EP1136628A1 - Levier de commande pour excavatrice - Google Patents

Levier de commande pour excavatrice Download PDF

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Publication number
EP1136628A1
EP1136628A1 EP01102639A EP01102639A EP1136628A1 EP 1136628 A1 EP1136628 A1 EP 1136628A1 EP 01102639 A EP01102639 A EP 01102639A EP 01102639 A EP01102639 A EP 01102639A EP 1136628 A1 EP1136628 A1 EP 1136628A1
Authority
EP
European Patent Office
Prior art keywords
excavator
joystick
toggle switch
arms
toggle
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.)
Withdrawn
Application number
EP01102639A
Other languages
German (de)
English (en)
Inventor
Kaiser Dietmar
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.)
Kaiser AG
Original Assignee
Kaiser AG
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
Application filed by Kaiser AG filed Critical Kaiser AG
Publication of EP1136628A1 publication Critical patent/EP1136628A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control 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
    • G05G2009/04774—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

Definitions

  • the invention relates to a joystick for an excavator with a chassis, which has a driver's cab and a boom with a definable at the free end Tool, such as an excavator bucket, carries and on it Projecting arms provided in pairs are articulated on the end faces, which can be swiveled in the horizontal and vertical planes and on which wheels and, if necessary, footrests are provided for walking in the field, the joystick for operating the boom and / or the implement is adjustable in two mutually angular axes and where am Head area of the joystick first and second self-resetting into the neutral position Toggle switch, each with four cross-shaped switching points are arranged to control the arms.
  • the invention further relates to a such excavator with two such sticks.
  • Excavators of the type mentioned are known in different embodiments. They are very mobile and can be used in difficult terrain. This is particularly true when footrests are attached to the free ends of the front arms are intended for walking in the area. With this type of transportation the front end of the chassis is supported during operation by supporting the at the free end of the boom fixed equipment against the ground raised and the excavator moved back and forth by moving the boom and then lowered back onto the footrests. By repeating this Operations, the excavator moves gradually. To adjust the Excavators on uneven terrain are known to everyone articulated on the chassis Arm independently of the others in a horizontal and vertical plane to be pivoted.
  • a walking excavator with both footrests on the front arms Stride and wheels are provided for driving, for example, is off the DE B 2807 517 known.
  • the object of the invention is the operational safety of an excavator at the beginning mentioned type to increase, and according to the invention this is achieved with a joystick of the type mentioned in that for steering the excavator when driving and / or to operate one or more other functions of the excavator in the head area of the joystick another in the neutral position self-resetting toggle switch with at least two opposing ones Switching points is provided.
  • the invention is based on the idea that by attaching a another self-resetting toggle switch in the head area of the control stick Multiple assignments of the other toggle switches can be avoided, whereby the learning process for the automated and associative assignment of the individual Control functions for the respective control elements simplified for the user and the error rate for an experienced user is also reduced becomes.
  • Such a joystick according to the invention is not only for an excavator can be used with the walking function, but also with an excavator which is connected to the swiveling arms each carrying wheels and no support feet.
  • an excavator is known for example from AT-B 405 427.
  • the excavator shown schematically in FIGS. 1 and 2 comprises a chassis 1, on which over a slewing ring 2 a driver's cab 3, not in the figures shown drive units and a multi-part boom 4, here with a Excavator shovel 5 are arranged as an implement.
  • a chassis 1 On the front and on the The rear of the chassis 1 are cantilevered arms provided in pairs 6, 7 articulated by means of hydraulically actuated piston-cylinder units are pivotable in the horizontal and vertical planes.
  • the one at the back of the chassis 1 articulated arms 7 carry driven at their free ends Rear wheels 8.
  • On the arms 6 on the front of the chassis 1 are on the free ends paws or footrests 9 attached.
  • Such an excavator is suitable both for driving when the front wheels 10 as shown in Fig. 1 lie on the ground, as well as walking excavators, when the excavator is supported on the ground via the footrests 9 and moves by means of the boom 4 and the excavator bucket 5. It is therefore can be used both in the most difficult terrain and in easier ones Movable from one job to another.
