EP1276995B1 - Control device for controlling machines by hand or foot - Google Patents

Control device for controlling machines by hand or foot Download PDF

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Publication number
EP1276995B1
EP1276995B1 EP00991594A EP00991594A EP1276995B1 EP 1276995 B1 EP1276995 B1 EP 1276995B1 EP 00991594 A EP00991594 A EP 00991594A EP 00991594 A EP00991594 A EP 00991594A EP 1276995 B1 EP1276995 B1 EP 1276995B1
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EP
European Patent Office
Prior art keywords
actuating element
fluid
movement
accordance
hydraulic
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
EP00991594A
Other languages
German (de)
French (fr)
Other versions
EP1276995A2 (en
Inventor
Jürgen Weber
Helmut Renner
Manfred Kurde
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.)
CNH Industrial Baumaschinen GmbH
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CNH Baumaschinen GmbH
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 DE29921943U external-priority patent/DE29921943U1/en
Application filed by CNH Baumaschinen GmbH filed Critical CNH Baumaschinen GmbH
Publication of EP1276995A2 publication Critical patent/EP1276995A2/en
Application granted granted Critical
Publication of EP1276995B1 publication Critical patent/EP1276995B1/en
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
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/30—Controlling members actuated by foot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • 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
    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/14—Special measures for giving the operating person a "feeling" of the response of the actuated device
    • 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
    • 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
    • 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
    • Y10T74/20189—Foot operated
    • 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
    • Y10T74/20396—Hand operated
    • 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
    • Y10T74/20528—Foot operated

Definitions

  • the invention relates to a control device for the manual or foot-guided Control of working machines with the characteristics of the generic term of claim 1.
  • Control levers and pedals which act via slide and valve systems directly on the hydraulic circuit. Due to the reaction of the hydraulic fluid, these control elements or actuators set a certain resistance against their hand or foot actuation.
  • each lever is movable in at least two directions, for example, back and forth.
  • the resistance force serves the operator of the work machine as feedback or feedback for the actions he has taken, thus enabling easier movement of the machine. Since the triggering of a reaction after the movement of the control member hydraulic fluid is displaced in the system, there is further a damping of the movements of the control member, so that a feedback of uncontrollable machine vibrations and jerky movements of the machine can be largely prevented on the control member.
  • shaking or jerky movements can be very easy in the Control be entered and the safe guidance of the working machine to make impossible.
  • a control device of the type mentioned is known from DE 36 22 260 A1 known.
  • a damping device damped which has a piston which is movable in a cylinder is and separates two cylinder chambers from each other.
  • the two cylinder chambers are interconnected by a bypass channel arrangement.
  • a throttle is arranged in a bypass channel of this arrangement.
  • two other bypass channels of this arrangement are connected in parallel preloaded check valves arranged.
  • EP 0 899 147 A1 shows an accelerator pedal with damping device, in which damping is effected by a piston which is displaceable in a cylinder.
  • a throttle and a check valve are arranged in the piston.
  • the throttle provides increased resistance to movement of the piston in one direction, while the check valve permits movement in the other direction under reduced resistance.
  • Parallel to the piston a spring is arranged.
  • EP 0 331 177 A1 shows a control device with an active system for targeted application of an actuating element.
  • the actuating element has a damping piston for each actuating direction, which abuts with an extension on the actuating element.
  • the other side of the piston is pressurized by the hydraulic system, which pressure can be adjusted by a pressure adjusting valve depending on the operating pressures in the system and a load on the system.
  • the invention has for its object to provide a control device for the manually or foot-operated control of work machines indicate at in the displacement or adjustment of the actuating element a Resistance is noticeable, which is of the order of conventional Work machines is lying.
  • the resistance that is generated with the aid of the moving fluid can be substantially greater than the resistance of a simple return spring.
  • the resistance can be controlled much better over the movement length of the actuating element. If you were to use a correspondingly strong return spring, then the resistance to the movement would have to increase very strong. This is not necessarily the case with the generation of resistance by means of a moving fluid.
  • the reduction of the fluid filled cavity is a relatively simple way to build up a high resistance by means of a moving fluid.
  • the outflow velocity of the fluid is a measure of how quickly the cavity can be downsized.
  • the reduction speed of the cavity is a measure of how fast the actuator can be moved.
  • the cavity is formed in a cylinder and is partially bounded by a piston displaceable in the cylinder, the piston being under the pressure of the fluid on the actuating element or a driving device connected thereto, the piston is held in contact with the actuating element over the entire actuation of the actuating element and thus sets the actuator against the corresponding resistance when moving in the appropriate direction.
  • the piston cooperates with an end stop, which is adapted to the rest position of the actuating element. This is an advantage in particular when the actuating element can be moved in two opposite directions. The resistance force in the movement in one direction is then not superimposed by a corresponding restoring force in the other direction.
  • each damping device always has a damping effect in one direction only, thus counteracting the movement in this direction by a corresponding resistance, while the movement of the actuating element in the other direction remains uninfluenced by this damping device.
  • the fluid In order for the fluid to flow through the restrictor, there must be some pressure difference across the restrictor that is created by the operator building up the corresponding pressure in the cavity via the actuator.
  • the outflow behavior of the fluid from the cavity can be influenced in a targeted manner.
  • the Abströmsperrventil thus opens for the fluid that wants to flow back from the output in the cavity.
  • the backflow of the fluid into the cavity is practically unhindered, while the outflow of the fluid from the cavity is only possible through the throttle.
  • this embodiment has the advantage that virtually no force is required to return the actuating element.
  • a pressure at the outlet can be used to return the fluid back into the cavity.
  • the damping device opposes a movement of the actuating element from its rest position out a basic resistance.
