a hand control transmitter. 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 detected without contact or touch. It is known, for example, to determine the angular position optically by means of a coded disc. The angular position can be e.g. but also electronically via a potentiometer.

There are manual control encoders that are only operated via one axis. But also multi-axis hand control encoders are used. Accordingly, the multi-axis manual control transmitters have at least two non-parallel control shafts, which 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 maneuvering device is known, wherein the remote control has an input device and the degrees of freedom of mobility of the input device, the degrees of freedom of mobility of the vehicle to be controlled are displayed.

The EP 0 671 604 A1 describes a joystick having two potentiometers, which are coupled via a gimbal deflection with a control lever. Each position of the control lever is associated with a corresponding position of the Potentiometerschleifer, so that the tapped to the Potentiometerklemmen voltage values can be fed to an evaluation circuit. There, a device for converting an at least one-dimensional mechanical deflection into an electrical variable corresponding to this deflection is proposed, in which one end of a sliding contact pair with electrical activation signals is actuated via at least two contact surfaces. The other end of the sliding contact pair is moved over a required resolution for a certain number of parallel conductor tracks. As a result of the displacement of the sliding contact pair, the control signals are forwarded via the contacted printed conductors at the end thereof as evaluation signals.

In the EP 0856 453 A2 is an electro-hydraulic steering system for vehicles, which has a manual steering and automatic steering (autopilot), which is activated via a switch described. The steering system consists of at least one hydraulic steering cylinder for adjusting the steerable wheels, at least one sensor for determining the Radeinschlagwinkel actual values, at least one electrically actuated hydraulic control valve which controls the pressurization of the steering cylinder with hydraulic fluid and at least one automatic steering signal generator for generating electrical steering signal Setpoint values for the wheel steering angle. In each case, the automatically generated steering signal command values and the wheel steering angle actual values are fed to an electronic control and evaluation device. The control and evaluation device determines from the wheel steering angle actual value and the automatically generated steering signal target value in each case an electrical drive signal for the hydraulic control valve. Steering signal generator is provided for the manual steering, which likewise generates a corresponding electrical steering signal setpoint from a manual adjusting movement, which is also supplied to the control and evaluation device. Depending on which steering is active, the control and evaluation evaluates the manual or automatic steering signal setpoints. As a manual steering signal transmitter, a steering lever ("joystick") can be used.

Disclosure of the invention

The object of the invention is to avoid disadvantages of the prior art and to provide 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 are controlling.

• g) eine Regeleinrichtung vorgesehen ist, welche einen Antrieb der Nachführvorrichtung um eine zugeordnete Position nachregelt, wobei durch die mit der Auslenkung ω angesteuerte Maschine die zugeordnete Position festgelegt wird.

According to the invention the object is achieved in that in a manual control transmitter for controlling a machine of the type mentioned

• g) a control device is provided, which adjusts a drive of the tracking device by an associated position, wherein the associated position is determined by the driven with the deflection ω machine.

The invention is based on the principle that the control lever of the manual control transmitter assumes the deflected position, which is also assigned to the machine. For this purpose, the control lever is always returned to a control position in a relative starting position. This starting position of the control lever is then deflected separately. For this purpose, the effect of the control instruction is determined and assigned a position of the control lever. In a rail vehicle, for example, the speed can be set by operating the manual control transmitter. This defines a setpoint. When the rail vehicle has now reached the speed, the control device regulates the control lever by a corresponding angle, which is assigned to this speed. By the present invention, the user sees immediately 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 associated with the deflection ω machine associated position. This action causes the tracking device to rotate with the control lever at an associated angle with the rotor. This saves space and the respective position of the control lever is easy for the user to capture.

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

In a preferred embodiment of the hand control transmitter according to the invention, the transmission of the drive of the tracking device is provided self-locking. This measure serves to better adapt the deflection of the control lever to the actually performed deflection.

