EP1384124A1 - Control handle - Google Patents

Control handle

Info

Publication number
EP1384124A1
EP1384124A1 EP02753729A EP02753729A EP1384124A1 EP 1384124 A1 EP1384124 A1 EP 1384124A1 EP 02753729 A EP02753729 A EP 02753729A EP 02753729 A EP02753729 A EP 02753729A EP 1384124 A1 EP1384124 A1 EP 1384124A1
Authority
EP
European Patent Office
Prior art keywords
main handle
fork
additional
handle
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP02753729A
Other languages
German (de)
French (fr)
Inventor
Georges Charles
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.)
Volvo Construction Equipment AB
Original Assignee
Volvo Construction Equipment AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volvo Construction Equipment AB filed Critical Volvo Construction Equipment AB
Publication of EP1384124A1 publication Critical patent/EP1384124A1/en
Withdrawn legal-status Critical Current

Links

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
    • G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
    • G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
    • G05G9/04792—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements for rotary control around the axis of the controlling member
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04781—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional rotation of the controlling member

Definitions

  • the invention relates to the field of public works vehicles, and more particularly vehicles having one or more work equipment controlled by action on a manipulator delivering progressive control signals. It relates more particularly to an improved manipulator allowing the control of several elements of the same work equipment in an ergonomic manner. It finds a very particular but not exclusive application to the control of the work equipment of a loader, which allows the control of at least three separate cylinders with a single manipulator.
  • a loader In known manner, a loader is called a public works machine which allows materials taken up on the ground to be taken up and dumped into a bucket or a truck, or vice versa.
  • a loader therefore comprises, in a known manner, a chassis and special work equipment.
  • This work equipment generally includes two parallel arms which are articulated with respect to the chassis. These arms can be raised under the action of jacks generally called “arm jacks". The ends of the arms receive a bucket, which is itself articulated relative to the arms. To ensure the movement of the bucket relative to the arms, the work equipment only comprises a set of links which, with a portion of the bucket and the arms, form a deformable parallelogram.
  • the work equipment also includes a bucket cylinder, which is controlled to cause the deformation of the deformable parallelogram, which ensures the orientation of the bucket relative to the arms.
  • the operator can control the arm cylinder and the bucket cylinder separately. By acting on the arm cylinder, it raises the arms by raising the level of the bucket. By acting on the bucket cylinder, it changes the orientation of the bucket relative to the arms and relative to the chassis.
  • Some machines also include an additional control acting on the configuration of the bucket, generally called a "four in one" control.
  • the bucket consists of two separate elements articulated with respect to each other. Depending on the relative position of these two bucket portions, the machine can perform different functions.
  • the two bucket parts are arranged contiguously, to form a bucket whose opening is directed substantially upwards and forwards to fulfill a loader function.
  • the two bucket parts are arranged one above the other, in a substantially vertical arrangement to form a tool serving as a bulldozer blade.
  • the two parts of the bucket are arranged in a substantially horizontal configuration, and can be spaced apart from each other in a progressive manner to ensure a function of clamps for picking up objects placed on the ground.
  • the two parts of the bucket are also positioned in a substantially horizontal arrangement, and can be separated from one another to allow the materials that the bucket carries to fall.
  • This is an opening bucket function.
  • the control of the configuration of the bucket and more precisely of the relative position of the two parts constituting this bucket is obtained by particular cylinders.
  • a first problem which the invention proposes to solve is that of allowing the progressive control of a third function additional to those accessible with a conventional manipulator.
  • the driver can also use his other hand to actuate this additional handle, which therefore forces him to temporarily interrupt the actions he was carrying out with this other hand.
  • These various manipulations which are particularly impractical, can cause startles in the conduct of the work equipment, and in any case inaccuracies in the trajectory and loss of time.
  • a second problem which the invention proposes to solve is that of allowing the progressive control of an additional function, without affecting the control of the basic functions.
  • the objective of the invention is therefore to allow the control of multiple functions using a single manipulator, and in an ergonomic manner.
  • the invention therefore relates to a control manipulator.
  • This manipulator comprises a main handle capable of being moved by pivoting around a pivot point, so as to ensure the progressive control of at least one piece of equipment as a function of the pivoting of this main handle.
  • This manipulator also comprises an additional control module, disposed laterally relative to the main handle, and which comprises a movable member whose displacement makes it possible to ensure the progressive control of an additional element.
  • this manipulator is characterized in that it comprises a lateral fork capable of pivoting about the axis of the main handle, said fork comprising a light inside which is housed the movable member of the additional control module.
  • This fork is capable of causing the displacement of the movable member of the additional control module only when the fork pivots about the axis of the main handle.
  • no action is generated on the additional control module, which therefore remains insensitive to movement of the main handle.
  • the fork is pivoted around the axis of the main handle, and only in this case, the movable member of the additional control module is moved, which generates control of the additional function.
  • This fork and its characteristic light play the role of means for coupling the pivoting of the handle and the displacement of the movable member of the additional control member.
  • the main handle allows when it is pivoted longitudinally, that is to say forwards and backwards, the actuation of the arm cylinder and therefore the raising or lowering of the main arms.
  • this manipulator is pivoted transversely, it allows loading or dumping of the bucket, by a modification on the inclination with respect to the arms.
  • the characteristic coupling means are actuated, the relative displacement of the two constituent portions of the bucket makes it possible to ensure the different functions of clamps, of other buckets, generally gathered under the common name of "four in one".
  • the main handle can have two directions of movement allowing the control of two pieces of equipment.
  • the principle of the invention remains valid in the case where the main handle can only be moved in one direction.
  • the characteristic coupling means make it possible to act in the same way on an additional control module associated with the main control module connected to the main handle.
  • the main handle is able to be moved in both directions, for each direction of movement, so as to control the two devices in two opposite modes.
  • the two directions of movement of the handle allow the elongation or the narrowing of each of the jacks, and therefore the movement of the bucket and the arms in the opposite direction .
  • the handle can act on two different control circuits depending on the direction in which it is moved, without necessarily acting on a single actuator actuated in both directions.
  • the movable member of the additional control module is at the same horizontal level as the pivot point of the main handle.
  • the pivoting of the main handle causes the fork to pivot around an axis which passes through the pivot point of the handle main, and which is perpendicular to the plane in which is placed the main axis of the handle.
  • main axis of the handle is meant the portion of the main handle which is directly connected to the pivot point, it being understood that the rest of the handle, and in particular the grip zone, may have a certain ergonomic inclination relative to its base. .
  • the longitudinal movement of the main handle causes the fork to pivot about the axis passing through the pivot point of the handle and which is perpendicular to the movement of the latter.
  • the movable member of the additional control module pivots inside the fork opening without undergoing displacement.
  • the fork When the main handle undergoes transverse pivoting, the fork therefore moves by rotation about an axis passing through the pivot point of the main handle, and which is perpendicular to the plane of movement of the axis of the handle. As the large direction of the fork light is oriented in this latter plane, the movable member moves inside the light when the handle is pivoted transversely. The movable member therefore does not undergo force from the fork, and is therefore not moved. The additional control circuit is therefore not activated.
  • the additional control circuit is therefore activated during the pivoting of these coupling means.
  • the pivoting of the fork relative to the axis of the handle can be obtained in different ways.
