EP1662053A2 - Construction machine with a Joystick control lever. - Google Patents

Construction machine with a Joystick control lever. Download PDF

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Publication number
EP1662053A2
EP1662053A2 EP05022160A EP05022160A EP1662053A2 EP 1662053 A2 EP1662053 A2 EP 1662053A2 EP 05022160 A EP05022160 A EP 05022160A EP 05022160 A EP05022160 A EP 05022160A EP 1662053 A2 EP1662053 A2 EP 1662053A2
Authority
EP
European Patent Office
Prior art keywords
actuating element
construction machine
force
machine according
torque meter
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Withdrawn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
EP05022160A
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German (de)
French (fr)
Other versions
EP1662053A3 (en
Inventor
Tobias Glatz
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.)
Liebherr Hydraulikbagger GmbH
Original Assignee
Liebherr Hydraulikbagger 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
Application filed by Liebherr Hydraulikbagger GmbH filed Critical Liebherr Hydraulikbagger GmbH
Publication of EP1662053A2 publication Critical patent/EP1662053A2/en
Publication of EP1662053A3 publication Critical patent/EP1662053A3/en
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle

Definitions

  • the present invention relates to a construction machine such as excavator, caterpillar, wheel loader or the like, with at least one working tool which can be actuated by means of an electronic control, wherein the control has a preferably multi-axially movable control handle, in particular stick, for generating control commands for the working tool, wherein on the control handle at least one actuating element is arranged, whose operation is detected by means of a sensor device and converted into a control signal.
  • the movement of the knurling wheel, more precisely a magnet attached to it, is detected by means of a Hall sensor arranged in the joystick and converted into corresponding control signals.
  • a disadvantage of this known control arrangement is the insufficient sensitivity of the operation.
  • the movement of the actuating switch and their detection requires a certain amount of space, which prevents a small-sized design of the joystick in the arrangement of multiple actuation switch.
  • the present invention is therefore an object of the invention to provide an improved construction machine of the type mentioned, which avoids the disadvantages of the prior art and the latter further advantageously.
  • a sensitive to use and small-sized joystick control should be achieved.
  • a force exerted on the actuating element provided on the control handle or a moment exerted on it is detected as an actuating parameter.
  • a force and / or torque meter is provided, which is connected to the actuating element and detected by an operator on the actuating element forces and / or moments detected.
  • the force and / or torque meter can basically be designed differently.
  • it consists of at least one measuring cell, which converts a force introduced into it into a corresponding electrical signal.
  • piezo elements could be used here.
  • the invention provides a strain gauge measuring cell, that is to say a measuring cell which operates with strain gauges and which is provided for receiving a force exerted on the actuating element and / or a moment induced thereby.
  • the actuating element can be arranged completely immovable and be connected substantially rigidly directly to the measuring cell.
  • the force exerted on the actuating element is introduced directly into the sensor.
  • This arrangement is characterized by a minimal space and a minimum number of parts. It can be completely free of mechanically moving parts.
  • the actuating element may also have a certain mobility and be connected via a spring to the force or moment measuring transducer.
  • the force or the resulting moment is not initiated directly, but indirectly via the spring in the measuring cell.
  • the slight movement of the actuating element during actuation allows a better dosage and, in ergonomic terms, is perceived as more pleasant than a purely static application of force.