A further advantageous embodiment of the invention is that the return mechanism has a damping unit, which generates a damping upon deflection of the control lever. In order to avoid overshooting of the control lever by the return mechanism and to improve the feel, the deflection is damped by means of the damping unit. This is achieved for example via an engine brake. An additional damping motor acts on the lever as needed. As a passive brake, the damping motor can also be loaded with braking resistors. In addition, it is also possible to actively operate a damper motor, e.g. as an additional force-feedback element to generate restoring forces, shaking effects or the like. The damping motor is connected in the present embodiment via a non-self-locking gear with the control lever. This ensures that in case of failure of the damping motor, the control lever is returned by means of spring return to its relative center position. In this case, the haptic changes, 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. But even a hydraulic and / or pneumatic damping element can be quite advantageously contained in the damping unit.

A particular variant of the manual control transmitter according to the invention is that the control lever is pivotally formed in the joint about at least two mutually perpendicular axes, wherein each axis is associated with at least one damping unit. This advantageous measure causes the control lever of the manual control transmitter has more degrees of freedom. This plurality of degrees of freedom makes it possible to control a machine more complexly. Thus, for example, one deflection for the speed and the other deflection for the steering of a vehicle can be used.

A further 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. For such vehicles, these manual control are particularly useful. Users can work with these Detect vehicles quickly, which steering position, for example, have the wheels.

Further embodiments and advantages will become apparent from the subject of the dependent claims and the drawings with the accompanying descriptions. An embodiment is explained below with reference to the accompanying drawings. The invention should not be limited solely to these listed embodiments. They are only intended to illustrate the invention. The invention is intended to refer to all objects which now and in the future the skilled person would take as obvious for the realization of the invention.

list of figures

• 1 shows in a schematic diagram of the basic principle of a hand control transmitter according to the invention.
• 2 shows in a schematic schematic diagram of a hand control transmitter according to the invention from the side at a neutral deflection.
• 3 shows in a schematic schematic diagram according to the 2 a manual control transmitter according to the invention from the side with a deflection.
• 4 shows a schematic schematic diagram of the principle of operation of the control device for the hand control transmitter according to the invention.

Preferred embodiment

In 1 10 is the basic diagram of a manual control transmitter according to the invention 12 shown. The hand control transmitter 12 serves to control a machine, such as a wheel loader. The hand control transmitter 12 has an assembly platform 14. On this mounting platform 14 is tracking device 16 provided with a housing 18. The housing 18 can be formed, for example, tubular or spherical.

In the case 18 the tracking device 16 is a control unit 19 intended. The control unit 19 has a control shaft 20 which is pivotally mounted about an axis 22. The rotatably or pivotally mounted control shaft 20 forms a hinge 23 for a control lever 24 , The control lever 24 is at the control shaft 20 the control unit 19 with a control knob 26 intended. The control lever 24 sticks out with his control knob 26 from an opening 27 of the housing 18 out. The opening 27 is in the case 18 designed such that the control lever 24 opposite the housing 18 can be deflected. The deflection ω or the respective position, which the control lever 24 experienced by a user to operate or control the machine is by a leader 28 detected. The angle ω of the deflection is also referred to below as the guide angle ω. The leading employer 28 generates an angle signal which corresponds to a respective deflection ω of the control lever 24 around the axis 22 equivalent. A return mechanism 30 leads the control lever 24 always without force into its starting position 32 in the case 18 the tracking device 16 back. The position may be relative to the mounting platform 14 change, provided the tracking device 16 changed her position.

The tracking device 16 is with an actuator 34 educated. The tracking device 16 also includes a motor drive 36 , which with a gearbox 38 a rotor 40 controls. The motor drive 36 is preferably designed as a DC motor. An angle encoder 42 controls the motor drive so that the rotor 40 opposite the assembly platform 14 turns at an angle β. The rotor 40 changes its relative angular position to the mounting platform 14 ,

In the rotor 40 is the control unit 19 integrated. The feedback angle is the angle β of the rotor 40 referred to, which is measured in relation to the mounting platform. The actuator 34 possesses a self-locking property, allowing the position of the rotor 40 not via the force of the control lever 24 can be changed.

