EP1199622B1 - Dispositif de commande - Google Patents

Dispositif de commande 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)
English (en)
Other versions
EP1199622A1 (fr
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/de
Priority claimed from DE2001111609 external-priority patent/DE10111609A1/de
Application filed by Deere and Co filed Critical Deere and Co
Publication of EP1199622A1 publication Critical patent/EP1199622A1/fr
Application granted granted Critical
Publication of EP1199622B1 publication Critical patent/EP1199622B1/fr
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.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Control Of Position Or Direction (AREA)

Claims (18)

  1. Élément de commande destiné à actionner les processus des mouvements dans l'espace d'un système (36) à commander,
    - avec un manche (78), fixé contre une plate-forme (60) et destiné à être manoeuvré par une personne de service,
    - avec au moins six éléments de liaison (64, 66, 68, 70, 72, 74), sensiblement rigides dans leur dimension longitudinale et agencés entre la plate-forme (60) et une console (62) fixe,
    - avec des capteurs de forces (84) destinés à détecter les forces de pression et de traction exercées dans les éléments de liaison (64, 66, 68, 70, 72, 74), et
    - avec une unité d'analyse (32, 108) destinée à analyser les signaux de mesure et à délivrer des signaux de commande des processus des mouvements dans l'espace,
    caractérisé en ce que la plate-forme (60) comporte des éléments de flexion (80), contre chacun desquels est attaché un élément de liaison (64, 66, 68, 70, 72, 74) rigide et lesquels fléchissent sous l'effet des forces ou moments appliqués par le manche (78), et en ce qu'au moins sur la face supérieure ou sur la face inférieure des éléments de flexion (80), dans la zone entre le point de fixation de l'élément de liaison (64, 66, 68, 70, 72, 74) et la zone centrale de la plate-forme (60), est disposée une jauge de contrainte (84, 86) orientée sensiblement dans le sens radial et agissant comme capteur de forces.
  2. Élément de commande selon la revendication 1, caractérisé en ce que les éléments de liaison (64, 66, 68, 70, 72, 74) sont agencés sous la forme d'un hexapode.
  3. Élément de commande selon la revendication 1 ou 2, caractérisé en ce que les points d'attache des éléments de liaison (64, 66, 68, 70, 72, 74) sur la plate-forme (60) et/ou sur la console (62) se situent respectivement dans la zone des angles d'un triangle sensiblement équilatéral, et en ce que respectivement deux éléments de liaison (64, 66, 68, 70, 72, 74) sont attachés dans la zone de chacun des trois angles.
  4. Élément de commande selon l'une quelconque des revendications 1 à 3, caractérisé en ce que les éléments de liaison (64, 66, 68, 70, 72, 74) sont assemblés de manière articulée à la plate-forme (60).
  5. Élément de commande selon l'une quelconque des revendications 1 à 3, caractérisé en ce que les éléments de liaison (64, 66, 68, 70, 72, 74) sont fixés de manière rigide à la console (62).
  6. Élément de commande selon l'une quelconque des revendications 4 à 5, caractérisé en ce que l'assemblage articulé entre un élément de liaison (64, 66, 68, 70, 72, 74) et la plate-forme (60) est formé par un ou plusieurs éléments (76) réalisés en caoutchouc.
  7. Élément de commande selon la revendication 1, caractérisé en ce que les éléments de flexion (80) sont réalisés en forme de barres ou de pattes et sont reliés de manière rigide par au moins une extrémité avec la plate-forme (60), et en ce que les éléments de flexion (80) sont orientés transversalement à la dimension longitudinale des éléments de liaison (64, 66, 68, 70, 72, 74).
  8. Élément de commande selon la revendication 1 ou 7, caractérisé en ce que, avec une plate-forme (60) contre les angles de laquelle sont attachés deux ou plusieurs éléments de liaison (64, 66, 68, 70, 72, 74), il est prévu dans la zone d'au moins un angle deux ou plusieurs barres ou pattes (80), juxtaposées et réalisées sous forme d'éléments de flexion, et en ce qu'un élément de liaison (64, 66, 68, 70, 72, 74) est attaché sur chaque barre ou chaque patte (80).
  9. Élément de commande selon la revendication 1, 7 ou 8, caractérisé en ce que au moins une jauge de contrainte (84, 86) est agencée sur chacune de la face supérieure et de la face inférieure d'un élément de flexion (80), et en ce qu'une jauge de contrainte (84, 86) de la face supérieure et une de la face inférieure sont connectées pour former un demi-pont.
  10. Élément de commande selon l'une quelconque des revendications 1 à 9, caractérisé en ce que des éléments de mesure de forces (80) et une électronique d'analyse (108) correspondante sont agencés sur la plate-forme (60).
  11. Élément de commande selon l'une quelconque des revendications 1 à 10, caractérisé en ce que le manche (78) est réalisé sous la forme d'un joystick.
  12. Élément de commande selon l'une quelconque des revendications 1 à 11, caractérisé en ce que le manche (78) est un levier, qui est dressé sur la plate-forme (60) et dont l'extrémité libre (16) est orientée sensiblement vers le haut.
  13. Élément de commande selon l'une quelconque des revendications 1 à 12, caractérisé en ce qu'au moins un élément d'actionnement, tel qu'un commutateur, un bouton-poussoir, une roulette ou un clapet d'activation, est agencé dans la zone de l'extrémité libre (16) du manche (78).
  14. Élément de commande selon l'une quelconque des revendications 1 à 13, caractérisé en ce que l'unité d'analyse (108) génère une courbe caractéristique initiale non linéaire.
  15. Élément de commande selon l'une quelconque des revendications 2 à 14, caractérisé en ce que des signaux de commande pour un système (36) à commander, réalisé sous forme d'hexapode, sont générés par l'unité d'analyse (32, 108).
  16. Agencement d'un élément de commande selon l'une quelconque des revendications 2 à 15, caractérisé en ce que la géométrie d'un hexapode pour l'élément de commande et la géométrie d'un hexapode pour le système (36) à commander sont similaires l'une à l'autre.
  17. Agencement d'un élément de commande selon l'une quelconque des revendications 1 à 16, caractérisé en ce que les signaux de commande générés par l'unité d'analyse (32, 108) sont destinés à activer le dispositif d'accouplement, tel que le triangle d'attelage (38), d'un dispositif d'attelage de véhicule (36).
  18. Agencement d'un élément de commande selon l'une quelconque des revendications 1 à 17, caractérisé en ce que la console (62) est une partie d'un poste de conduite d'un véhicule et l'élément de commande (78) est destiné à commander les composants (36) du véhicule.
EP01122079A 2000-10-20 2001-09-14 Dispositif de commande Expired - Lifetime EP1199622B1 (fr)

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US20020117017A1 (en) 2002-08-29
US6681880B2 (en) 2004-01-27
BR0104622A (pt) 2002-05-28
EP1199622A1 (fr) 2002-04-24

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