  • the actuating element can be arranged laterally or transversely displaceable, so that the respective finger can rest on an adjacent surface and can be pushed back and forth for actuation on the surface, which is perceived as particularly pleasant.
  • the measuring cell detects the force introduced into it or the corresponding moment multiaxial.
  • different control signals can thereby be generated, whereby a multi-dimensional control of the respective working tool by only one actuating element is possible.
  • the corresponding attachment can be moved with the same actuator back and forth and to the right and left.
  • the actuating element is slightly embedded over a wall of the joystick projecting into this, so that a tangential, i. in-plane actuation of the actuator is possible, i. the actuator can be pressed laterally back and forth and to the left and right.
  • the position of the actuator on the control handle may vary. According to an advantageous embodiment of the invention, the actuator sits on the knob of Steüergriffes suitable for the thumb tip of the control handle embracing hand. However, it is also possible to arrange the actuator for another fingertip fitting to the control handle.
  • the measuring cell associated with the actuating element is arranged in the interior of the control handle, so that it is protected on the one hand and on the other hand does not bother itself.
  • actuating elements designed in the stated manner.
  • the electrical detection of the mechanical variable force or torque allows a particularly small-sized arrangement, so that even with multiple actuators still an ergonomic design of the control handle is possible.
  • the functions assignment of the actuating element can be varied, so that a preferred function can be placed depending on the attachment to the actuator on the knob of the control handle.
  • the joystick 1 shown in Figure 1 is arranged at a suitable location in the grip region of the machine operator of the respective construction machine. As indicated by the arrows 2, the joystick or joystick 1 is multiaxially movable, in particular forward and backward and can be tilted to the right and left, whereby various functions of the construction machine or an attached thereto attachment can be controlled in a conventional manner.
  • an actuating element 4 is provided in the form of a knob on the knob or head section 3, which sits in a corresponding recess in the wall of the joystick 1 and easily protrudes over this, so that the actuator of a lying on the joystick 1 finger can be operated.
  • the actuating element 4 is arranged in such a way that the tip of the thumb of the hand gripping the control stick 1 comes to lie on the actuating element 4.
  • the actuator 4 is intended to be laterally, i. be pressed in the plane of the actuator 4 surrounding the joystick surface or tangentially thereto.
  • the actuating element 4 is connected to a measuring cell 6 arranged in the interior of the control stick 1, which has an actuating force respectively acting on the actuating element 4 and a resulting actuating torque detected.
  • the measuring cell 6 is designed as a strain gauge measuring cell.
  • a plurality of transducer elements 8 are arranged on a measuring cell section 7 which is essentially cross-shaped by means of corresponding cutouts and which detect multiaxially a deformation of the measuring cell section 7 induced by the actuating forces and convert it into a corresponding measuring signal.
  • the actuating element 4 is connected directly to the measuring cell section 7 of the measuring cell 6.
  • the spring not shown in the drawings allows a certain movement of the actuating element 4 on the knob of the joystick 1, which is perceived as particularly pleasant and allows an even more sensitive dosage.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Position Input By Displaying (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The construction machine with joystick control has work tool (9) which is operated by means of an electronic controller (10) whereby the force and moment measuring device is provided as a sensor device which is connected with the actuating element (4) and detects the actuating forces and moments acting on the actuating element.