In 2 is the hand control transmitter 12 shown in a neutral deflection. As far as these 2 of the 1 Correspondingly, the same reference numerals are used. The hand control transmitter 12 is in this embodiment for a wheel loader 44 designed as a machine. The wheel loader 44 is about its drive axles 46 shown schematically. In the middle of the wheel loader 44 is his steering axle 48 , Both the guide angle ω of the deflection of the control lever 24 with the control shaft 20 around the axis 22 , as well as the feedback angle β of the rotor 40 the tracking device 16 are in a neutral steering position. Therefore, all wheels are front wheels 50 and rear wheels 52 just aligned. In dashed form, however, are two possible deflections of the control lever 24 shown.

Once the joystick 24 is deflected by a guide angle ω (dashed position), the wheel loader 44 , as in 3 to see the steering axle 48 steered by a steering angle α. A control device 57 leads the tracking device 16 of the manual control transmitter 12 according to this feedback angle β, so that the feedback angle β again corresponds to the steering angle α. This is the tracking device 16 one assigned position, which is determined by the steering angle α or Rückmeldewinkel β, rotated.

The deflection of the control lever 24 to the guide angle ω is from the lead donor 28 detected. The leading employer 28 now generates a signal associated with this guide angle ω. This signal receives an evaluation and processing unit 53 , which is not shown steering hydraulics for the control of the wheel loader 44 controls. This steering movement of the wheel loader 44 is from an angle encoder 59 measured. The measured steering angle α is used as a measurement signal for controlling the motor drive 36 used. The motor drive 36 then leads namely the rotor 40 by the corresponding feedback angle β. The control lever 24 then returns to its relative starting position 32 in the case 18 muted returned.

In the case 18 the tracking device 16 is the return mechanism 30 for the control lever 24 intended. Springing elements 54 lead the control lever 24 in the case 18 the tracking device 16 to the starting position 32 back. The starting position 32 is centered if possible. With 58 is a damping unit referred to, which is a possible overshoot after actuation of the control lever 24 reduced. The return of the control lever 24 to his starting position 32 therefore passes through the damping unit 58 attenuated. Such a damping effect to prevent the overshoot of the control lever 24 can, for example, also via damping elements 56 , like magnets, can be achieved. Alternatively, this damping can also take place via an active motor damping, which is not shown in this embodiment.

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

In the case 18 the tracking device 16 is the return mechanism 30 for the control lever 24 intended. The resilient elements 54 lead the control lever 24 in the case 18 the tracking device 16 to the starting position 32 back. The starting position 32 is centered if possible. The return of the control lever 24 to its original position 32 passes through the damping unit 58 muffled to avoid overshooting the control lever 24 to reduce as much as possible. The damping can also be done via an active motor damping, which is not shown in this embodiment.

Based on 4 the mode of operation should be described. The operator generates by deflecting the control lever 24 around the guide angle ω a corresponding control signal. For this purpose, the guide angle ω of the guide transmitter 28 detected. The leading employer 28 now generates a signal associated with this guide angle ω. This signal receives an evaluation and processing unit 53 , which is not shown steering hydraulics 60 for controlling the wheel loader 44 controls. This steering movement or the steering angle α of a buckling joint of the wheel loader 44 is from the angle encoder 59 detected. The measured steering angle α is used as a measurement signal for controlling the motor drive 36 used. In this case, the actual value for the feedback angle β and the setpoint, which is formed by the steering angle α of the wheel loader, go into the control. The motor drive 36 then leads the rotor 40 by the corresponding feedback angle β. The control lever 24 then returns to its relative starting position 32 in the case 18 muted returned.

The operator can by means of the spring-centered control lever 24 At any time and independent of steering angle α and feedback angle β steer the steering hydraulics in both directions. The guide angle ω is detected and serves a setpoint specification of the steering speed and direction.

To overshoot the control lever 24 through the return mechanism 30 To avoid and improve the feel, the deflection by means of the damping unit 58 attenuated. 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.

It is also possible to actively operate a damping motor, for example, to generate counterforce, restoring forces, shaking effects or the like as an additional force feedback element. The damping motor is in the present embodiment via a non-self-locking gear with the control lever 24 connected. This ensures that if the Damping motor of the control lever 24 is returned by means of spring return in its relative center position. In this case, the haptic changes, but the functionality of detecting the guide angle ω is still given.