  • the damping device opposes a movement of the actuating element from a deflected position to its rest position a reduced resistance.
  • This resistance can be virtually zero. With this configuration, it is ensured that the actuator can return quickly and without major external forces in its rest position, while it requires greater forces for the deflection of the actuator from its rest position. This is inter alia a safety aspect connected.
  • the actuator is then, when the operator no longer affects it, automatically reset to its rest position, so that stop the movements caused by the displacement of the actuator movements of the machine.
  • the fluid is under pressure.
  • the defined basic resistance is generated against the movement of the actuating element already at the beginning of the movement of the actuating element.
  • the outlet of the cavity communicates with a pressure accumulator.
  • the pressure of the fluid is defined accordingly, so that even at the beginning of the movement of the actuating element of the necessary basic resistance can be generated.
  • the amount of pressure in the pressure accumulator is a measure of this basic resistance.
  • the pressure accumulator contains a gas bubble. With the help of this gas bubble one can achieve a certain spring characteristic, ie the pressure increases with increasing deflection or displacement of the actuating element.
  • the fluid is in fact displaced into the accumulator so that it compresses the gas bubble.
  • the gas bubble generates a dependent on the degree of compression back pressure, which increases with increasing degree of compression.
  • the fluid is a hydraulic fluid.
  • Hydraulic fluid is available on most hydraulic machines in sufficient quantities. The storage requires no additional effort.
  • the fluid has a variable by the action of a control component viscosity.
  • the viscosity is one of the variables with which the outflow behavior of a liquid can be changed. If you change the viscosity, then you change the outflow velocity.
  • the fluid is a magnetic fluid.
  • a magnetic fluid changes its viscosity or flow behavior when exposed to a magnetic field.
  • a magnetic field can be generated by a magnet, for example an electromagnet, to change the outflow velocity.
  • the fluid is a compressed gas. Also by a gas can cause the corresponding attenuation.
  • the throttle is adjustable.
  • the actuating element is a pedal rotatably mounted about an axis or a rocker arm. These are the most common control devices that can be well influenced by the Dampfungs Rhein. It is also preferred that the actuating element is a gimbal-mounted control lever which has at a right angle to its longitudinal extent in the vicinity of the gimbal bearing a surrounding driving ring which rests in the initial position on the piston. This is an attenuation in virtually all directions of movement.
  • a first movement direction pair another resistance is assigned as a second movement direction pair, which is perpendicular to the first movement direction pair.
  • lateral movements may be more resistant to oppose as elongated movements to the machine operator a sense of exact guidance in an anterior-posterior direction to transfer.
  • Fig. 1 shows an embodiment of a control device with a simple pedal. Based on this embodiment, the basic idea of the invention will be illustrated.
  • a mounted on a base plate 100 in a bearing 2 actuator 1 in the form of a pedal is connected via a coupling device 31 with a transducer device 3.
  • the transducer device 3 generates in a manner not shown, but known per se in a movement of the actuating element 1, a signal which is converted via a processing unit, not shown, for example, a control computer in hydraulic pressures.
  • the control computer actuates, for example, predetermined valves in the hydraulic circuit of a working machine, for example an excavator or loader.
  • the signals emitted by the transducer device 3 are generally in electrical form, and may be analog or digital. But it is also possible that the transducer device 3 generates pneumatic, optical or hydraulic signals, in the latter case, the signal path is decoupled from the hydraulic working circuit.
  • a damping device 101 is arranged in the direction of actuation of the pedal formed as a control element 1.
  • the damping device has a cylinder 4, in which a piston 5 is displaceably guided between two end positions. In this case, the piston 5 is arranged so that it is in the initial position of the pedal in its upper end position. This end position is defined by the stop of the piston on the base plate 100. A movement of the piston 5 beyond this end position is not possible.
  • the piston 5 Upon actuation of the pedal, ie upon actuation of the actuating element 1, the piston 5 is displaced into the cylinder 4.
  • a cavity 102 is formed, which is bounded by the cylinder 4 and the piston 5.
  • the cavity 102 is reduced in size.
  • the cavity 102 is filled with a hydraulic fluid.
  • the hydraulic fluid is displaced during the reduction of the cavity 102 via an output 103 to the outside and passes through an attenuator 6 in a pressure accumulator 7.
  • the attenuator 6 includes in a Ausströmpfad 104, a throttle 61, which forms a means for influencing the outflow velocity of the hydraulic fluid.
  • the throttle resistance of the throttle 61 may optionally be adjusted, as indicated by an arrow.
  • An inflow path 105 is arranged parallel to the outflow path 104.
  • a valve 62 is provided, which is formed in the present embodiment as a check valve.
  • the valve 62 opens to the cavity 102 and closes in the direction of the pressure accumulator 7.
  • the pressure present in the pressure accumulator 7 thus sets a certain basic resistance of the actuating element 1.
  • a gas bubble may be included, the size of which is adapted to the volume of the cavity 102 in the cylinder 4 With appropriate dimensioning of the back pressure in the pressure accumulator 7 may increase in the deflection of the actuator 1.
  • the operator thus receives a feedback or feedback on the degree of actuation of the actuating element. 7
  • the adjustment of the throttle 61 causes a rapid passage of the pedal is opposed to a higher resistance than that with slow passage of the pedal is the case. This is especially excluded that jerky movements or vibrations of the machine are entered via the pedal in the encoder device 3.
  • the resistance to the movement of the actuating element 1 is built up only for movements in one direction and indeed during the movement of the actuating element 1 from its rest position.
  • Fig. 2 shows another embodiment, in which the actuating device 1 as a double-acting pedal, that is designed as a rocker arm, the same elements are provided with the same reference numerals.
  • the actuating device 1 as a double-acting pedal, that is designed as a rocker arm, the same elements are provided with the same reference numerals.
  • actuating device 1 as a double-acting pedal, that is designed as a rocker arm
  • Each piston-cylinder unit only acts on the movement of the actuating element 1 out of the rest position shown in Fig. 2.
  • a magnetic fluid If one chooses as the fluid a magnetic fluid, then one can change by placing an electromagnet in the Ausströmpfad the viscosity of the liquid in which one energizes the electromagnet (not shown) with electricity. If the viscosity is changed, the outflow behavior changes, that is, a viscous liquid is braked by the throttle 61 stronger than a thinner liquid.