Description

Die vorliegende Erfindung betrifft eine Baumaschine wie Bagger, Raupe, Radlader oder dergleichen, mit zumindest einem Arbeitswerkzeug, das mittels einer elektronischen Steuerung betätigbar ist, wobei die Steuerung einen vorzugsweise mehrachsig bewegbaren Steuergriff, insbesondere -knüppel, zur Erzeugung von Steuerbefehlen für das Arbeitswerkzeug aufweist, wobei an dem Steuergriff zumindest ein Betätigungselement angeordnet ist, dessen Betätigung mittels einer Sensoreinrichtung erfasst und in ein Steuersignal umgesetzt wird.The present invention relates to a construction machine such as excavator, caterpillar, wheel loader or the like, with at least one working tool which can be actuated by means of an electronic control, wherein the control has a preferably multi-axially movable control handle, in particular stick, for generating control commands for the working tool, wherein on the control handle at least one actuating element is arranged, whose operation is detected by means of a sensor device and converted into a control signal.

Bei Erdbewegungsmaschinen wie Baggern, Raupen oder Radiadern erleichtert es die Bedienung, die oftmals mehrachsig bewegbaren Arbeitswerkzeuge mittels eines ebenso mehrachsig bewegbaren Joysticks zu steuern. Eine Bewegung des Joysticks in verschiedene Richtungen bewirkt verschiedene Bewegungen des Arbeitswerkzeugs und/oder der Baumaschine selbst. Oftmals reicht die Beweglichkeit des Joysticks selbst jedoch nicht aus, um der Steuerung die Vielzahl der notwendigen Steuerbefehle zu geben. Die DE 20 2004 004 953 U1 schlägt hierzu vor, an dem Joystick einen zusätzlichen Betätigungsschalter in Form eines drehbaren Rändelrades vorzusehen, der von einer Fingerkuppe einer den Joystick umgreifenden Hand betätigt werden kann. Die Bewegung des Rändelrades, genauer gesagt eines daran befestigten Magneten, wird mittels eines in dem Joystick angeordneten Hallsensors erfasst und in entsprechende Steuerungssignale umgesetzt. Nachteilig an dieser bekannten Steuerungsanordnung ist jedoch die nicht ausreichende Feinfühligkeit der Betätigung. Zudem erfordert die Bewegung des Betätigungsschalters sowie deren Erfassung einen gewissen Platz, der eine kleinbauende Gestaltung des Joysticks bei Anordnung mehrerer Betätigungsschalter verhindert.In earthmoving machines such as excavators, caterpillars or radiators, it makes operation easier to control the often multi-axially movable work tools by means of a multiaxial movable joystick. A movement of the joystick in different directions causes various movements of the working tool and / or the construction machine itself. Often, however, the mobility of the joystick itself is not sufficient to give the controller the variety of necessary control commands. DE 20 2004 004 953 U1 proposes for this purpose to provide on the joystick an additional actuating switch in the form of a rotatable knurling wheel, which engages from a fingertip of a joystick encompassing the joystick Hand can be operated. The movement of the knurling wheel, more precisely a magnet attached to it, is detected by means of a Hall sensor arranged in the joystick and converted into corresponding control signals. A disadvantage of this known control arrangement, however, is the insufficient sensitivity of the operation. In addition, the movement of the actuating switch and their detection requires a certain amount of space, which prevents a small-sized design of the joystick in the arrangement of multiple actuation switch.

Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, eine verbesserte Baumaschine der genannten Art zu schaffen, die Nachteile des Standes der Technik vermeidet und letzteren in vorteilhafter Weise weiterbildet. Vorzugsweise soll eine feinfühlig zu bedienende und kleinbauende Joystick-Steuerung erreicht werden.The present invention is therefore an object of the invention to provide an improved construction machine of the type mentioned, which avoids the disadvantages of the prior art and the latter further advantageously. Preferably, a sensitive to use and small-sized joystick control should be achieved.

Diese Aufgabe wird erfindungsgemäß durch eine Baumaschine gemäß Anspruch 1 gelöst. Bevorzugte Ausgestaltungen der Erfindung sind Gegenstand der abhängigen Ansprüche.This object is achieved by a construction machine according to claim 1. Preferred embodiments of the invention are the subject of the dependent claims.

Erfindungsgemäß wird also als Betätigungsparameter eine auf das an dem Steuergriff vorgesehene Betätigungselement ausgeübte Kraft bzw. ein darauf ausgeübtes Moment erfasst. Als Sensoreinrichtung ist ein Kraft- und/oder Momentenmesser vorgesehen, der mit dem Betätigungselement verbunden ist und von einem Bediener auf das Betätigungselement ausgeübte Kräfte und/oder Momente erfasst. Durch ein elektrisches Messen der mechanischen Größe Kraft bzw. Moment kann eine sehr kleinbauende Anordnung erreicht werden, da keine größeren Wegstrecken des Betätigungselements vonnöten sind. Auf eine Bewegungs- oder Wegstreckenerfassung kann verzichtet sein.According to the invention, therefore, a force exerted on the actuating element provided on the control handle or a moment exerted on it is detected as an actuating parameter. As a sensor device, a force and / or torque meter is provided, which is connected to the actuating element and detected by an operator on the actuating element forces and / or moments detected. By an electrical measurement of the mechanical magnitude of force or moment a very small-sized arrangement can be achieved, since no longer distances of the actuating element are required. On a movement or distance detection may be omitted.

Der Kraft- und/oder Momentenmesser kann grundsätzlich verschieden ausgebildet sein. Vorzugsweise besteht er aus zumindest einer Messzelle, die eine in sie eingeleitete Kraft in ein entsprechendes elektrisches Signal umwandelt. Grundsätzlich könnten hier Piezoelemente Verwendung finden. Nach einer bevorzugten Ausführung der Erfindung ist jedoch eine DMS-Messzelle, also eine mit Dehnungsmessstreifen arbeitende Messzelle vorgesehen, die zur Aufnahme einer auf das Betätigungselement ausgeübten Kraft und/oder eines davon induzierten Moments vorgesehen ist.The force and / or torque meter can basically be designed differently. Preferably, it consists of at least one measuring cell, which converts a force introduced into it into a corresponding electrical signal. In principle, piezo elements could be used here. According to a preferred embodiment However, the invention provides a strain gauge measuring cell, that is to say a measuring cell which operates with strain gauges and which is provided for receiving a force exerted on the actuating element and / or a moment induced thereby.