  • the left stick is opposite mirror image.
  • Joystick 11 includes a grip area 12 for gripping by hand and a head region 13.
  • head region 13 In this head region 13 there are first ones lying side by side and second toggle switches 14, 15 which reset themselves to the neutral position.
  • Another one is also self-resetting in the neutral position Toggle switch 16 provided.
  • Toggle switch 14, 15 and the other toggle switch 16 for the user is the User interface of this further toggle switch 16 is different from the user interfaces the first and second toggle switches 14, 15 are formed.
  • first and second toggle switches 14, 15 While the user interface of the first and second toggle switches 14, 15 is conical protrudes outwards, is the user interface of the other toggle switch 16 provided with a concave or trough-shaped depression. Moreover are the first and the second toggle switch 14, 15 on the Head area 13 of the control stick 11 in front as the further toggle switch 16. In addition is the further toggle switch 16 on a portion of the head area arranged opposite the portion of the head portion 13 where the first and second toggle switches 14, 15 are arranged, jumps back somewhat.
  • Fig. 5 explains in which the head areas of a left and a right joystick 11, 11 'with the toggle switches 14, 14', 15, 15 ', 16, 16' arranged therein are shown schematically. Above are the two control sticks 11, 11 ' shown schematically in plan view, the two perpendicular to each other standing axes 17, 18, 17 ', 18' are drawn, in which the control stick 11, 11 'are pivotable.
  • the left stick When the left stick is pivoted along the axis 17 in In the direction of the arrows 19, 20, the one above the slewing ring 2 pivots Structure including boom 4 to the left or to the right.
  • the pendulum arm 23 of the boom 4 With an adjustment of the control stick 11 along the axis 18 in the direction of the arrows 21 and 22 the pendulum arm 23 of the boom 4 is ejected or contracted.
  • the bucket of the excavator bucket 5 closes or opens.
  • pivoting the control sticks 11, 11 ' is a Proportional control of the corresponding functions carried out.
  • the pivoting is also not limited to the respective axis 17, 17 'or 18, 18', but also in directions between the axes Pivots possible, the two corresponding functions simultaneously with that corresponding to the respective deflection in the relevant axial direction Speed.
  • the toggle switches 14, 14 ', 15, 15' and 16, 16 'each have four cross-shaped ones Switching points, which are indicated schematically in Fig. 5. It is at a toggle switch only one of these switching points can be actuated, a simultaneous Two functions are performed on a toggle switch for safety reasons not provided. This is used to operate a toggle switch tilted towards one of the switching points until the switching point clicks is noticeable and the corresponding contact is closed. The toggle switches arise when the pressure towards one of the switching points is ended, automatically returns to the neutral position, in which no function is carried out becomes.
  • One of these switching points is provided with the reference number 25 as an example.
  • the upper and lower switching points of the toggle switches 14, 15 are used for pivoting the respectively assigned arm 6, 7 up and down, the two inside toggle switches 15, 15 'the front arms 6 are assigned and the external toggle switches 14, 14 'the rear Poor 7 are assigned.
  • the respective left and right pressure points serve to pivot the corresponding arm 6, 7 to the left and right.
  • the further toggle switch 16 'of the right joystick 11' are only that the right and left pressure points are assigned a function, and these serve Pressure points to steer the excavator when driving, so it becomes the front Arms 6 pivoted in the same direction and parallel to each other to the right or left.
  • the further toggle switch 16 of the left control stick 11 are only the upper one and the lower pressure point is assigned a function, and this serves Pressure points for retracting and extending one arranged on the excavator in the figures winch, not shown.
  • the front wheels 10 could also be steered about a vertical axis be connected to the poor 6. This allows the minimum curve radius of the Excavators when driving are reduced in size, steering on the road with smaller ones Steering deflections can still be carried out by means of the arms 6 alone. It is also possible to widen the track position of the excavator if the arms 6 be swiveled slightly outwards and the front wheels around it Measure towards the arms so pivoted that they are in the direction of travel are aligned.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Operation Control Of Excavators (AREA)
EP01102639A 2000-03-23 2001-02-07 Levier de commande pour excavatrice Withdrawn EP1136628A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0022000U AT4622U1 (de) 2000-03-23 2000-03-23 Steuerknüppel für einen bagger
AT2202000 2000-03-23