  • the fork can be mechanically secured to the main handle. In this case, it pivots around the characteristic axis when the main handle pivots on itself, around its axis. In other words, the driver must perform a pivoting movement of the handle on itself to move the fork.
  • the fork is mounted on the main handle with a capacity of rotation about the axis of the latter.
  • the fork is then associated with at least one lever allowing it to rotate about the axis of the handle, this lever being accessible to the user without releasing the main handle.
  • the manipulator comprises two additional levers each allowing the fork to rotate in one direction.
  • Figure 1 is a summary perspective view of the manipulator according to the invention, shown three-quarters front right.
  • Figure 2 is a summary perspective view of the same manipulator, shown from three right rear quarters.
  • Figures 3 and 4 are views similar to Figures 1 and 2 respectively, in which the bellows is not shown.
  • Figure 5 is a side view of the manipulator according to the invention.
  • FIG. 6 is a rear view of the manipulator of FIG. 1.
  • Figures 7 and 8 are views similar to Figure 3, in which the main handle is pivoted forwards and to the right, respectively.
  • FIGS 9, 10, 11 are top views of the manipulator according to the invention, showing the additional lever in three different positions.
  • the invention relates to a manipulator which can in particular be used in a public works machine, and for example to control work equipment ensuring the function of loader.
  • a manipulator is illustrated in Figure 1.
  • Such a manipulator (1) comprises a main handle (2) terminated upwards by a gripping zone (3).
  • This handle (2) is connected to a control module (4) making it possible to transform the information of the angular position of the handle (2) into several control signals making it possible to act on the work equipment.
  • the manipulator (1) also comprises an additional module (6), arranged laterally with respect to the main control module (4).
  • This module of additional control (6) has two output channels (7, 8) intended to supply a hydraulic circuit for controlling a particular piece of equipment, which can for example be the so-called "four in one" control for configuring the bucket.
  • the signals of the two output channels (7, 8) of the additional control module (6) are a function of the position of a movable member arranged on the top of the additional module (6).
  • this movable member forms a bent finger (10) oriented towards the axis (11) of the main handle (2).
  • the finger (10) can move inside a light (9) formed on the upper face of the additional control module (6). More precisely, this finger (10) can pivot around a horizontal axis (14), parallel to the portion of the finger oriented towards the main handle (2). When pivoted, the finger (10) drives a mechanism (not shown) which changes the pressures in the two outlet channels (7,8).
  • the movement of the main handle (2) relative to the main control module (4) is effected by pivoting around a ball joint (12) located in the vertical axis (11) of the main handle (2).
  • the term "main handle" axis (11) is understood to mean the vertical axis which passes through the ball joint (12) and which extends upwards perpendicular to the main plane of the upper face (13) of the control module (4).
  • This axis (11) can have a certain angulation, as in the form illustrated in FIG. 6, with the central axis (15) of the grip zone (3) of the handle (2). This orientation is essentially determined for ergonomic reasons, the handle (2) then being oriented towards the driver.
  • the main handle (2) comprises a plate (16) having four lateral protuberances (17-20) angularly equally distributed. These different protrusions (17-20) come in line with a mobile assembly (not shown) of the control module (4) so that when these protrusions (17-20) rise or fall depending on the position of the handle (2), the moving element moves vertically. It follows that the signals generated by the main control module (4) vary.
  • the plate (16) allows the control of four channels, each delivering a pressure responsible for controlling an organ.
  • the manipulator in the case where the manipulator is used for controlling the work equipment of a loader, it generally comprises a track which is actuated when the handle (2) is pivoted forward. This channel ensures the descent of the arms by supplying the arm cylinder. Conversely, the track actuated by the rearward tilting of the main handle causes the lowering of the arm, by the opposite supply of the arm cylinder. The tracks actuated by a lateral movement on the side or the other of the main handle causes the feeding in one direction or the other of the bucket cylinder, causing the modification of the orientation of the latter by relative to the arms, to ensure either loading or dumping of the bucket.
  • the manipulator (1) is equipped with coupling means ensuring the movement of the movable member (10) of the additional control module (11), from movements exerted on the main handle (2 ).
  • these coupling means comprise a lateral fork (23), having a generally curved shape.
  • This fork (23) is connected by its upper end (24) to a bearing
  • This fork (25) mounted around the axis (11) of the main handle (2).
  • This fork (23) extends down below the level of the finger (10) of the additional control module (6).
  • This fork (23) has an elongated opening (26) which extends longitudinally over the lower part of the fork (23), and inside which the control finger (10) is housed. For ease of assembly, this light
  • the invention is not limited to this emerging form of light, but also covers a closed light which would receive the control finger by a subsequent mounting of the additional control module.
  • the bearing (25) on which is mounted the upper end (24) of the fork (23) therefore allows a rotational movement of the latter around the axis (11) of the main handle (2).
  • This movement can be generated by the action of the driver on an additional double lever (30).
  • This additional double lever (30) has its lower end (31) connected to the front part of the bearing (25).
  • This lever (30) is extended upwards by a substantially vertical common part (32).
  • this double lever (30) has a substantially horizontal portion (34), which matches a curved shape wrapping around the main handle (2).
  • each end of this upper portion (34) forms a support zone on which the conductor can act. More specifically, the end (35) of the longest fraction (36) of the upper portion (34) has a face intended to receive the support of the driver's thumb, for a manipulator configured for a right hand as illustrated in the Figure 6. The end (37) of the opposite fraction (38) of the upper portion of the additional lever has a face intended to receive the support of the index finger of the middle finger, or even of the ring finger of the driver. It should be noted that pressing the thumb or forefinger on the additional lever can be carried out without the driver having to let go of the other fingers which tighten the main handle (2), and therefore with optimal control. driving the craft.
  • the displacement of the main handle (2) in the longitudinal direction does not cause any modification of the position of the finger (10) of the additional control module (6) and therefore no unexpected control of the member controlled by the latter.
  • the additional control module (6) When the driver exerts a push by pressing with his thumb on the end (35) of the additional lever (30), it causes the rotation of the latter around the main axis (11) of the handle (2), and therefore the displacement of the characteristic fork (23).
  • the control finger (10) comes into contact with the front wall (26) of the elongated light (25), and is therefore driven towards the rear, as illustrated in FIG. 10.
  • the additional control module (6) generates then a signal commanding the appropriate organ.
  • the invention is not limited to the single embodiment illustrated by the figures, but also covers other variants, as long as they respect the principle of the invention, which consists in actuating the module additional control by an accessible movement without releasing the main handle.
  • the fork can be secured to the axis of the main handle, and its movement is then caused by a pivoting of the handle on itself.
  • the manipulator according to the invention can in particular be used to control the equipment of a backhoe, the additional control then being used for the control of an additional tool, and in particular an auger, a drill clamp or the like.
  • the invention finds an advantageous application for controlling the hydraulic circuit, the manipulator then delivering pressures acting on a hydraulic distributor.
  • the coupling principle can also find advantage in other control modes and in particular proportional electrical controls for example.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention relates to a control handle (1) comprising: a main grip handle (2) which can be pivoted around a pivot point (12) such that at least one piece of equipment can be controlled progressively according to the pivoting movement of said main grip handle (2); and an additional control unit (6) which is disposed laterally in relation to the main grip handle (2) and which comprises a mobile part (10) which is moved so that an additional piece of equipment can be controlled progressively. The inventive control handle is characterised in that it comprises coupling means (23) which can pivot around the axis (11) of the main grip handle (2) and which can cause the mobile element (10) of the additional control unit (6) to move, only when said coupling means (23) pivot around the axis (11) of the main grip handle (2).