Abstract

The invention relates to a control device for controlling machines, especially hydraulic machines, by hand or foot. The inventive device comprises an actuating element ( 1 ), especially a pedal or a control lever, which can be moved in several directions. The aim of the invention is to feel a resisting force when the actuating element ( 1 ) is displaced or adjusted, whereby said force is on the scale of hydraulic forces having a direct effect. The actuating element ( 1 ) engages with a transmitter device ( 3 ) which is not hydraulic or is hydraulically decoupled from the hydraulic system. A damping device ( 6 ) engages with the actuating element ( 1 ). Said damping device defies the movement in at least one direction of motion pertaining to the actuating element ( 1 ) by means of a fluid that is moved by the actuating element ( 1 ).

Description

Die Erfindung betrifft eine Steuervorrichtung für die manuell- oder fußgeführte Steuerung von Arbeitsmaschinen mit den Merkmalen des Oberbegriffs des Anspruchs 1.The invention relates to a control device for the manual or foot-guided Control of working machines with the characteristics of the generic term of claim 1.

Arbeitsmaschinen mit hydraulischen Antrieben, wie beispielsweise Bagger oder Frontlader, werden vielfach über Steuerhebel und -pedale gesteuert, die über Schieber- und Ventilsysteme direkt auf den Hydraulikkreislauf einwirken. Durch die Rückwirkung der Hydraulikflüssigkeit setzen diese Steuerorgane oder Betätigungselemente bei ihrer Betätigung der Hand oder dem Fuß einen gewissen Widerstand entgegen. Hierbei ist jeder Hebel in mindestens zwei Richtungen bewegbar, beispielsweise vor und zurück.
Die Widerstandskraft dient dem Führer der Arbeitsmaschine als Rückkopplung oder Feedback für die von ihm vorgenommenen Handlungen und ermöglicht somit eine leichtere Ausführung von Bewegungen der Maschine. Da zur Auslösung einer Reaktion nach der Bewegung des Steuerorgans Hydraulikflüssigkeit im System verschoben wird, erfolgt weiterhin eine Dämpfung der Bewegungen des Steuerorgans, so daß eine Rückkopplung von nicht kontrollierbaren Maschinenschwingungen und ruckartigen Bewegungen der Arbeitsmaschine auf das Steuerorgan weitgehend verhindert werden kann. Diese Vorteile entfallen, wenn die Bewegungen des Betätigungselements nicht direkt auf das Hydrauliksystem übertragen werden, sondern eine Steuereinrichtung, beispielsweise ein Steuerrechner, zwischen Betätigungselement und Hydrauliksystem geschaltet wird. In diesem Fall wird die Bewegung des jeweiligen Steuerelements über Zwischenglieder, beispielsweise elektrische Schiebe- oder Drehwiderstände, in ein Signal umgewandelt, beispielsweise ein elektrisches analoges oder digitales Signal. Der Widerstand, den der Maschinenführer bei der Betätigung eines Betätigungselementes, beispielsweise eines derartigen Steuerhebels, fühlt, wird vielfach nur durch eine Rückstellfeder bestimmt und richtet sich im wesentlichen nach der mechanischen Empfindlichkeit des Sensors.Work machines with hydraulic drives, such as excavators or front loaders, are often controlled by control levers and pedals, which act via slide and valve systems directly on the hydraulic circuit. Due to the reaction of the hydraulic fluid, these control elements or actuators set a certain resistance against their hand or foot actuation. Here, each lever is movable in at least two directions, for example, back and forth.
The resistance force serves the operator of the work machine as feedback or feedback for the actions he has taken, thus enabling easier movement of the machine. Since the triggering of a reaction after the movement of the control member hydraulic fluid is displaced in the system, there is further a damping of the movements of the control member, so that a feedback of uncontrollable machine vibrations and jerky movements of the machine can be largely prevented on the control member. These advantages are eliminated if the movements of the actuating element are not transmitted directly to the hydraulic system, but a control device, such as a control computer, is switched between the actuating element and the hydraulic system. In this case, the movement of the respective control element via intermediate links, such as electrical sliding or rotary resistors, converted into a signal, for example, an electrical analog or digital signal. The resistance that the operator feels when operating an actuating element, for example such a control lever, is often determined only by a return spring and depends essentially on the mechanical sensitivity of the sensor.

Bei Baggern oder ähnlich stark bewegten Arbeitsmaschinen liegen diese Kräfte weit unter Haltekräften, die der Führer der Arbeitsmaschine benötigt, um sich mit Hilfe seiner Hände und Füße in einer stabilen Haltung in der Kabine abzusichern.In excavators or similar strong moving machines are these Forces far below holding forces that the leader of the work machine needs to stand with his hands and feet in a stable posture in the cabin secure.

Darüber hinaus können rüttel- oder ruckartige Bewegungen sehr leicht in die Steuerung eingetragen werden und die sichere Führung der Arbeitsmaschine unmöglich machen.In addition, shaking or jerky movements can be very easy in the Control be entered and the safe guidance of the working machine to make impossible.

Eine Steuervorrichtung der eingangs genannten Art ist aus DE 36 22 260 A1 bekannt. Hier wird die Betätigung eines Steuerhebels durch eine Dämpfungseinrichtung gedämpft, die einen Kolben aufweist, der in einem Zylinder bewegbar ist und zwei Zylinderkammern voneinander trennt. Die beiden Zylinderkammern sind durch eine Bypasskanalanordnung miteinander verbunden. In einem Bypasskanal dieser Anordnung ist eine Drossel angeordnet. In den beiden anderen Bypasskanälen dieser Anordnung sind gegenparallel geschaltete vorgespannte Rückschlagventile angeordnet.A control device of the type mentioned is known from DE 36 22 260 A1 known. Here is the operation of a control lever by a damping device damped, which has a piston which is movable in a cylinder is and separates two cylinder chambers from each other. The two cylinder chambers are interconnected by a bypass channel arrangement. In a bypass channel of this arrangement, a throttle is arranged. In the two other bypass channels of this arrangement are connected in parallel preloaded check valves arranged.

EP 0 899 147 A1 zeigt ein Fahrpedal mit Dämpfungseinrichtung, bei dem eine Dämpfung durch einen Kolben bewirkt wird, der in einem Zylinder verschiebbar ist. In dem Kolben sind eine Drossel und ein Rückschlagventil angeordnet. Die Drossel setzt einer Bewegung des Kolbens in eine Richtung einen erhöhten Widerstand entgegen, während das Rückschlagventil eine Bewegung in die andere Richtung unter einem verringerten Widerstand erlaubt. Parallel zu dem Kolben ist eine Feder angeordnet.
EP 0 331 177 A1 zeigt eine Steuervorrichtung mit einem aktiven System zum gezielten Beaufschlagen eines Betätigungselements. Das Betätigungselement weist für jede Betätigungsrichtung einen Dämpfungskolben auf, der mit einem Fortsatz am Betätigungselement anliegt. Die andere Seite des Kolbens ist vom Hydrauliksystem mit Druck beaufschlagt, wobei der Druck durch ein Druckeinstellventil eingestellt werden kann und zwar in Abhängigkeit von den Betätigungsdrücken im System und einer auf das System wirkenden Last.EP 0 899 147 A1 shows an accelerator pedal with damping device, in which damping is effected by a piston which is displaceable in a cylinder. In the piston, a throttle and a check valve are arranged. The throttle provides increased resistance to movement of the piston in one direction, while the check valve permits movement in the other direction under reduced resistance. Parallel to the piston, a spring is arranged.
EP 0 331 177 A1 shows a control device with an active system for targeted application of an actuating element. The actuating element has a damping piston for each actuating direction, which abuts with an extension on the actuating element. The other side of the piston is pressurized by the hydraulic system, which pressure can be adjusted by a pressure adjusting valve depending on the operating pressures in the system and a load on the system.

Der Erfindung liegt die Aufgabe zugrunde, eine Steuervorrichtung für die manuell- oder fußgeführte Steuerung von Arbeitsmaschinen anzugeben, bei der bei der Verschiebung oder Verstellung des Betätigungselementes eine Widerstandskraft spürbar ist, die in der Größenordnung von herkömmlichen Arbeitsmaschinen liegt.The invention has for its object to provide a control device for the manually or foot-operated control of work machines indicate at in the displacement or adjustment of the actuating element a Resistance is noticeable, which is of the order of conventional Work machines is lying.