Nach einer ersten Ausführung kann das Betätigungselement gänzlich unbeweglich angeordnet und im wesentlichen starr unmittelbar mit der Messzelle verbunden sein. Die auf das Betätigungselement ausgeübte Kraft wird unmittelbar in den Messaufnehmer eingeleitet. Diese Anordnung zeichnet sich durch einen minimalen Bauraum und eine minimale Teilezahl aus. Sie kann gänzlich frei von mechanisch beweglichen Teilen ausgebildet sein.According to a first embodiment, the actuating element can be arranged completely immovable and be connected substantially rigidly directly to the measuring cell. The force exerted on the actuating element is introduced directly into the sensor. This arrangement is characterized by a minimal space and a minimum number of parts. It can be completely free of mechanically moving parts.

Nach einer alternativen Weiterbildung der Erfindung kann das Betätigungselement auch eine gewisse Beweglichkeit besitzen und über eine Feder mit dem Kraft- bzw. Momentenmessaufnehmer verbunden sein. In diesem Falle wird die Kraft bzw. das daraus resultierende Moment nicht unmittelbar, sondern mittelbar über die Feder in die Messzelle eingeleitet. Die bei der Betätigung erfolgende leichte Bewegung des Betätigungselementes erlaubt eine bessere Dosierung und wird in ergonomischer Hinsicht als angenehmer empfunden als eine rein statische Krafteinleitung. Insbesondere kann das Betätigungselement seitlich bzw. quer verschieblich angeordnet sein, so dass der jeweilige Finger auf einer angrenzenden Fläche aufliegen kann und zur Betätigung auf der Fläche hin- und hergeschoben werden kann, was als besonders angenehm empfunden wird.According to an alternative development of the invention, the actuating element may also have a certain mobility and be connected via a spring to the force or moment measuring transducer. In this case, the force or the resulting moment is not initiated directly, but indirectly via the spring in the measuring cell. The slight movement of the actuating element during actuation allows a better dosage and, in ergonomic terms, is perceived as more pleasant than a purely static application of force. In particular, the actuating element can be arranged laterally or transversely displaceable, so that the respective finger can rest on an adjacent surface and can be pushed back and forth for actuation on the surface, which is perceived as particularly pleasant.

Zweckmäßigerweise erfasst die Messzelle die in sie eingeleitete Kraft bzw. das entsprechende Moment mehrachsig. In Abhängigkeit der Richtung und/oder der Größe der Betätigungskraft können hierdurch unterschiedliche Steuersignale erzeugt werden, wodurch eine mehrdimensionale Steuerung des jeweiligen Arbeitswerkzeugs durch nur ein Betätigungselement möglich ist. Zum Beispiel kann das entsprechende Anbaugerät mit demselben Betätigungselement vor und zurück sowie nach rechts und links bewegt werden.Conveniently, the measuring cell detects the force introduced into it or the corresponding moment multiaxial. Depending on the direction and / or the size of the actuating force, different control signals can thereby be generated, whereby a multi-dimensional control of the respective working tool by only one actuating element is possible. For example, the corresponding attachment can be moved with the same actuator back and forth and to the right and left.

In Weiterbildung der Erfindung ist das Betätigungselement leicht über eine Wandung des Joysticks überstehend in diese eingebettet, so dass eine tangentiale, d.h. in der Fläche erfolgende Betätigung des Betätigungselements möglich ist, d.h. das Betätigungselement seitlich vor und zurück sowie nach links und rechts gedrückt werden kann.In a further development of the invention, the actuating element is slightly embedded over a wall of the joystick projecting into this, so that a tangential, i. in-plane actuation of the actuator is possible, i. the actuator can be pressed laterally back and forth and to the left and right.

Die Position des Betätigungselementes an dem Steuergriff kann variieren. Nach einer vorteilhaften Ausführung der Erfindung sitzt das Betätigungselement am Knauf des Steüergriffes passend für die Daumenkuppe einer den Steuergriff umgreifenden Hand. Es ist jedoch ebenso möglich, das Betätigungselement für eine andere Fingerkuppe passend an dem Steuergriff anzuordnen.The position of the actuator on the control handle may vary. According to an advantageous embodiment of the invention, the actuator sits on the knob of Steüergriffes suitable for the thumb tip of the control handle embracing hand. However, it is also possible to arrange the actuator for another fingertip fitting to the control handle.