Description

MANIPULATEUR DE COMMANDE CONTROL MANIPULATOR
Domaine TechniqueTechnical area
L'invention se rattache au domaine des engins de travaux publics, et plus particulièrement des engins possédant un ou plusieurs équipements de travail commandés par action sur manipulateur délivrant des signaux de commande progressifs. Elle vise plus particulièrement un manipulateur perfectionné permettant la commande de plusieurs éléments d'un même équipement de travail de façon ergonomique. Elle trouve une application toute particulière mais non exclusive à la commande de l'équipement travail d'une chargeuse, qui permet la commande d'au moins trois vérins distincts avec un manipulateur unique.The invention relates to the field of public works vehicles, and more particularly vehicles having one or more work equipment controlled by action on a manipulator delivering progressive control signals. It relates more particularly to an improved manipulator allowing the control of several elements of the same work equipment in an ergonomic manner. It finds a very particular but not exclusive application to the control of the work equipment of a loader, which allows the control of at least three separate cylinders with a single manipulator.
L'invention sera donc décrite dans le reste de la description dans son application particulière à une chargeuse, mais elle ne saurait être limitée à cette application précise, et elle couvre au contraire beaucoup d'autres variantes.The invention will therefore be described in the remainder of the description in its particular application to a loader, but it cannot be limited to this specific application, and on the contrary covers many other variants.
Techniques antérieuresPrevious techniques
De façon connue, on appelle chargeuse un engin de travaux publics qui permet de reprendre les matériaux disposés sur le sol pour les déverser dans une benne ou dans un camion, ou inversement. Une chargeuse comprend donc de façon connue un châssis et un équipement de travail particulier. Cet équipement de travail inclut généralement deux bras parallèles qui sont articulés par rapport au châssis. Ces bras peuvent être soulevés sous l'action de vérins généralement appelés "vérins de bras". Les extrémités des bras reçoivent un godet, qui est lui- même articulé par rapport aux bras. Pour assurer le mouvement du godet par rapport aux bras, l'équipement de travail comprend uniquement un ensemble de biellettes qui font, avec une portion du godet et des bras, un parallélogramme déformable.In known manner, a loader is called a public works machine which allows materials taken up on the ground to be taken up and dumped into a bucket or a truck, or vice versa. A loader therefore comprises, in a known manner, a chassis and special work equipment. This work equipment generally includes two parallel arms which are articulated with respect to the chassis. These arms can be raised under the action of jacks generally called "arm jacks". The ends of the arms receive a bucket, which is itself articulated relative to the arms. To ensure the movement of the bucket relative to the arms, the work equipment only comprises a set of links which, with a portion of the bucket and the arms, form a deformable parallelogram.
De façon générale, une de ces biellettes est articulée par rapport au godet, tandis que l'autre est articulé par rapport aux bras, ces biellettes étant articulées entre elles par leurs extrémités. L'équipement de travail comprend également un vérin de godet, qui est commandé pour provoquer la déformation du parallélogramme déformable, ce qui permet d'assurer l'orientation du godet par rapport aux bras.Generally, one of these links is articulated with respect to the bucket, while the other is articulated with respect to the arms, these links being articulated with one another by their ends. The work equipment also includes a bucket cylinder, which is controlled to cause the deformation of the deformable parallelogram, which ensures the orientation of the bucket relative to the arms.
Le conducteur peut commander, de façon distincte, le vérin de bras et le vérin de godet. En agissant sur le vérin de bras, il soulève les bras en élevant le niveau du godet. En agissant sur le vérin de godet, il modifie l'orientation du godet par rapport aux bras et par rapport au châssis.The operator can control the arm cylinder and the bucket cylinder separately. By acting on the arm cylinder, it raises the arms by raising the level of the bucket. By acting on the bucket cylinder, it changes the orientation of the bucket relative to the arms and relative to the chassis.
Certains engins comprennent également une commande supplémentaire agissant sur la configuration du godet, généralement appelée commande "quatre en un". Ainsi, sur ce type de machine, le godet est constitué de deux éléments distincts articulés l'un par rapport à l'autre. Selon la position relative de ces deux portions de godets, l'engin peut effectuer différentes fonctions.Some machines also include an additional control acting on the configuration of the bucket, generally called a "four in one" control. Thus, on this type of machine, the bucket consists of two separate elements articulated with respect to each other. Depending on the relative position of these two bucket portions, the machine can perform different functions.
Ainsi, dans une première configuration, les deux parties de godet sont disposées de façon jointive, pour former un godet dont l'ouverture est dirigée sensiblement vers le haut et vers l'avant pour remplir une fonction de chargeuse. Dans une deuxième configuration, les deux parties de godet sont disposées l'une au dessus de l'autre, dans un agencement sensiblement vertical pour former un outil servant de lame de bulldozer.Thus, in a first configuration, the two bucket parts are arranged contiguously, to form a bucket whose opening is directed substantially upwards and forwards to fulfill a loader function. In a second configuration, the two bucket parts are arranged one above the other, in a substantially vertical arrangement to form a tool serving as a bulldozer blade.
Dans une troisième configuration, les deux parties du godet sont disposées dans une configuration sensiblement horizontale, et peuvent être écartées l'une de l'autre de façon progressive pour assurer une fonction de pinces pour la prise d'objets disposés sur le sol.In a third configuration, the two parts of the bucket are arranged in a substantially horizontal configuration, and can be spaced apart from each other in a progressive manner to ensure a function of clamps for picking up objects placed on the ground.
Dans une quatrième configuration, les deux parties du godet sont également positionnés dans une disposition sensiblement horizontale, et peuvent être écartées l'une de l'autre pour laisser chuter les matériaux que le godet transporte. Il s'agit là d'une fonction de benne ouvrante. La commande de la configuration du godet et plus précisément de la position relative des deux parties constituant ce godet est obtenue par des vérins particuliers.In a fourth configuration, the two parts of the bucket are also positioned in a substantially horizontal arrangement, and can be separated from one another to allow the materials that the bucket carries to fall. This is an opening bucket function. The control of the configuration of the bucket and more precisely of the relative position of the two parts constituting this bucket is obtained by particular cylinders.
On a déjà proposé d'assurer la commande de la configuration de ce godet en ajoutant sur le manipulateur un bouton permettant de provoquer le déplacement des deux parties constitutives du godet. Cette commande particulière envoie une information binaire au circuit de commande qui provoque donc soit l'ouverture, soit la fermeture du godet. Cette solution présente l'inconvénient majeur de ne pas assurer une commande progressive de l'ouverture et de la fermeture du godet, mais au contraire en tout ou rien. Ainsi, lorsque le godet est utilisé en pince, l'emploi d'une telle commande peut provoquer la détérioration des matériaux soulevés puisque le godet a tendance à se refermer de façon brutale et saccadée.It has already been proposed to control the configuration of this bucket by adding on the manipulator a button making it possible to cause the displacement of the two constituent parts of the bucket. This particular command sends binary information to the control circuit which therefore causes either the opening or the closing of the bucket. This solution has the major drawback of not ensuring progressive control of the opening and closing of the bucket, but on the contrary all or nothing. Thus, when the bucket is used as a clamp, the use of such a command can cause the deterioration of the materials lifted since the bucket tends to close suddenly and jerky.
Un premier problème que se propose de résoudre l'invention est celui de permettre la commande progressive d'une troisième fonction supplémentaire à celles accessibles avec un manipulateur classique.A first problem which the invention proposes to solve is that of allowing the progressive control of a third function additional to those accessible with a conventional manipulator.
Pour assurer la progressivité de cette commande, on a également proposé d'équiper le manipulateur de commande d'un module de commande additionnel, disposé latéralement par rapport à la poignée principale assurant la commande des vérins de bras et de godet. Ce module de commande additionnel est apte à délivrer un signal de commande progressif en fonction de la position d'une poignée supplémentaire disposée latéralement par rapport à la poignée principale. Cette solution, si elle permet d'assurer une commande progressive des différentes fonctions "quatre en un", présente en revanche l'inconvénient majeur de n'être absolument pas ergonomique. En effet, le levier additionnel assurant la commande supplémentaire est disposée parallèlement à la poignée principale, et nécessite que le conducteur lâche la poignée principale pour pouvoir l'actionner.To ensure the progressiveness of this command, it has also been proposed to equip the control manipulator with an additional control module, disposed laterally relative to the main handle ensuring the control of the arm and bucket jacks. This additional control module is capable of delivering a progressive control signal as a function of the position of an additional handle disposed laterally relative to the main handle. This solution, if it makes it possible to ensure progressive control of the various "four in one" functions, has the major drawback of being absolutely not ergonomic. Indeed, the additional lever ensuring the additional control is arranged parallel to the main handle, and requires that the driver releases the main handle to be able to actuate it.