Publications (1)

Publication Number Publication Date
EP1136628A1 true EP1136628A1 (fr) 2001-09-26

Family

ID=3484700

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01102639A Withdrawn EP1136628A1 (fr) 2000-03-23 2001-02-07 Levier de commande pour excavatrice

Country Status (2)

Country Link
EP (1) EP1136628A1 (fr)
AT (1) AT4622U1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009050745A1 (fr) * 2007-10-17 2009-04-23 Komatsu Utility Europe S.P.A. Dispositif de commande pour engins de terrassement
EP2362026A1 (fr) * 2010-02-25 2011-08-31 Yanmar Co., Ltd. Machine de travail
US20180067513A1 (en) * 2016-02-19 2018-03-08 Komatsu Ltd. Operation device of work vehicle
CN109992037A (zh) * 2019-05-08 2019-07-09 成都航空职业技术学院 一种无人机操纵杆
WO2021248116A1 (fr) * 2020-06-05 2021-12-09 Joby Aero, Inc. Procédé et système de commande d'aéronef

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2143698A1 (fr) * 1971-06-30 1973-02-09 Mitsubishi Heavy Ind Ltd
DE2807517B2 (de) 1978-02-22 1980-04-10 Habegger, Willy, Huenibach Bei Thun (Schweiz) Fahr- und Schreitwerk für Fahrzeuge, insbesondere fahrbare Kräne, Bagger u.dgl
US4896558A (en) * 1988-06-01 1990-01-30 Deere & Company Control handle for a work vehicle
US5533590A (en) * 1993-08-02 1996-07-09 Caterpillar Inc. Steering switch integral with an implement control level
DE19636183A1 (de) * 1996-09-06 1998-03-12 Kostal Leopold Gmbh & Co Kg Vierwegeschalter mit einem um zwei zueinander senkrechte Achsen schwenkbaren Schaltelement

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2143698A1 (fr) * 1971-06-30 1973-02-09 Mitsubishi Heavy Ind Ltd
DE2807517B2 (de) 1978-02-22 1980-04-10 Habegger, Willy, Huenibach Bei Thun (Schweiz) Fahr- und Schreitwerk für Fahrzeuge, insbesondere fahrbare Kräne, Bagger u.dgl
US4896558A (en) * 1988-06-01 1990-01-30 Deere & Company Control handle for a work vehicle
US5533590A (en) * 1993-08-02 1996-07-09 Caterpillar Inc. Steering switch integral with an implement control level
DE19636183A1 (de) * 1996-09-06 1998-03-12 Kostal Leopold Gmbh & Co Kg Vierwegeschalter mit einem um zwei zueinander senkrechte Achsen schwenkbaren Schaltelement

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009050745A1 (fr) * 2007-10-17 2009-04-23 Komatsu Utility Europe S.P.A. Dispositif de commande pour engins de terrassement
EP2362026A1 (fr) * 2010-02-25 2011-08-31 Yanmar Co., Ltd. Machine de travail
US8272468B2 (en) 2010-02-25 2012-09-25 Yanmar Co., Ltd. Work machine
US20180067513A1 (en) * 2016-02-19 2018-03-08 Komatsu Ltd. Operation device of work vehicle
US10640950B2 (en) * 2016-02-19 2020-05-05 Komatsu Ltd. Operation device of work vehicle
CN109992037A (zh) * 2019-05-08 2019-07-09 成都航空职业技术学院 一种无人机操纵杆
WO2021248116A1 (fr) * 2020-06-05 2021-12-09 Joby Aero, Inc. Procédé et système de commande d'aéronef
US11673649B2 (en) 2020-06-05 2023-06-13 Joby Aero, Inc. Aircraft control system and method

Also Published As

Publication number Publication date
AT4622U1 (de) 2001-09-25

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