Zweckmäßigerweise ist die dem Betätigungselement zugeordnete Messzelle im Inneren des Steuergriffs angeordnet, so dass sie einerseits geschützt ist und andererseits selbst nicht stört.Conveniently, the measuring cell associated with the actuating element is arranged in the interior of the control handle, so that it is protected on the one hand and on the other hand does not bother itself.

Es können selbstverständlich auch mehrere in der genannten Art ausgebildete Betätigungselemente vorgesehen sein. Die elektrische Erfassung der mechanischen Größe Kraft bzw. Moment erlaubt eine besonders kleinbauende Anordnung, so dass auch bei mehreren Betätigungselementen immer noch eine ergonomisch günstige Ausbildung des Steuergriffs möglich ist. Alternativ oder zusätzlich kann z. B. mittels eines geeigneten Schalters die Funktionenbelegung des Betätigungselements variiert werden, so dass eine bevorzugt genutzte Funktion je nach Anbaugerät auf das Betätigungselement am Knauf des Steuergriffs gelegt werden kann.Of course, it is also possible to provide a plurality of actuating elements designed in the stated manner. The electrical detection of the mechanical variable force or torque allows a particularly small-sized arrangement, so that even with multiple actuators still an ergonomic design of the control handle is possible. Alternatively or additionally, for. B. by means of a suitable switch, the functions assignment of the actuating element can be varied, so that a preferred function can be placed depending on the attachment to the actuator on the knob of the control handle.

Die Erfindung wird nachfolgend anhand eines bevorzugten Ausführungsbeispiels und zugehöriger Zeichnungen näher erläutert. In den Zeichnungen zeigen:

Fig. 1:
eine perspektivische Ansicht eines mehrachsig bewegbaren Steuerknüppels zur Steuerung eines Anbaugeräts einer Baumaschine in schematischer Darstellung, wobei am Knauf des Steuerknüppels ein knopf- förmiges Betätigungselement zur Steuerung zusätzlicher Funktionen des Anbaugeräts und/oder der Baumaschine zu sehen ist,
Fig. 2:
eine Draufsicht auf das knopfförmige Betätigungselement und die damit verbundene Messzelle zur Erfassung einer Betätigung des Betätigungselementes, und
Fig. 3:
eine Draufsicht auf die Unterseite der Messzelle aus Fig. 2, die die Anordnung der Dehnungsmessstreifen der Messzelle zeigt.
The invention will be explained in more detail below with reference to a preferred embodiment and associated drawings. In the drawings show:
Fig. 1:
3 is a perspective view of a multiaxially movable joystick for controlling an attachment of a construction machine in a schematic representation, with the knob of the joystick a button shaped actuator for controlling additional functions of the attachment and / or the construction machine can be seen,
Fig. 2:
a plan view of the button-shaped actuator and the associated measuring cell for detecting an actuation of the actuating element, and
3:
a plan view of the underside of the measuring cell of Fig. 2, showing the arrangement of the strain gauges of the measuring cell.

Der in Figur 1 gezeigte Steuerknüppel 1 ist an geeigneter Stelle im Griffbereich des Maschinenführers der jeweiligen Baumaschine angeordnet. Wie die Pfeile 2 andeuten, ist der Joystick bzw. Steuerknüppel 1 mehrachsig bewegbar, insbesondere nach vorne und hinten sowie nach rechts und links kippbar, wodurch in an sich bekannter Weise verschiedene Funktionen der Baumaschine bzw. eines daran angebauten Anbaugerätes gesteuert werden können.The joystick 1 shown in Figure 1 is arranged at a suitable location in the grip region of the machine operator of the respective construction machine. As indicated by the arrows 2, the joystick or joystick 1 is multiaxially movable, in particular forward and backward and can be tilted to the right and left, whereby various functions of the construction machine or an attached thereto attachment can be controlled in a conventional manner.