Le conducteur peut également utiliser son autre main pour actionner cette poignée supplémentaire, ce qui l'oblige donc à interrompre temporairement les actions qu'il menait avec cette autre main. Ces différentes manipulations, qui sont particulièrement peu pratiques, peuvent provoquer des sursauts dans la conduite de l'équipement de travail, et en tout cas des imprécisions dans la trajectoire et des pertes de temps.The driver can also use his other hand to actuate this additional handle, which therefore forces him to temporarily interrupt the actions he was carrying out with this other hand. These various manipulations, which are particularly impractical, can cause startles in the conduct of the work equipment, and in any case inaccuracies in the trajectory and loss of time.
Un second problème que se propose de résoudre l'invention est celui de permettre la commande progressive d'une fonction additionnelle, sans incidence sur la commande des fonctions de base.A second problem which the invention proposes to solve is that of allowing the progressive control of an additional function, without affecting the control of the basic functions.
L'objectif de l'invention est donc de permettre la commande de multiples fonctions grâce à un manipulateur unique, et de façon ergonomique.The objective of the invention is therefore to allow the control of multiple functions using a single manipulator, and in an ergonomic manner.
Exposé de l'inventionStatement of the invention
L'invention concerne donc un manipulateur de commande.The invention therefore relates to a control manipulator.
Ce manipulateur comporte une poignée principale apte à être déplacée par pivotement autour d'un point de pivotement, de manière à assurer la commande progressive d'au moins un équipement en fonction du pivotement de cette poignée principale.This manipulator comprises a main handle capable of being moved by pivoting around a pivot point, so as to ensure the progressive control of at least one piece of equipment as a function of the pivoting of this main handle.
Ce manipulateur comporte également un module de commande additionnel, disposé latéralement par rapport à la poignée principale, et qui comporte un organe mobile dont le déplacement permet d'assurer la commande progressive d'un élément additionnel.This manipulator also comprises an additional control module, disposed laterally relative to the main handle, and which comprises a movable member whose displacement makes it possible to ensure the progressive control of an additional element.
Conformément à l'invention, ce manipulateur se caractérise en ce qu'il comporte une fourchette latérale apte à pivoter autour de l'axe de la poignée principale, ladite fourche comportant une lumière à l'intérieur de laquelle est logé l'organe mobile du module de commande additionnel. Cette fourche est apte à entraîner le déplacement de l'organe mobile du module de commande additionnel uniquement lorsque la fourche pivote autour de l'axe de la poignée principale. Autrement dit, lorsque la poignée principale est pivotée pour commander les fonctions qui lui sont associées, aucune action n'est générée sur le module de commande additionnel, qui reste donc insensible à un déplacement de la poignée principale. En revanche, lorsque la fourche est pivotée autour de l'axe de la poignée principale, et uniquement dans ce cas, l'organe mobile du module de commande additionnel est déplacé, ce qui engendre la commande de la fonction supplémentaire. Cette fourche et sa lumière caractéristique jouent le rôle de moyens de couplage du pivotement de la poignée et du déplacement de l'organe mobile de l'organe de commande additionnel.According to the invention, this manipulator is characterized in that it comprises a lateral fork capable of pivoting about the axis of the main handle, said fork comprising a light inside which is housed the movable member of the additional control module. This fork is capable of causing the displacement of the movable member of the additional control module only when the fork pivots about the axis of the main handle. In other words, when the main handle is pivoted to control the functions associated with it, no action is generated on the additional control module, which therefore remains insensitive to movement of the main handle. On the other hand, when the fork is pivoted around the axis of the main handle, and only in this case, the movable member of the additional control module is moved, which generates control of the additional function. This fork and its characteristic light play the role of means for coupling the pivoting of the handle and the displacement of the movable member of the additional control member.
Ainsi, l'actionnement normal de la poignée principale ne provoque aucun déplacement de l'organe mobile du module de commande additionnel, et donc aucune génération de signal pour l'équipement supplémentaire. En revanche, le pivotement des moyens de couplage caractéristique, qui sont donc mécaniquement reliés à la poignée principale, permet d'agir sur le module de commande additionnel à partir de la poignée principale, ce qui est particulièrement ergonomique.Thus, normal actuation of the main handle does not cause any movement of the movable member of the additional control module, and therefore no generation of signal for the additional equipment. On the other hand, the pivoting of the characteristic coupling means, which are therefore mechanically connected to the main handle, makes it possible to act on the additional control module from the main handle, which is particularly ergonomic.
Ainsi, en application à un manipulateur de commande d'un équipement d'une chargeuse, la poignée principale permet lorsqu'elle est pivotée longitudinalement, c'est-à-dire vers l'avant et vers l'arrière, l'actionnement du vérin de bras et donc la montée ou la descente des bras principaux. Lorsque ce manipulateur est pivoté transversalement, il permet le chargement ou le déversement du godet, par une modification sur l'inclinaison vis à vis des bras. Lorsque les moyens de couplage caractéristique sont actionnés, le déplacement relatif des deux portions constitutives du godet permet d'assurer les différentes fonctions de pinces, de bennes autres, généralement rassemblées sous l'appellation commune de "quatre en un".Thus, in application to a manipulator for controlling equipment of a loader, the main handle allows when it is pivoted longitudinally, that is to say forwards and backwards, the actuation of the arm cylinder and therefore the raising or lowering of the main arms. When this manipulator is pivoted transversely, it allows loading or dumping of the bucket, by a modification on the inclination with respect to the arms. When the characteristic coupling means are actuated, the relative displacement of the two constituent portions of the bucket makes it possible to ensure the different functions of clamps, of other buckets, generally gathered under the common name of "four in one".
Le pivotement de ces moyens de couplage pouvant être progressif, il s'ensuit que la commande additionnelle peut également être progressive. Cela permet donc dans le cas de l'application pour une. commande "quatre en un" de chargeuse, un déplacement modulable des deux parties constitutives des deux godets, et par exemple un pincement modéré et contrôlé lorsque des objets doivent être pinces pour être soulevés.As the pivoting of these coupling means can be progressive, it follows that the additional control can also be progressive. This therefore allows in the case of application for one. loader "four in one" command, one modular movement of the two constituent parts of the two buckets, and for example a moderate and controlled pinching when objects have to be gripped to be lifted.
Avantageusement en pratique, la poignée principale peut posséder deux directions de déplacement permettant la commande de deux équipements. Néanmoins, le principe de l'invention reste valable dans le cas où la poignée principale n'est déplaçable que dans une seule direction. Les moyens de couplage caractéristiques permettent en effet d'agir de la même manière sur un module de commande additionnel associé au module de commande principal relié à la poignée principale.Advantageously in practice, the main handle can have two directions of movement allowing the control of two pieces of equipment. However, the principle of the invention remains valid in the case where the main handle can only be moved in one direction. The characteristic coupling means make it possible to act in the same way on an additional control module associated with the main control module connected to the main handle.
Avantageusement en pratique, la poignée principale est apte à être déplacée dans les deux sens, pour chaque direction de déplacement, de manière à commander les deux équipements selon deux modes opposés. Dans le cas particulier de commande des vérins de bras ou de godet dans une chargeuse, les deux sens de déplacement de la poignée permettent l'allongement ou le rétrécissement de chacun des vérins, et donc le déplacement du godet et des bras dans le sens opposé. Toutefois, dans certaines formes particulières de réalisation, la poignée peut agir sur deux circuits de commande différents selon le sens dans lequel elle est déplacée, sans agir obligatoirement sur un seul et unique vérin actionné dans ses deux sens.Advantageously in practice, the main handle is able to be moved in both directions, for each direction of movement, so as to control the two devices in two opposite modes. In the particular case of control of the arm or bucket jacks in a loader, the two directions of movement of the handle allow the elongation or the narrowing of each of the jacks, and therefore the movement of the bucket and the arms in the opposite direction . However, in certain particular embodiments, the handle can act on two different control circuits depending on the direction in which it is moved, without necessarily acting on a single actuator actuated in both directions.
On peut aussi envisager que le déplacement vers l'avant de la poignée agisse sur un équipement particulier, tandis que le déplacement vers l'arrière de cette même poignée principale provoque la commande d'un autre équipement différent du premier.It is also conceivable that the forward movement of the handle acts on a particular piece of equipment, while the rearward movement of this same main handle causes the control of another piece of equipment different from the first.
En pratique, l'organe mobile du module de commande additionnel se trouve au même niveau horizontal que le point de pivotement de la poignée principale.In practice, the movable member of the additional control module is at the same horizontal level as the pivot point of the main handle.