The tracking device 16 leads the entire control unit 19 with control lever 24 the actual steering angle α after. The motorized actuator 34 self-locking characteristic receives a signal proportional to the steering angle α, compares it with the own feedback angle β, and guides the control unit 19 after until the feedback angle β is equal to the steering angle α. In a stationary position (not deflected by the operator), the joystick lever displays the actual steering angle α of the wheel loader via the feedback angle β to the operator. In a de-energized state, the control lever remains 24 in its state and thus indicates the last detected steering angle α.

LIST OF REFERENCE NUMBERS

10

Basic diagram of the manual control transmitter

12

Control Transmitter

14

mounting platform

16

tracking device

18

casing

19

control unit

20

control shaft

22

axis

23

joint

24

control lever

26

control knob

27

opening

28

lead donor

30

return mechanism

32

starting position

34

actuator

36

motor drive

38

transmission

40

rotor

42

angle encoder

44

wheel loaders

46

drive axles

48

steering axle

50

front wheels

52

rear wheels

53

Evaluation and processing unit

54

Springing elements

56

damping elements

57

control device

58

damping unit

59

angle encoder

60

hydraulic steering

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 202010000176 [0005]
• EP 0671604 A1 [0006]
• EP 0856453 A2 [0007]

Claims (11)

Manual control transmitter (12) for controlling a machine (44), comprising a) an assembly platform (14), b) a tracking device (16) with frame and / or housing (18), which is arranged on the mounting platform (14), c) a control lever (24) which is pivotally mounted in a hinge about an axis (22), wherein the hinge (23) in the frame and / or housing (18) of the tracking device (16) is provided, d) a guide transmitter (28 ), which detects the deflection (ω) of the control lever (24) and generates a signal associated with the deflection (ω), e) an evaluation and processing unit (53) which processes the signal from the guide transmitter (28) and the machine accordingly f) a return mechanism (30) which returns the control lever (24) to a starting position (32) in the frame and / or housing (18) of the tracking device (16), characterized in that g) a control device (57) is provided, which an An drive (36) of the tracking device (16) readjusted by an associated position, wherein by the with the deflection (ω) controlled machine (44), the assigned position is determined. Manual control transmitter (12) for controlling a machine (44) according to Claim 1 , characterized in that the drive (36) has a rotor (40) which tracks the tracking device (16) by an angle (β) which is determined by the position associated with the deflection (ω) controlled machine (44). Manual control transmitter (12) for controlling a machine (44) according to one of Claims 1 or 2 , characterized in that the drive (36) of the tracking device (16) has a transmission (38). Manual control transmitter (12) for controlling a machine (44) according to Claim 3 , characterized in that the transmission (38) of the drive (36) of the tracking device (16) is provided self-locking. Manual control transmitter (12) for controlling a machine according to one of Claims 1 to 4 , characterized in that the return mechanism (30) comprises a damping unit (58), which generates a damping for the control lever (24) upon deflection of the control lever (24). Manual control transmitter (12) for controlling a machine according to one of Claims 1 to 5 , characterized in that the return mechanism (30) comprises a resilient element (54). Manual control transmitter (12) for controlling a machine (44) according to one of Claims 1 to 6 , characterized in that the damping unit (58) includes a magnet for generating the damping. Manual control transmitter (12) for controlling a machine (44) according to one of Claims 1 to 7 , characterized in that the damping unit (58) includes a motor brake and / or an active engine brake. Manual control transmitter (12) for controlling a machine (44) according to one of Claims 1 to 8th , characterized in that the damping unit (58) includes a hydraulic and / or pneumatic damping element. Manual control transmitter (12) for controlling a machine (44) according to one of the preceding claims, characterized in that the control lever (24) in the joint (23) about two mutually perpendicular axes (22) is pivotally formed, each axis (22 ) is associated with at least one damping unit (58). Manual control transmitter (12) for controlling a machine (44) according to one of Claims 1 to 10 , characterized in that the machine (44) as a mobile machine (44), in particular as a rail vehicle, a wheel loader (44) or a crane is formed.

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