Diese Aufgabe wird bei einer Steuervorrichtung der eingangs genannten Art durch die Merkmale des kennzeichnenden Teils des Anspruchs 1 gelöst.
Mit der Gebereinrichtung ist es nunmehr möglich, Signale, die vom Betätigungselement abgegeben werden, auf mehr oder weniger beliebige Art zu erzeugen. Man ist nicht mehr darauf angewiesen, mit Hilfe des Betätigungselements ein Ventil oder einen Schieber zu verstellen, der unmittelbar auf das Hydrauliksystem der Arbeitsmaschine wirkt. Allerdings fehlt dann, wie oben ausgeführt, die erforderliche Rückwirkungskraft. Aus diesem Grunde ist die Dämpfungseinrichtung vorgesehen. Die Dämpfungseinrichtung erzeugt mit Hilfe eines Fluids, das beim Betätigen des Betätigungselements bewegt wird, einen Widerstand, der der Bewegung entgegengerichtet ist. Dieser Widerstand ist ein anderer, als er von einer einfachen Rückstellfeder erzeugt wird. Zum einen kann der Widerstand, der mit Hilfe des bewegten Fluids erzeugt wird, wesentlich größer sein als der Widerstand einer einfachen Rückstellfeder. Zum anderen läßt sich der Widerstand über die Bewegungslänge des Betätigungselements wesentlich besser steuern. Würde man eine entsprechend starke Rückstellfeder verwenden, dann würde der Widerstand gegen die Bewegung sehr stark zunehmen müssen. Dies ist bei der Widerstandserzeugung mit Hilfe eines bewegten Fluids nicht zwangsläufig der Fall. Die Verkleinerung des fluidgefüllten Hohlraums ist eine relativ einfache Möglichkeit, um mit Hilfe eines bewegten Fluids einen hohen Widerstand aufzubauen. Die Abströmgeschwindigkeit des Fluids ist ein Maß dafür, wie schnell der Hohlraum verkleinert werden kann. Die Verkleinerungsgeschwindigkeit des Hohlraums hingegen ist ein Maß dafür, wie schnell das Betätigungselement bewegt werden kann. Wenn der Hohlraum in einem Zylinder ausgebildet und teilweise von einem in dem Zylinder verschiebbaren Kolben begrenzt ist, wobei der Kolben unter dem Druck des Fluids am Betätigungselement oder einer damit verbundenen Mitnehmereinrichtung anliegt, wird der Kolben über die gesamte Betätigung des Betätigungselements in Anlage am Betätigungselement gehalten und setzt damit dem Betätigungselement bei Bewegung in der entsprechenden Richtung den entsprechenden Widerstand entgegen. Der Kolben wirkt mit einem Endanschlag zusammen, der an die Ruhelage des Betätigungselements angepaßt ist. Dies ist ein Vorteil insbesondere dann, wenn das Betätigungselement in zwei entgegengesetzte Richtungen bewegt werden kann. Die Widerstandskraft bei der Bewegung in die eine Richtung wird dann nicht überlagert von einer entsprechenden Rückstellkraft in die andere Richtung. Jede Dämpfungseinrichtung wirkt also immer nur in eine Richtung dämpfend, setzt also der Bewegung in diese Richtung einen entsprechenden Widerstand entgegen, während die Bewegung des Betätigungselements in die andere Richtung von dieser Dämpfungseinrichtung unbeeinflußt bleibt. Damit das Fluid durch die Drossel strömen kann, muß eine gewisse Druckdifferenz über die Drossel vorhanden sein, die dadurch erzeugt wird, daß der Bediener über das Betätigungselement den entsprechenden Druck im Hohlraum aufbaut. Durch die Wahl der Größe der Drossel läßt sich das Abströmverhalten des Fluids aus dem Hohlraum gezielt beeinflussen. Das Abströmsperrventil öffnet also für das Fluid, das vom Ausgang wieder in den Hohlraum zurückfließen will. Damit ist das Rückfließen des Fluids in den Hohlraum praktisch ungehindert, während das Abfließen des Fluids aus dem Hohlraum nur durch die Drossel möglich ist. Diese Ausgestaltung hat einerseits den Vorteil, daß man zum Rückstellen des Betätigungselements praktisch keine Kraft benötigt. Zum anderen hat sie den Vorteil, daß ein Druck am Ausgang verwendet werden kann, um das Fluid wieder in den Hohlraum zurückzufördern. Vorzugsweise setzt die Dämpfungseinrichtung einer Bewegung des Betätigungselements aus seiner Ruhelage heraus einen Grundwiderstand entgegen. Diese Ausbildung hat mehrere Vorteile. Zum einen erhält der Bediener von Anfang der Bewegung an einen entsprechenden Widerstand, der sich nicht erst im Laufe der Bewegung aufbauen muß. Zum anderen wird dafür gesorgt, daß das Betätigungselement aus einer Ruhelage heraus nur dann bewegt werden kann, wenn der Bediener tatsächlich die Absicht hat, es zu bewegen. Zufällige Bewegungen, die etwa durch eine Schwingung der Arbeitsmaschine oder durch andere äußere Einflüsse hervorgerufen werden könnten, werden mit einer relativ großen Zuverlässigkeit vermieden.This object is achieved in a control device of the type mentioned by the features of the characterizing part of claim 1.
With the encoder device, it is now possible to generate signals that are output by the actuator in more or less arbitrary manner. It is no longer necessary to adjust by means of the actuating element, a valve or a slider which acts directly on the hydraulic system of the working machine. However, then, as stated above, the required reaction force is missing. For this reason, the damping device is provided. The damping device generates, with the aid of a fluid, which is moved upon actuation of the actuating element, a resistance which is opposite to the movement. This resistance is different than it is generated by a simple return spring. On the one hand, the resistance that is generated with the aid of the moving fluid can be substantially greater than the resistance of a simple return spring. On the other hand, the resistance can be controlled much better over the movement length of the actuating element. If you were to use a correspondingly strong return spring, then the resistance to the movement would have to increase very strong. This is not necessarily the case with the generation of resistance by means of a moving fluid. The reduction of the fluid filled cavity is a relatively simple way to build up a high resistance by means of a moving fluid. The outflow velocity of the fluid is a measure of how quickly the cavity can be downsized. The reduction speed of the cavity, however, is a measure of how fast the actuator can be moved. If the cavity is formed in a cylinder and is partially bounded by a piston displaceable in the cylinder, the piston being under the pressure of the fluid on the actuating element or a driving device connected thereto, the piston is held in contact with the actuating element over the entire actuation of the actuating element and thus sets the actuator against the corresponding resistance when moving in the appropriate direction. The piston cooperates with an end stop, which is adapted to the rest position of the actuating element. This is an advantage in particular when the actuating element can be moved in two opposite directions. The resistance force in the movement in one direction is then not superimposed by a corresponding restoring force in the other direction. Thus, each damping device always has a damping effect in one direction only, thus counteracting the movement in this direction by a corresponding resistance, while the movement of the actuating element in the other direction remains uninfluenced by this damping device. In order for the fluid to flow through the restrictor, there must be some pressure difference across the restrictor that is created by the operator building up the corresponding pressure in the cavity via the actuator. By choosing the size of the throttle, the outflow behavior of the fluid from the cavity can be influenced in a targeted manner. The Abströmsperrventil thus opens for the fluid that wants to flow back from the output in the cavity. Thus, the backflow of the fluid into the cavity is practically unhindered, while the outflow of the fluid from the cavity is only possible through the throttle. On the one hand, this embodiment has the advantage that virtually no force is required to return the actuating element. On the other hand, it has the advantage that a pressure at the outlet can be used to return the fluid back into the cavity. Preferably, the damping device opposes a movement of the actuating element from its rest position out a basic resistance. This training has several advantages. On the one hand, the operator receives from the beginning of the movement on a corresponding resistance that does not have to build up during the movement. On the other hand, it is ensured that the actuating element can only be moved out of a rest position if the operator actually intends to move it. Random movements, which could be caused by vibration of the working machine or by other external influences, are avoided with a relatively high reliability.