Ainsi, le pivotement de la poignée principale provoque le pivotement de la fourchette autour d'un axe qui passe par le point de pivotement de la poignée principale, et qui est perpendiculaire au plan dans lequel se place l'axe principal de la poignée.Thus, the pivoting of the main handle causes the fork to pivot around an axis which passes through the pivot point of the handle main, and which is perpendicular to the plane in which is placed the main axis of the handle.
Par axe principal de la poignée, on entend la portion de la poignée principale qui est directement reliée au point de pivotement, étant entendu que le reste de la poignée, et notamment la zone de préhension peut présenter une certaine inclinaison ergonomique par rapport à sa base.By main axis of the handle is meant the portion of the main handle which is directly connected to the pivot point, it being understood that the rest of the handle, and in particular the grip zone, may have a certain ergonomic inclination relative to its base. .
Ainsi, et comme déjà évoqué, le déplacement longitudinal de la poignée principale provoque un pivotement de la fourche autour de l'axe passant par le point de pivotement de la poignée et qui est perpendiculaire au déplacement de cette dernière. Dans ce cas, l'organe mobile du module de commande additionnel pivote à l'intérieur de la lumière de la fourche sans subir de déplacement.Thus, and as already mentioned, the longitudinal movement of the main handle causes the fork to pivot about the axis passing through the pivot point of the handle and which is perpendicular to the movement of the latter. In this case, the movable member of the additional control module pivots inside the fork opening without undergoing displacement.
Lorsque la poignée principale subit un pivotement transversal, la fourche se déplace donc par rotation autour d'un axe passant par le point de pivotement de la poignée principale, et qui est perpendiculaire au plan de déplacement de l'axe de la poignée. Comme la grande direction de la lumière de la fourche est orientée selon ce dernier plan, l'organe mobile se déplace à l'intérieur de la lumière lorsque la poignée est pivotée transversalement. L'organe mobile ne subit donc pas d'effort de la fourche, et n'est donc pas déplacé. Le circuit de commande additionnel n'est donc pas activé.When the main handle undergoes transverse pivoting, the fork therefore moves by rotation about an axis passing through the pivot point of the main handle, and which is perpendicular to the plane of movement of the axis of the handle. As the large direction of the fork light is oriented in this latter plane, the movable member moves inside the light when the handle is pivoted transversely. The movable member therefore does not undergo force from the fork, and is therefore not moved. The additional control circuit is therefore not activated.
A l'inverse, lorsque les moyens de couplage sont pivotes autour de l'axe de la poignée principale, les parois de la lumière de la fourchette deviennent au contact de l'organe mobile du module de commande additionnel, et en provoque donc le déplacement dans un sens ou dans l'autre, selon le sens de pivotement des moyens de couplage.Conversely, when the coupling means are pivoted about the axis of the main handle, the walls of the fork slot become in contact with the movable member of the additional control module, and therefore cause its displacement in one direction or the other, depending on the direction of pivoting of the coupling means.
Le circuit de commande additionnel est donc activé lors du pivotement de ces moyens de couplage. Le pivotement de la fourche par rapport à l'axe de la poignée peut être obtenu selon différentes manières. Ainsi, dans une première variante, la fourche peut être mécaniquement solidaire de la poignée principale. Dans ce cas, elle pivote autour de l'axe caractéristique lors du pivotement de la poignée principale sur elle-même, autour de son axe. Autrement dit, le conducteur doit effectuer un mouvement de pivotement de la poignée sur elle-même pour déplacer la fourche.The additional control circuit is therefore activated during the pivoting of these coupling means. The pivoting of the fork relative to the axis of the handle can be obtained in different ways. Thus, in a first variant, the fork can be mechanically secured to the main handle. In this case, it pivots around the characteristic axis when the main handle pivots on itself, around its axis. In other words, the driver must perform a pivoting movement of the handle on itself to move the fork.
Dans une autre variante préférée, la fourche est montée sur la poignée principale avec une capacité de rotation autour de l'axe de cette dernière. La fourche est alors associée à au moins un levier permettant sa mise en rotation autour de l'axe de la poignée, ce levier étant accessible à l'utilisateur sans lâcher la poignée principale.In another preferred variant, the fork is mounted on the main handle with a capacity of rotation about the axis of the latter. The fork is then associated with at least one lever allowing it to rotate about the axis of the handle, this lever being accessible to the user without releasing the main handle.
Autrement dit, lorsque le conducteur tient la poignée principale en main, il présente à proximité de son pouce ou de son index un levier supplémentaire sur lequel il peut exercer une pression sans lâcher la poignée principale. En agissant sur ce levier supplémentaire, il provoque la mise en rotation de la fourche par rapport à la poignée principale, sans modifier la position de cette dernière. Il entraîne ainsi le déplacement de la fourche caractéristique et donc l'entraînement de l'organe mobile du module de commande additionnel. Dans une forme préférée de cette dernière variante, le manipulateur comporte deux leviers additionnels permettant chacun la mise en rotation de la fourche dans un sens.In other words, when the driver holds the main handle in his hand, he has, near his thumb or forefinger, an additional lever on which he can exert pressure without letting go of the main handle. By acting on this additional lever, it causes the fork to rotate relative to the main handle, without modifying the position of the latter. It thus causes the displacement of the characteristic fork and therefore the drive of the movable member of the additional control module. In a preferred form of this latter variant, the manipulator comprises two additional levers each allowing the fork to rotate in one direction.
Ainsi, en agissant sur un levier additionnel avec le pouce, il provoque le déplacement de la fourche dans un sens. En agissant avec l'index ou le majeur, il appuie sur le second levier additionnel et provoque le déplacement de la fourche dans le sens opposé.Thus, by acting on an additional lever with the thumb, it causes the fork to move in one direction. By acting with the index or middle finger, he presses the second additional lever and causes the fork to move in the opposite direction.
Description sommaire des figures La manière de réaliser l'invention ainsi que les avantages qui en découlent ressortiront bien de la description du mode de réalisation qui suit, à l'appui des figures annexées dans lesquelles : La figure 1 est une vue en perspective sommaire du manipulateur conforme à l'invention, montrée de trois quarts avant droit.Brief description of the figures The manner of carrying out the invention as well as the advantages which result therefrom will emerge clearly from the description of the embodiment which follows, in support of the appended figures in which: Figure 1 is a summary perspective view of the manipulator according to the invention, shown three-quarters front right.
La figure 2 est une vue en perspective sommaire du même manipulateur, montré de trois quarts arrière droit. Les figures 3 et 4 sont des vues analogues respectivement aux figures 1 et 2, dans lesquelles le soufflet n'est pas représenté.Figure 2 is a summary perspective view of the same manipulator, shown from three right rear quarters. Figures 3 and 4 are views similar to Figures 1 and 2 respectively, in which the bellows is not shown.
La figure 5 est une vue de côté du manipulateur conforme à l'invention.Figure 5 is a side view of the manipulator according to the invention.
La figure 6 est une vue de derrière du manipulateur de la figure 1.FIG. 6 is a rear view of the manipulator of FIG. 1.
Les figures 7 et 8 sont des vues analogues à la figure 3, dans laquelle la poignée principale est pivotée respectivement vers l'avant et vers la droite.Figures 7 and 8 are views similar to Figure 3, in which the main handle is pivoted forwards and to the right, respectively.
Les figures 9, 10, 11 sont des vues de dessus du manipulateur conforme à l'invention, montrant le levier additionnel dans trois positions différentes.Figures 9, 10, 11 are top views of the manipulator according to the invention, showing the additional lever in three different positions.
Manière de réaliser l'invention Comme déjà évoqué, l'invention concerne un manipulateur qui peut notamment être utilisé dans un engin de travaux publics, et par exemple pour commander un équipement de travail assurant la fonction de chargeuse. Un tel manipulateur est illustré à la figure 1.Way of realizing the invention As already mentioned, the invention relates to a manipulator which can in particular be used in a public works machine, and for example to control work equipment ensuring the function of loader. Such a manipulator is illustrated in Figure 1.
Un tel manipulateur (1) comprend une poignée principale (2) terminée vers le haut par une zone de préhension (3). Cette poignée (2) se rattache à un module de commande (4) permettant de transformer l'information de position angulaire de la poignée (2) en plusieurs signaux de commande permettant d'agir sur l'équipement de travail.Such a manipulator (1) comprises a main handle (2) terminated upwards by a gripping zone (3). This handle (2) is connected to a control module (4) making it possible to transform the information of the angular position of the handle (2) into several control signals making it possible to act on the work equipment.
Dans la forme illustrée aux figures 1 et 2, la liaison entre la poignée (2) et le module de commande (4) est masquée par un soufflet de protection (5), qui possède une capacité de déformation pour suivre le mouvement de la poignée principale (2).In the form illustrated in Figures 1 and 2, the connection between the handle (2) and the control module (4) is masked by a protective bellows (5), which has a deformation capacity to follow the movement of the handle main (2).