Vorzugsweise setzt die Dämpfungseinrichtung einer Bewegung des Betätigungselements aus einer ausgelenkten Position in seine Ruhelage einen verminderten Widerstand entgegen. Dieser Widerstand kann praktisch gleich Null sein. Mit dieser Ausgestaltung stellt man sicher, daß das Betätigungselement schnell und ohne größere äußere Kräfte in seine Ruhelage zurückkehren kann, während es für die Auslenkung des Betätigungselements aus seiner Ruhelage heraus größere Kräfte benötigt. Damit ist unter anderem ein Sicherheitsaspekt verbunden. Das Betätigungselement wird dann, wenn die Bedienungsperson es nicht länger beeinflußt, automatisch in seine Ruhelage zurückgesetzt, so daß auch die durch das Verlagern des Betätigungselements verursachten Bewegungen der Arbeitsmaschine aufhören.
Vorzugsweise steht das Fluid unter Druck. Damit wird bereits zu Beginn der Bewegung des Betätigungselements der definierte Grundwiderstand gegen die Bewegung des Betätigungselements erzeugt.
Vorzugsweise steht der Ausgang des Hohlraums mit einem Druckspeicher in Verbindung. Im Druckspeicher wird dementsprechend der Druck des Fluids definiert, so daß bereits am Anfang der Bewegung des Betätigungselements der nötige Grundwiderstand erzeugt werden kann. Die Höhe des Drucks im Druckspeicher ist ein Maß für diesen Grundwiderstand.
Dabei ist besonders bevorzugt, daß der Druckspeicher eine Gasblase enthält. Mit Hilfe dieser Gasblase kann man eine gewisse Federcharakteristik erreichen, d.h. der Druck steigt an mit zunehmender Auslenkung oder Verschiebung des Betätigungselements. Das Fluid wird nämlich in den Druckspeicher so verdrängt, daß es die Gasblase komprimiert. Die Gasblase erzeugt dabei einen vom Kompressionsgrad abhängigen Gegendruck, der mit zunehmendem Kompressionsgrad ansteigt.
Vorzugsweise ist das Fluid eine Hydraulikflüssigkeit. Hydraulikflüssigkeit steht bei den meisten hydraulischen Arbeitsmaschinen in ausreichender Menge zur Verfügung. Die Bevorratung erfordert keinen zusätzlichen Aufwand.
In einer alternativen Ausgestaltung ist vorgesehen, daß das Fluid eine durch Einwirkung einer Steuerkomponente veränderbare Viskosität aufweist. Die Viskosität ist eine der Größen, mit der das Abströmverhalten einer Flüssigkeit veränderbar ist. Wenn man die Viskosität verändert, dann verändert man auch die Abströmgeschwindigkeit.
Vorzugsweise ist das Fluid eine magnetische Flüssigkeit. Eine magnetische Flüssigkeit verändert ihre Viskosität oder ihr Strömungsverhalten dann, wenn sie einem magnetischen Feld ausgesetzt wird. Ein magnetisches Feld läßt sich durch einen Magneten, beispielsweise einen Elektromagneten, erzeugen, um die Abströmgeschwindigkeit zu verändern.
In einer alternativen Ausgestaltung ist vorgesehen, daß das Fluid ein komprimiertes Gas ist. Auch durch ein Gas läßt sich die entsprechende Dämpfung bewirken.
Vorzugsweise ist die Drossel verstellbar. Man kann dann mit geringem Aufwand die Abströmgeschwindigkeit verändern und damit das Widerstandsverhalten verändern. Beispielsweise kann man das Widerstandsverhalten an die Bedürfnisse eines speziellen Fahrzeugs oder eines speziellen Bedieners anpassen.
Vorzugsweise ist das Betätigungselement ein um eine Achse drehbar gelagertes Pedal oder ein Kipphebel. Dies sind die gängigsten Steuervorrichtungen, die sich mit der Dampfungseinrichtung gut beeinflussen lassen.
Auch ist bevorzugt, daß das Betätigungselement ein kardanisch gelagerter Steuerhebel ist, der rechtwinklig zu seiner Längserstreckung in der Nähe der kardanischen Lagerung einen diese umgebenden Mitnehmerring aufweist, der in der Ausgangslage auf den Kolben aufliegt. Damit erfolgt eine Dämpfung in quasi alle Bewegungsrichtungen. Preferably, the damping device opposes a movement of the actuating element from a deflected position to its rest position a reduced resistance. This resistance can be virtually zero. With this configuration, it is ensured that the actuator can return quickly and without major external forces in its rest position, while it requires greater forces for the deflection of the actuator from its rest position. This is inter alia a safety aspect connected. The actuator is then, when the operator no longer affects it, automatically reset to its rest position, so that stop the movements caused by the displacement of the actuator movements of the machine.
Preferably, the fluid is under pressure. Thus, the defined basic resistance is generated against the movement of the actuating element already at the beginning of the movement of the actuating element.
Preferably, the outlet of the cavity communicates with a pressure accumulator. In the accumulator, the pressure of the fluid is defined accordingly, so that even at the beginning of the movement of the actuating element of the necessary basic resistance can be generated. The amount of pressure in the pressure accumulator is a measure of this basic resistance.
It is particularly preferred that the pressure accumulator contains a gas bubble. With the help of this gas bubble one can achieve a certain spring characteristic, ie the pressure increases with increasing deflection or displacement of the actuating element. The fluid is in fact displaced into the accumulator so that it compresses the gas bubble. The gas bubble generates a dependent on the degree of compression back pressure, which increases with increasing degree of compression.
Preferably, the fluid is a hydraulic fluid. Hydraulic fluid is available on most hydraulic machines in sufficient quantities. The storage requires no additional effort.
In an alternative embodiment, it is provided that the fluid has a variable by the action of a control component viscosity. The viscosity is one of the variables with which the outflow behavior of a liquid can be changed. If you change the viscosity, then you change the outflow velocity.
Preferably, the fluid is a magnetic fluid. A magnetic fluid changes its viscosity or flow behavior when exposed to a magnetic field. A magnetic field can be generated by a magnet, for example an electromagnet, to change the outflow velocity.
In an alternative embodiment it is provided that the fluid is a compressed gas. Also by a gas can cause the corresponding attenuation.
Preferably, the throttle is adjustable. You can then change the flow velocity with little effort and thus change the resistance behavior. For example, one can adapt the resistance behavior to the needs of a particular vehicle or operator.
Preferably, the actuating element is a pedal rotatably mounted about an axis or a rocker arm. These are the most common control devices that can be well influenced by the Dampfungseinrichtung.
It is also preferred that the actuating element is a gimbal-mounted control lever which has at a right angle to its longitudinal extent in the vicinity of the gimbal bearing a surrounding driving ring which rests in the initial position on the piston. This is an attenuation in virtually all directions of movement.

Hierbei ist besonders bevorzugt, daß einem ersten Bewegungsrichtungspaar ein anderer Widerstand zugeordnet ist als einem zweiten Bewegungsrichtungspaar, das senkrecht zum ersten Bewegungsrichtungspaar liegt. Dadurch ist es zum Beispiel möglich, seitlichen Bewegungen einen stärkeren Widerstand entgegenzusetzen als länglichen Bewegungen, um dem Maschinenführer ein Gefühl für die exakte Führung in Vorwärts-Rückwärts-Richtung zu übermitteln.It is particularly preferred that a first movement direction pair another resistance is assigned as a second movement direction pair, which is perpendicular to the first movement direction pair. Thereby For example, lateral movements may be more resistant to oppose as elongated movements to the machine operator a sense of exact guidance in an anterior-posterior direction to transfer.

Die Erfindung wird im folgenden anhand von bevorzugten Ausführungsbeispielen in Verbindung mit der Zeichnung näher beschrieben. Hierin zeigen:

Fig. 1
eine Steuervorrichtung mit einem einfach wirkenden Pedal und
Fig. 2
eine Steuervorrichtung mit einem als Kipphebel ausgeführten Pedal.
The invention will be described in more detail below with reference to preferred embodiments in conjunction with the drawings. Herein show:
Fig. 1
a control device with a single-acting pedal and
Fig. 2
a control device with a pedal designed as a rocker arm.