Le manipulateur (1) comprend également un module additionnel (6), disposé latéralement par rapport au module de commande principal (4). Ce module de commande additionnel (6) possède deux voies de sorties (7, 8) destinées à alimenter un circuit hydraulique de commande d'un équipement particulier, qui peut par exemple être la commande dite de "quatre en un" de configuration du godet. Les signaux des deux voies de sortie (7, 8) du module de commande additionnel (6) sont fonction de la position d'un organe mobile disposé sur le haut du module additionnel (6).The manipulator (1) also comprises an additional module (6), arranged laterally with respect to the main control module (4). This module of additional control (6) has two output channels (7, 8) intended to supply a hydraulic circuit for controlling a particular piece of equipment, which can for example be the so-called "four in one" control for configuring the bucket. The signals of the two output channels (7, 8) of the additional control module (6) are a function of the position of a movable member arranged on the top of the additional module (6).
Comme illustré à la figure 3, cet organe mobile forme un doigt coudé (10) orienté en direction de l'axe (11) de la poignée principale (2). Le doigt (10) peut se déplacer à l'intérieur d'une lumière (9) ménagée sur la face supérieure du module de commande additionnel (6). Plus précisément, ce doigt (10) peut pivoter autour d'un axe horizontal (14), parallèle à portion du doigt orientée vers la poignée principale (2). Lors de son pivotement, le doigt (10) entraîne un mécanisme (non représenté) qui modifie les pressions dans les deux voies de sortie (7,8).As illustrated in Figure 3, this movable member forms a bent finger (10) oriented towards the axis (11) of the main handle (2). The finger (10) can move inside a light (9) formed on the upper face of the additional control module (6). More precisely, this finger (10) can pivot around a horizontal axis (14), parallel to the portion of the finger oriented towards the main handle (2). When pivoted, the finger (10) drives a mechanism (not shown) which changes the pressures in the two outlet channels (7,8).
En référence aux figures 3, 4, 5 et 6, le déplacement de la poignée principale (2) par rapport au module de commande principale (4) s'effectue par pivotement autour d'une rotule (12) située dans l'axe vertical (11) de la poignée principale (2). Il convient de préciser que l'on entend par axe (11) de poignée principale, l'axe vertical qui passe par la rotule (12), et qui se prolonge vers le haut perpendiculairement au plan principal de la face supérieure (13) du module de commande (4). Cet axe (11) peut présenter une certaine angulation, comme dans la forme illustrée à la figure 6, avec l'axe central (15) de la zone de préhension (3) de la poignée (2). Cette orientation est essentiellement déterminée pour des questions d'ergonomie, la poignée (2) étant alors orientée en direction du conducteur.Referring to Figures 3, 4, 5 and 6, the movement of the main handle (2) relative to the main control module (4) is effected by pivoting around a ball joint (12) located in the vertical axis (11) of the main handle (2). It should be noted that the term "main handle" axis (11) is understood to mean the vertical axis which passes through the ball joint (12) and which extends upwards perpendicular to the main plane of the upper face (13) of the control module (4). This axis (11) can have a certain angulation, as in the form illustrated in FIG. 6, with the central axis (15) of the grip zone (3) of the handle (2). This orientation is essentially determined for ergonomic reasons, the handle (2) then being oriented towards the driver.
Ainsi, au dessus de la rotule de pivotement (12), la poignée principale (2) comporte un plateau (16) présentant quatre protubérances latérales (17-20) angulairement également réparties. Ces différentes protubérances (17-20) viennent à l'aplomb d'un équipage mobile non représenté du module de commande (4) de sorte que lorsque ces protubérances (17-20) s'élèvent ou s'abaissent en fonction de la position de la poignée (2), l'équipage mobile se déplace verticalement. Il s'ensuit que les signaux générés par le module de commande principal (4) varient. En pratique, le plateau (16) permet la commande de quatre voies délivrant chacune une pression responsable de la commande d'un organe.Thus, above the pivot ball joint (12), the main handle (2) comprises a plate (16) having four lateral protuberances (17-20) angularly equally distributed. These different protrusions (17-20) come in line with a mobile assembly (not shown) of the control module (4) so that when these protrusions (17-20) rise or fall depending on the position of the handle (2), the moving element moves vertically. It follows that the signals generated by the main control module (4) vary. In practice, the plate (16) allows the control of four channels, each delivering a pressure responsible for controlling an organ.
Ainsi, dans le cas où le manipulateur est utilisé pour la commande de l'équipement de travail d'une chargeuse, il comprend généralement une voie qui est actionnée lorsque la poignée (2) est pivotée vers l'avant. Cette voie assure la descente des bras par l'alimentation du vérin de bras. A l'inverse, la voie actionnée par le basculement vers l'arrière de la poignée principale provoque la descente du bras, par l'alimentation opposée du vérin de bras. Les voies actionnées par un déplacement latéral du côté ou de l'autre de la poignée principale provoque quant à elles, l'alimentation dans un sens ou dans l'autre du vérin de godet, provoquant la modification de l'orientation de ce dernier par rapport aux bras, pour assurer soit le chargement soit le déversement du godet.Thus, in the case where the manipulator is used for controlling the work equipment of a loader, it generally comprises a track which is actuated when the handle (2) is pivoted forward. This channel ensures the descent of the arms by supplying the arm cylinder. Conversely, the track actuated by the rearward tilting of the main handle causes the lowering of the arm, by the opposite supply of the arm cylinder. The tracks actuated by a lateral movement on the side or the other of the main handle causes the feeding in one direction or the other of the bucket cylinder, causing the modification of the orientation of the latter by relative to the arms, to ensure either loading or dumping of the bucket.
Conformément à l'invention, le manipulateur (1) est équipé de moyens de couplage assurant le déplacement de l'organe mobile (10) du module de commande additionnel (11), à partir de mouvements exercés au niveau de la poignée principale (2).According to the invention, the manipulator (1) is equipped with coupling means ensuring the movement of the movable member (10) of the additional control module (11), from movements exerted on the main handle (2 ).
Plus précisément, et comme illustré aux figures 3 à 6, ces moyens de couplage comprennent une fourche latérale (23), présentant une forme générale incurvée. Cette fourche (23) est reliée par son extrémité supérieure (24) à un palierMore specifically, and as illustrated in FIGS. 3 to 6, these coupling means comprise a lateral fork (23), having a generally curved shape. This fork (23) is connected by its upper end (24) to a bearing
(25) monté autour de l'axe (11) de la poignée principale (2). Cette fourche (23) se prolonge vers le bas en dessous du niveau du doigt (10) du module de commande additionnel (6). Cette fourche (23) possède une lumière allongée (26) qui s'étend longitudinalement sur la partie basse de la fourche (23), et à l'intérieur de laquelle se loge le doigt de commande (10). Pour des facilités de montage, cette lumière(25) mounted around the axis (11) of the main handle (2). This fork (23) extends down below the level of the finger (10) of the additional control module (6). This fork (23) has an elongated opening (26) which extends longitudinally over the lower part of the fork (23), and inside which the control finger (10) is housed. For ease of assembly, this light
(26) peut être débouchante sur la partie basse de la fourche (23), pour permettre la mise en place aisée par dessus le module de commande additionnel (6).(26) can be open onto the lower part of the fork (23), to allow easy installation over the additional control module (6).
Néanmoins, l'invention n'est pas limitée à cette forme débouchante de lumière, mais couvre également une lumière fermée qui recevrait le doigt de commande par un montage ultérieur du module de commande additionnel.However, the invention is not limited to this emerging form of light, but also covers a closed light which would receive the control finger by a subsequent mounting of the additional control module.
Le palier (25) sur lequel est monté l'extrémité haute (24) de la fourche (23) autorise donc un mouvement de rotation de cette dernière autour de l'axe (11) de la poignée principale (2).The bearing (25) on which is mounted the upper end (24) of the fork (23) therefore allows a rotational movement of the latter around the axis (11) of the main handle (2).
Ce mouvement peut être engendré par l'action du conducteur sur un double levier additionnel (30). Ce double levier additionnel (30) présente son extrémité basse (31) reliée à la partie avant du palier (25). Ce levier (30) se prolonge vers le haut par une partie commune (32) sensiblement verticale. Dans sa partie haute, ce double levier (30) possède une portion sensiblement horizontale (34), qui épouse une forme incurvée s'enroulant autour de la poignée principale (2).This movement can be generated by the action of the driver on an additional double lever (30). This additional double lever (30) has its lower end (31) connected to the front part of the bearing (25). This lever (30) is extended upwards by a substantially vertical common part (32). In its upper part, this double lever (30) has a substantially horizontal portion (34), which matches a curved shape wrapping around the main handle (2).
Chacune des extrémités de cette portion supérieure (34) forme une zone d'appui sur laquelle peut agir le conducteur. Plus précisément, l'extrémité (35) de la fraction (36) la plus longue de la portion supérieure (34) possède une face destinée à recevoir les appuis du pouce du conducteur, pour un manipulateur configuré pour une main droite comme illustré à la figure 6. L'extrémité (37) de la fraction opposée (38) de la portion supérieure du levier additionnel possède une face destinée à recevoir les appuis de l'index du majeur, voire de l'annulaire du conducteur. Il est à noter que l'appui par le pouce ou l'index sur le levier additionnel peut s'effectuer sans que le conducteur n'ait à lâcher les autres doigts qui serrent la poignée principale (2), et avec donc un contrôle optimal de la conduite de l'engin.Each end of this upper portion (34) forms a support zone on which the conductor can act. More specifically, the end (35) of the longest fraction (36) of the upper portion (34) has a face intended to receive the support of the driver's thumb, for a manipulator configured for a right hand as illustrated in the Figure 6. The end (37) of the opposite fraction (38) of the upper portion of the additional lever has a face intended to receive the support of the index finger of the middle finger, or even of the ring finger of the driver. It should be noted that pressing the thumb or forefinger on the additional lever can be carried out without the driver having to let go of the other fingers which tighten the main handle (2), and therefore with optimal control. driving the craft.