Fig. 1 zeigt eine Ausführungsform einer Steuervorrichtung mit einem einfachen Pedal. Anhand dieser Ausführungsform soll die Grundidee der Erfindung dargestellt werden.
Ein auf einer Grundplatte 100 in einem Lager 2 gelagertes Betätigungselement 1 in Form eines Pedals ist über eine Koppeleinrichtung 31 mit einer Gebereinrichtung 3 verbunden. Die Gebereinrichtung 3 erzeugt in nicht näher dargestellter, aber an sich bekannter Weise bei einer Bewegung des Betätigungselements 1 ein Signal, das über eine nicht näher dargestellte Verarbeitungseinheit, beispielsweise einen Steuerrechner, in hydraulische Drücke umgesetzt wird. Hierzu betätigt der Steuerrechner beispielsweise vorbestimmte Ventile in dem hydraulischen Kreis einer Arbeitsmaschine, beispielsweise einem Bagger oder Lader. Die von der Gebereinrichtung 3 abgegebenen Signale liegen in der Regel in elektrischer Form vor, wobei sie analog oder digital ausgestaltet sein können. Es ist aber auch möglich, daß die Gebereinrichtung 3 pneumatische, optische oder hydraulische Signale erzeugt, wobei in letztem Fall der Signalweg von dem hydraulischen Arbeitskreislauf entkoppelt ist.
Neben der Gebereinrichtung 3 ist in Betätigungsrichtung des als Pedal ausgebildeten Steuerelements 1 eine Dämpfungseinrichtung 101 angeordnet. Die Dämpfungseinrichtung weist einen Zylinder 4 auf, in dem ein Kolben 5 zwischen zwei Endpositionen verschieblich geführt ist. Dabei ist der Kolben 5 so angeordnet, daß er sich in der Ausgangslage des Pedals in seiner oberen Endposition befindet. Diese Endposition wird durch den Anschlag des Kolbens an der Grundplatte 100 definiert. Eine Bewegung des Kolbens 5 über diese Endposition hinaus ist nicht möglich.
Bei Betätigung des Pedals, also bei Betätigung des Betätigungselements 1, wird der Kolben 5 in den Zylinder 4 hineinverschoben.
Im Zylinder 4 ist ein Hohlraum 102 gebildet, der vom Zylinder 4 und dem Kolben 5 begrenzt ist. Wenn der Kolben 5 in den Zylinder 4 hineinverschoben wird, dann wird der Hohlraum 102 verkleinert. Der Hohlraum 102 ist mit einer Hydraulikflüssigkeit gefüllt. Die Hydraulikflüssigkeit wird bei der Verkleinerung des Hohlraums 102 über einen Ausgang 103 nach außen verdrängt und gelangt über ein Dämpfungsglied 6 in einen Druckspeicher 7. Das Dämpfungsglied 6 enthält in einem Ausströmpfad 104 eine Drossel 61, die eine Einrichtung zur Beeinflussung der Abströmgeschwindigkeit der Hydraulikflüssigkeit bildet. Der Drosselwiderstand der Drossel 61 kann gegebenenfalls verstellt werden, wie dies durch einen Pfeil angedeutet ist.
Parallel zum Ausströmpfad 104 ist ein Einströmpfad 105 angeordnet. In dem Einströmpfad 105 ist ein Ventil 62 vorgesehen, das im vorliegenden Ausführungsbeispiel als Rückschlagventil ausgebildet ist. Das Ventil 62 öffnet zum Hohlraum 102 hin und schließt in die Richtung zum Druckspeicher 7. Im Druckspeicher 7 herrscht ein vorbestimmter Druck. Dieser Druck herrscht dann, wenn der Kolben 5 in seiner oberen Endposition ist, auch im Hohlraum 102. Durch den im Druckspeicher 7 vorhandenen Druck wird also ein gewisser Grundwiderstand des Betätigungselements 1 eingestellt.
Im Druckspeicher 7 kann eine Gasblase enthalten sein, deren Größe an das Volumen des Hohlraums 102 im Zylinder 4 angepaßt ist Bei entsprechender Dimensionierung kann dann der Gegendruck im Druckspeicher 7 bei der Auslenkung des Betätigungselements 1 zunehmen. Der Maschinenführer erhält somit eine Rückkopplung oder ein Feedback über den Betätigungsgrad des Betätigungselements 7.
Die Einstellung der Drossel 61 bewirkt, daß einem schnellen Durchtreten des Pedals ein höherer Widerstand entgegengesetzt wird als das bei langsamem Durchtreten des Pedals der Fall ist. Hiermit wird vor allem ausgeschlossen, daß ruckartige Bewegungen oder Schwingungen der Arbeitsmaschine über das Pedal in die Gebereinrichtung 3 eingetragen werden.
Der Widerstand gegen die Bewegung des Betätigungselements 1 wird nur bei Bewegungen in eine Richtung aufgebaut und zwar bei der Bewegung des Betätigungselements 1 aus seiner Ruhelage heraus. Wenn das Betätigungselement 1 in eine andere Richtung bewegt wird, nämlich in die entgegengesetzte Richtung, dann erzeugt die Drosseleinrichtung 6 im Grunde keinen Widerstand. Durch den Druck im Druckspeicher 7 wird die Hydraulikflüssigkeit über das sich dann öffnende Ventil 62 in den Hohlraum 102 zurückgefördert, so daß der Kolben 5 der Bewegung des Betätigungselements 1 unmittelbar folgen kann.
Fig. 2 zeigt ein anderes Ausführungsbeispiel, bei dem die Betätigungseinrichtung 1 als zweiseitig wirkendes Pedal, also als Kipphebel, ausgebildet ist Gleiche Elemente sind mit den gleichen Bezugszeichen versehen. Hier sind für beide Bewegungsrichtungen Zylinder 4 und Kolben 5 vorgesehen, die jeweils einen Hohlraum 102 umschließen. Jede Kolben-Zylinder-Einheit wirkt nur bei der Bewegung des Betätigungselements 1 aus der in Fig. 2 dargestellten Ruhelage heraus. Einer Bewegung des Betätigungselements 1 aus einer ausgelenkten Position in die Ruhelage zurück wird kein Widerstand entgegengesetzt. Durch die oberen Endanschläge der Kolben 5, die durch die Grundplatte 100 gebildet wird, ist die exakte Einstellung der Grundstellung beim Entlasten des Pedals gewährleistet.
In den in Fig. 1 und 2 erläuterten Ausführungsformen erfolgt die Dämpfung dadurch, daß eine Hydraulikflüssigkeit durch die Drosseln 61 verdrängt wird, wenn die Hohlräume 102 verkleinert werden. Es ist aber genauso gut möglich, daß man anstelle einer Hydraulikflüssigkeit ein Gas verwendet. In diesem Fall wird man die Drossel 61 anders dimensionieren müssen. Wenn man als Fluid eine magnetische Flüssigkeit wählt, dann kann man durch Anordnen eines Elektromagneten im Ausströmpfad die Viskosität der Flüssigkeit verändern, in dem man den Elektromagneten (nicht dargestellt) mit Strom beaufschlagt. Wenn die Viskosität verändert wird, dann ändert sich das Ausströmverhalten, d.h. eine zähflüssigere Flüssigkeit wird durch die Drossel 61 stärker gebremst als eine dünnflüssigere Flüssigkeit.Fig. 1 shows an embodiment of a control device with a simple pedal. Based on this embodiment, the basic idea of the invention will be illustrated.
A mounted on a base plate 100 in a bearing 2 actuator 1 in the form of a pedal is connected via a coupling device 31 with a transducer device 3. The transducer device 3 generates in a manner not shown, but known per se in a movement of the actuating element 1, a signal which is converted via a processing unit, not shown, for example, a control computer in hydraulic pressures. For this purpose, the control computer actuates, for example, predetermined valves in the hydraulic circuit of a working machine, for example an excavator or loader. The signals emitted by the transducer device 3 are generally in electrical form, and may be analog or digital. But it is also possible that the transducer device 3 generates pneumatic, optical or hydraulic signals, in the latter case, the signal path is decoupled from the hydraulic working circuit.
In addition to the transducer device 3, a damping device 101 is arranged in the direction of actuation of the pedal formed as a control element 1. The damping device has a cylinder 4, in which a piston 5 is displaceably guided between two end positions. In this case, the piston 5 is arranged so that it is in the initial position of the pedal in its upper end position. This end position is defined by the stop of the piston on the base plate 100. A movement of the piston 5 beyond this end position is not possible.
Upon actuation of the pedal, ie upon actuation of the actuating element 1, the piston 5 is displaced into the cylinder 4.
In the cylinder 4, a cavity 102 is formed, which is bounded by the cylinder 4 and the piston 5. When the piston 5 is shifted into the cylinder 4, the cavity 102 is reduced in size. The cavity 102 is filled with a hydraulic fluid. The hydraulic fluid is displaced during the reduction of the cavity 102 via an output 103 to the outside and passes through an attenuator 6 in a pressure accumulator 7. The attenuator 6 includes in a Ausströmpfad 104, a throttle 61, which forms a means for influencing the outflow velocity of the hydraulic fluid. The throttle resistance of the throttle 61 may optionally be adjusted, as indicated by an arrow.
An inflow path 105 is arranged parallel to the outflow path 104. In the inflow path 105, a valve 62 is provided, which is formed in the present embodiment as a check valve. The valve 62 opens to the cavity 102 and closes in the direction of the pressure accumulator 7. In the pressure accumulator 7 there is a predetermined pressure. This pressure prevails when the piston 5 is in its upper end position, and also in the cavity 102. The pressure present in the pressure accumulator 7 thus sets a certain basic resistance of the actuating element 1.
In the accumulator 7, a gas bubble may be included, the size of which is adapted to the volume of the cavity 102 in the cylinder 4 With appropriate dimensioning of the back pressure in the pressure accumulator 7 may increase in the deflection of the actuator 1. The operator thus receives a feedback or feedback on the degree of actuation of the actuating element. 7
The adjustment of the throttle 61 causes a rapid passage of the pedal is opposed to a higher resistance than that with slow passage of the pedal is the case. This is especially excluded that jerky movements or vibrations of the machine are entered via the pedal in the encoder device 3.
The resistance to the movement of the actuating element 1 is built up only for movements in one direction and indeed during the movement of the actuating element 1 from its rest position. If the actuator 1 is moved in a different direction, namely in the opposite direction, then the throttle device 6 generates basically no resistance. Due to the pressure in the pressure accumulator 7, the hydraulic fluid is fed back via the then opening valve 62 into the cavity 102, so that the piston 5 can follow the movement of the actuating element 1 immediately.
Fig. 2 shows another embodiment, in which the actuating device 1 as a double-acting pedal, that is designed as a rocker arm, the same elements are provided with the same reference numerals. Here are provided for both directions of movement cylinder 4 and piston 5, each enclose a cavity 102. Each piston-cylinder unit only acts on the movement of the actuating element 1 out of the rest position shown in Fig. 2. A movement of the actuating element 1 from a deflected position back to the rest position, no resistance is opposed. By the upper end stops of the piston 5, which is formed by the base plate 100, the exact adjustment of the basic position when relieving the pedal is ensured.
In the embodiments illustrated in FIGS. 1 and 2, the damping takes place in that a hydraulic fluid is displaced by the throttles 61 when the cavities 102 are reduced in size. But it is just as possible that one uses a gas instead of a hydraulic fluid. In this case, one will have to dimension the throttle 61 differently. If one chooses as the fluid a magnetic fluid, then one can change by placing an electromagnet in the Ausströmpfad the viscosity of the liquid in which one energizes the electromagnet (not shown) with electricity. If the viscosity is changed, the outflow behavior changes, that is, a viscous liquid is braked by the throttle 61 stronger than a thinner liquid.