Conformément à l'invention, le fonctionnement d'un tel manipulateur est le suivant.According to the invention, the operation of such a manipulator is as follows.
Ainsi, lorsque le conducteur exerce une poussée ou une traction sur la poignée principale (2), dans un sens longitudinal, comme illustré à la figure 7, il provoque le pivotement de la poignée (2) autour de la rotule (12). Ce mouvement correspond à une rotation autour de l'axe horizontal (40) illustré à la figure 6. On notera que cet axe passe exactement par la portion terminale du doigt de commande (10) du module additionnel (6). De la sorte, et comme illustré à la figure 7, la fourche caractéristique (23) se déplace par pivotement puisqu'elle est entraînée par la poignée principale (2). Compte tenu de la colinéarité de l'axe de rotation (40) de la poignée, et de l'axe du doigt (10) du module de commande additionnel, la fourche (23) pivote donc autour du doigt (10) sans provoquer aucun mouvement de ce dernier.Thus, when the driver pushes or pulls the main handle (2), in a longitudinal direction, as illustrated in FIG. 7, it causes the handle (2) to pivot around the ball joint (12). This movement corresponds to a rotation around the horizontal axis (40) illustrated in FIG. 6. It will be noted that this axis passes exactly through the terminal portion of the control finger (10) of the additional module (6). In this way, and as illustrated in FIG. 7, the characteristic fork (23) moves by pivoting since it is driven by the main handle (2). Given the collinearity of the axis of rotation (40) of the handle, and the axis of the finger (10) of the additional control module, the fork (23) therefore pivots around the finger (10) without causing any movement of the latter.
Autrement dit, le déplacement de la poignée principale (2) dans la direction longitudinale ne provoque aucune modification de la position du doigt (10) du module de commande additionnel (6) et donc aucune commande inopinée de l'organe contrôlé par ce dernier.In other words, the displacement of the main handle (2) in the longitudinal direction does not cause any modification of the position of the finger (10) of the additional control module (6) and therefore no unexpected control of the member controlled by the latter.
Lorsque le conducteur exerce une poussée transversale sur la poignée comme illustré à la figure 8, il provoque une rotation de la poignée principale autour de l'axe horizontal (42) illustré à la figure 5. Compte tenu du fait que cet axe (42) est perpendiculaire au plan longitudinal médian de la lumière (25) de la fourche (23), un tel déplacement de la poignée provoque le déplacement du doigt (4) de commande (10) du module additionnel (6) à l'intérieur de la lumière (25) de la fourche sans engendrer de déplacement du doigt. Autrement dit, les manœuvres de déversement ou de chargement du godet, dans le cas où le manipulateur est utilisé sur une chargeuse, ne provoquent pas de commande inopinée de l'organe contrôlé par le module de commande additionnel (6), qui peut par exemple être une commande du godet de type quatre en un.When the driver exerts a transverse thrust on the handle as illustrated in FIG. 8, it causes a rotation of the main handle around the horizontal axis (42) illustrated in FIG. 5. Taking into account that this axis (42) is perpendicular to the median longitudinal plane of the light (25) of the fork (23), such displacement of the handle causes displacement of the control finger (4) (10) of the additional module (6) inside the light (25) of the fork without causing the finger to move. In other words, the dumping or bucket loading maneuvers, in the case where the manipulator is used on a loader, do not cause unexpected control of the member controlled by the additional control module (6), which can for example be a four in one type bucket order.
Lorsque le conducteur souhaite agir sur l'organe contrôlé par le module de commande additionnel (6), il agit alors sur le levier additionnel caractéristiqueWhen the driver wishes to act on the component controlled by the additional control module (6), he then acts on the characteristic additional lever
(30), comme illustré aux figures 9, 10, et 11. Ainsi, dans la position de repos telle qu'illustrée à la figure 9, le levier de commande additionnel (30) est dans sa position de repos, située à l'avant vers la poignée principale (2). Dans ce cas, la fourche (23) est également dans sa position de repos, correspondant à la position neutre du doigt de commande (10) du module de commande additionnel (6).(30), as illustrated in FIGS. 9, 10, and 11. Thus, in the rest position as illustrated in FIG. 9, the additional control lever (30) is in its rest position, located at forward towards the main handle (2). In this case fork (23) is also in its rest position, corresponding to the neutral position of the control finger (10) of the additional control module (6).
Lorsque le conducteur exerce une poussée en appuyant avec son pouce sur l'extrémité (35) du levier additionnel (30), il provoque la rotation de ce dernier autour de l'axe principal (11) de la poignée (2), et donc le déplacement de la fourche caractéristique (23). Le doigt de commande (10) vient au contact de la paroi avant (26) de la lumière allongée (25), et est donc entraînée vers l'arrière, comme illustré à la figure 10. Le module de commande additionnel (6) génère alors un signal commandant l'organe approprié.When the driver exerts a push by pressing with his thumb on the end (35) of the additional lever (30), it causes the rotation of the latter around the main axis (11) of the handle (2), and therefore the displacement of the characteristic fork (23). The control finger (10) comes into contact with the front wall (26) of the elongated light (25), and is therefore driven towards the rear, as illustrated in FIG. 10. The additional control module (6) generates then a signal commanding the appropriate organ.
Dans le cas d'une chargeuse équipée d'une commande "quatre en un", il peut s'agir de l'ouverture des deux parties constituant le godet reconfigurable.In the case of a loader equipped with a "four in one" control, it may be the opening of the two parts constituting the reconfigurable bucket.
A l'inverse, lorsque le conducteur exerce une pression avec son index ou son majeur sur l'extrémité (37) du levier additionnel, ce dernier se déplace dans le sens illustré à la figure 11. Dans ce cas, la fourche (23) se déplace vers l'avant, entraînant dans son déplacement le doigt de commande (10) du module additionnel qui est repoussé par la paroi arrière (27) de la lumière caractéristique (25). De la sorte, le module de commande additionnel (6) assure la commande de l'organe additionnel selon le mode opposé à celui illustré à la figure 10.Conversely, when the driver exerts pressure with his index or middle finger on the end (37) of the additional lever, the latter moves in the direction illustrated in FIG. 11. In this case, the fork (23) moves forward, driving in its movement the control finger (10) of the additional module which is pushed back by the rear wall (27) of the characteristic light (25). In this way, the additional control module (6) controls the additional member in the mode opposite to that illustrated in FIG. 10.
Bien entendu, l'invention n'est pas limitée à la seule forme de réalisation illustrée par les figures, mais couvre également d'autres variantes, dès lors qu'elles respectent le principe de l'invention, qui consiste à actionner le module de commande additionnel par un mouvement accessible sans lâcher la poignée principale.Of course, the invention is not limited to the single embodiment illustrated by the figures, but also covers other variants, as long as they respect the principle of the invention, which consists in actuating the module additional control by an accessible movement without releasing the main handle.
Ainsi, dans une variante non représentée, la fourche peut être solidaire de l'axe de la poignée principale, et son déplacement est alors provoqué par un pivotement de la poignée sur elle-même. Il ressort de ce qui précède que le manipulateur conforme à l'invention présente de multiples avantages et notamment celui de permettre la commande progressive d'un organe supplémentaire en addition aux commandes accessibles par la poignée principale. Cette commande est assurée de façon particulièrement ergonomique, puisqu'elle est directement accessible au conducteur sans qu'il n'ait besoin de lâcher la poignée principale du manipulateur.Thus, in a variant not shown, the fork can be secured to the axis of the main handle, and its movement is then caused by a pivoting of the handle on itself. It appears from the above that the manipulator according to the invention has multiple advantages and in particular that of allowing the progressive control of an additional member in addition to the commands accessible by the main handle. This control is provided in a particularly ergonomic way, since it is directly accessible to the driver without the need to let go of the main handle of the manipulator.
Applications industriellesIndustrial applications
Bien entendu, l'invention n'est pas limitée à l'application particulière décrite ci-avant concernant la commande dite "quatre en un" d'une fonction chargeuse d'engin de travaux publics.Of course, the invention is not limited to the particular application described above concerning the so-called "four in one" control of a loader function of public works machine.
Le manipulateur conforme à l'invention peut notamment être utilisé pour commander l'équipement d'une pelleteuse, la commande additionnelle étant alors utilisée pour la commande d'un outil supplémentaire, et notamment une tarière, une pince foreuse ou analogue.The manipulator according to the invention can in particular be used to control the equipment of a backhoe, the additional control then being used for the control of an additional tool, and in particular an auger, a drill clamp or the like.
L'invention trouve une application avantageuse pour la commande de circuit hydraulique, le manipulateur délivrant alors des pressions agissant sur un distributeur hydraulique. Néanmoins, le principe de couplage peut également trouver avantage dans d'autres modes de commande et notamment des commandes électriques proportionnelles par exemple. The invention finds an advantageous application for controlling the hydraulic circuit, the manipulator then delivering pressures acting on a hydraulic distributor. However, the coupling principle can also find advantage in other control modes and in particular proportional electrical controls for example.

Claims

REVENDICATIONS
1/ Manipulateur de commande (1) comportant :1 / Control manipulator (1) comprising:
• une poignée principale (2) apte à être déplacée par pivotement autour d'un point de pivotement (12) de manière à assurer la commande progressive d'au moins un équipement en fonction du pivotement de ladite poignée principale (2) ;• a main handle (2) able to be moved by pivoting around a pivot point (12) so as to ensure the progressive control of at least one item of equipment as a function of the pivoting of said main handle (2);
• un module de commande additionnel (6) disposé latéralement par rapport à la poignée principale (2), et comportant un organe mobile (10) dont le déplacement permet d'assurer la commande progressive d'un équipement additionnel, caractérisé en ce qu'il comporte une fourche latérale (25) apte à pivoter autour de l'axe (11) de la poignée principale (2), ladite fourche comportant une lumière• an additional control module (6) disposed laterally with respect to the main handle (2), and comprising a movable member (10) whose displacement allows progressive control of additional equipment, characterized in that it comprises a lateral fork (25) able to pivot around the axis (11) of the main handle (2), said fork comprising a light
(25) à l'intérieur de laquelle est logé l'organe mobile (10) du module de commande additionnel (6), ladite fourche étant apte à entraîner le déplacement de l'organe mobile (10) du module de commande additionnel (6) uniquement lorsque ladite fourche pivote autour de l'axe (11) de la poignée principale (2).(25) inside which is housed the movable member (10) of the additional control module (6), said fork being capable of causing the displacement of the movable member (10) of the additional control module (6 ) only when said fork pivots about the axis (11) of the main handle (2).
2/ Manipulateur selon la revendication 1, caractérisé en ce que la poignée (2) principale possède deux directions de déplacement permettant la commande de deux équipements.2 / Manipulator according to claim 1, characterized in that the main handle (2) has two directions of movement allowing the control of two pieces of equipment.
3/ Manipulateur selon la revendication 2, caractérisé en ce que la poignée (2) principale est apte à être déplacée dans les deux sens pour chaque direction de déplacement, de manière à commander les deux équipements selon deux modes opposés.3 / Manipulator according to claim 2, characterized in that the main handle (2) is adapted to be moved in both directions for each direction of movement, so as to control the two devices in two opposite modes.
4/ Manipulateur selon la revendication 1, caractérisé en ce que l'organe mobile (10) se trouve au même niveau horizontal que le point de pivotement (12) de la poignée principale (2). 5/ Manipulateur selon la revendication 4, caractérisé en ce que la fourche est mécaniquement solidaire de la poignée principale, et pivotée lors du pivotement de la poignée principale autour de son axe.4 / Manipulator according to claim 1, characterized in that the movable member (10) is located at the same horizontal level as the pivot point (12) of the main handle (2). 5 / Manipulator according to claim 4, characterized in that the fork is mechanically integral with the main handle, and pivoted during the pivoting of the main handle around its axis.
6/ Manipulateur selon la revendication 4, caractérisé en ce que la fourche (23) est montée sur la poignée principale (2) avec une capacité de rotation autour de l'axe (11) de la poignée principale (2), et en ce que la fourche est associée à au moins un levier (30) permettant sa mise en rotation, ledit levier (30) étant accessible au conducteur sans lâcher la poignée principale (2).6 / Manipulator according to claim 4, characterized in that the fork (23) is mounted on the main handle (2) with a capacity of rotation about the axis (11) of the main handle (2), and in that that the fork is associated with at least one lever (30) allowing it to rotate, said lever (30) being accessible to the driver without releasing the main handle (2).
Il Manipulateur selon la revendication 6, caractérisé en ce qu'il comporte deux leviers additionnels (36, 38) permettant chacun la mise en rotation de la fourche dans un sens. Manipulator according to claim 6, characterized in that it comprises two additional levers (36, 38) each allowing the rotation of the fork in one direction.
EP02753729A 2001-03-22 2002-03-20 Control handle Withdrawn EP1384124A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0103859 2001-03-22
FR0103859A FR2822559B1 (en) 2001-03-22 2001-03-22 CONTROL MANIPULATOR
PCT/FR2002/000975 WO2002077744A1 (en) 2001-03-22 2002-03-20 Control handle

Publications (1)

Publication Number Publication Date
EP1384124A1 true EP1384124A1 (en) 2004-01-28

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ID=8861417

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02753729A Withdrawn EP1384124A1 (en) 2001-03-22 2002-03-20 Control handle

Country Status (3)

Country Link
EP (1) EP1384124A1 (en)
FR (1) FR2822559B1 (en)
WO (1) WO2002077744A1 (en)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5068499A (en) * 1989-04-14 1991-11-26 Alps Electric Co., Ltd. Control lever type input device
JP3206937B2 (en) * 1991-07-31 2001-09-10 株式会社ニデック Joystick mechanism for ophthalmic equipment
US5277258A (en) * 1992-05-27 1994-01-11 Dell Jered O Single lever bulldozer blade control apparatus

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO02077744A1 *

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WO2002077744A1 (en) 2002-10-03
FR2822559B1 (en) 2004-02-27

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