Claims (14)

  1. Control device for controlling machines by hand or by foot by means of an actuating element (1) that can be moved in one or more directions and by means of a transmitter device (3), which is connected to it and which is not hydraulic or is hydraulically decoupled from the hydraulic system, for producing one or more electrical, pneumatic, hydraulic or optical control signals that are adequate for displacing the actuating element (1), wherein working together with the actuating element (1) is an attenuation device (6) which, with the aid of a fluid that is moved by the actuating element (1), for at least one movement direction of the actuating element (1), opposes the movement with a resistance,
    characterised in that
    a) in the starting position of the actuating element (1), assigned to the latter in each direction of movement is a cylinder (4) whose pistons (5) are located in an end position, and in the event of a movement of the actuating element (1), the piston (5) that is respectively assigned to the direction of movement is pushed by the actuating element (1) or by a dog (11) connected to it in the direction of the second end position or into the cylinder (4), with simultaneous displacement of a fluid medium which is located in the hollow space of the cylinder (4) and is under pressure,
    b) the connection points between the actuating element (1), or the dog (11) connected to it, and the piston (5) in the respective direction of movement are designed as simple contact without mechanical coupling,
    c) the fluid media in the hollow spaces of the cylinders (4) are connected, via conduits, with an attenuation device (6) for influencing the inflow and outflow speed, wherein the fluid media flow out through adjustable throttles (61) arranged therein, and flow in through non-return valves (62) arranged parallel to them.
    d) the conduit-type outlets of the attenuation device (6) are connected to a pressure accumulator (7).
  2. Device in accordance with claim 1, characterised in that the attenuation device (6) opposes a movement by the actuating element (1) from out of its position of rest with a basic resistance.
  3. Device in accordance with claim 1 or 2, characterised in that the attenuation device (6) opposes a movement by the actuating element (1) from out of its position of rest with a reduced resistance.
  4. Device in accordance with claim 1, characterised in that the fluid is under pressure.
  5. Device in accordance with one of the claims 1 to 4, characterised in that the outlet (103) of the hollow space (102) is connected to a pressure accumulator (7).
  6. Device in accordance with claim 5, characterised in that the pressure accumulator (7) contains a gas bubble.
  7. Device in accordance with one of the claims 1 to 6, characterised in that the fluid is a hydraulic fluid.
  8. Device in accordance with one of the claims 1 to 7, characterised in that the fluid has a viscosity that can be altered by the influence of a control component.
  9. Device in accordance with claim 8, characterised in that the fluid is a magnetic fluid.
  10. Device in accordance with one of the claims 1 to 6, characterised in that the fluid is a compressed gas.
  11. Device in accordance with one of the claims 1 to 10, characterised in that the throttle (61) is adjustable.
  12. Device in accordance with one of the claims 1 to 11, characterised in that the actuating element (1) is a pedal that is pivoted around an axis (2) or is a rocker arm.
  13. Device in accordance with one of the claims 1 to 11, characterised in that the actuating element (1) is a cardanically mounted control lever that has a drive ring (11) which is at right angles to its longitudinal extension, in the vicinity of the cardanic mounting, and which encloses it, and which rests against the piston (5) in the starting position.
  14. Device in accordance with claim 13, characterised in that a different resistance is assigned to a first movement direction pair than that which is assigned to a second movement direction pair which lies perpendicular to the first movement direction pair.
EP00991594A 1999-12-16 2000-12-13 Control device for controlling machines by hand or foot Expired - Lifetime EP1276995B1 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE29921943U DE29921943U1 (en) 1999-12-16 1999-12-16 Control device for the manual or foot-guided control of work machines
DE29921943U 1999-12-16
DE19961052 1999-12-22
DE19961052A DE19961052A1 (en) 1999-12-16 1999-12-22 Control device for the manual or foot-guided control of work machines
PCT/EP2000/012644 WO2001044668A2 (en) 1999-12-16 2000-12-13 Control device for controlling machines by hand or foot

Publications (2)

Publication Number Publication Date
EP1276995A2 EP1276995A2 (en) 2003-01-22
EP1276995B1 true EP1276995B1 (en) 2005-06-01

Family

ID=26055834

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00991594A Expired - Lifetime EP1276995B1 (en) 1999-12-16 2000-12-13 Control device for controlling machines by hand or foot

Country Status (7)

Country Link
US (1) US7032471B2 (en)
EP (1) EP1276995B1 (en)
AT (1) ATE296961T1 (en)
AU (1) AU3363501A (en)
DE (2) DE19961052A1 (en)
ES (1) ES2240235T3 (en)
WO (1) WO2001044668A2 (en)

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FR2938309B1 (en) * 2008-11-12 2010-10-29 Bosch Rexroth Dsi Sas PRESSURE REGULATION DEVICE, IN PARTICULAR OF THE HYDRAULIC REMOTE CONTROL TYPE
US20160004271A1 (en) * 2014-07-01 2016-01-07 Raytheon BBN Technologies, Corp. Accelerator Pedal Assembly
EP3088263B1 (en) * 2015-04-28 2017-12-20 Bitron S.p.A. Pedal control device, particularly for a motor-vehicle
US10353422B2 (en) * 2015-06-23 2019-07-16 Kongsberg Power Products Systems I, Inc. Bidirectional pedal assembly
JP6704841B2 (en) * 2016-12-01 2020-06-03 株式会社日立建機ティエラ Small hydraulic excavator
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Also Published As

Publication number Publication date
ATE296961T1 (en) 2005-06-15
DE19961052A1 (en) 2001-07-26
AU3363501A (en) 2001-06-25
ES2240235T3 (en) 2005-10-16
WO2001044668A2 (en) 2001-06-21
EP1276995A2 (en) 2003-01-22
DE50010480D1 (en) 2005-07-07
WO2001044668A3 (en) 2002-10-31
US7032471B2 (en) 2006-04-25
US20020178854A1 (en) 2002-12-05

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