In der gezeichneten Ausführung ist am Knauf bzw. Kopfabschnitt 3 ein Betätigungselement 4 in Form eines Knopfes vorgesehen, das in einer entsprechenden Ausnehmung in der Wandung des Steuerknüppels 1 sitzt und über diese leicht übersteht, so dass das Betätigungselement von einem auf dem Steuerknüppel 1 liegenden Finger betätigt werden kann. In der in Figur 1 gezeichneten Ausführung ist das Betätigungselement 4 derart angeordnet, dass die Daumenkuppe der den Steuerknüppel 1 greifenden Hand auf dem Betätigungselement 4 zu liegen kommt.In the illustrated embodiment, an actuating element 4 is provided in the form of a knob on the knob or head section 3, which sits in a corresponding recess in the wall of the joystick 1 and easily protrudes over this, so that the actuator of a lying on the joystick 1 finger can be operated. In the embodiment shown in FIG. 1, the actuating element 4 is arranged in such a way that the tip of the thumb of the hand gripping the control stick 1 comes to lie on the actuating element 4.

Wie die Pfeile 5 andeuten, ist das Betätigungselement 4 dazu vorgesehen, seitlich, d.h. in der Ebene der das Betätigungselement 4 umgebenden Steuerknüppeloberfläche bzw. tangential hierzu gedrückt zu werden.As the arrows 5 indicate, the actuator 4 is intended to be laterally, i. be pressed in the plane of the actuator 4 surrounding the joystick surface or tangentially thereto.

Wie die Figur 2 zeigt, ist das Betätigungselement 4 mit einer im Inneren des Steuerknüppels 1 angeordneten Messzelle 6 verbunden, die eine auf das Betätigungselement 4 jeweils wirkende Betätigungskraft bzw. ein daraus resultierendes Betätigungsmoment erfasst. Die Messzelle 6 ist als DMS-Messzelle ausgebildet. Wie Figur 3 zeigt, sind auf einem durch entsprechende Ausschnitte im wesentlichen kreuzförmigen Messzellenabschnitt 7 mehrere Aufnehmerelemente 8 angeordnet, die eine durch die Betätigungskräfte induzierte Verformung des Messzellenabschnitts 7 mehrachsig erfassen und in ein entsprechendes Messsignal umwandeln.As FIG. 2 shows, the actuating element 4 is connected to a measuring cell 6 arranged in the interior of the control stick 1, which has an actuating force respectively acting on the actuating element 4 and a resulting actuating torque detected. The measuring cell 6 is designed as a strain gauge measuring cell. As FIG. 3 shows, a plurality of transducer elements 8 are arranged on a measuring cell section 7 which is essentially cross-shaped by means of corresponding cutouts and which detect multiaxially a deformation of the measuring cell section 7 induced by the actuating forces and convert it into a corresponding measuring signal.

In der in Figur 2 gezeigten Ausführung ist das Betätigungselement 4 unmittelbar mit dem Messzellenabschnitt 7 der Messzelle 6 verbunden. Alternativ hierzu kann vorteilhafterweise vorgesehen sein, die Betätigungskräfte über eine Feder in den Messzellenabschnitt 7 einzuleiten. Die in den Zeichnungen nicht eigens dargestellte Feder erlaubt eine gewisse Bewegung des Betätigungselements 4 am Knauf des Steuerknüppels 1, was als besonders angenehm empfunden wird und eine noch feinfühligere Dosierung erlaubt.In the embodiment shown in FIG. 2, the actuating element 4 is connected directly to the measuring cell section 7 of the measuring cell 6. Alternatively, it may be advantageously provided to initiate the actuating forces via a spring in the measuring cell section 7. The spring not shown in the drawings allows a certain movement of the actuating element 4 on the knob of the joystick 1, which is perceived as particularly pleasant and allows an even more sensitive dosage.

Claims (9)

Baumaschine wie Bagger, Raupe, Radlader oder dergleichen, mit zumindest einem Arbeitswerkzeug (9), das mittels einer elektronischen Steuerung (10) betätigbar ist, wobei die Steuerung (10) einen vorzugsweise mehrachsig bewegbaren Steuergriff (1), insbesondere -knüppel, zur Erzeugung von Steuerbefehlen für das Arbeitswerkzeug (9) aufweist, wobei an dem Steuergriff (1) zumindest ein Betätigungselement (4) angeordnet ist, dessen Betätigung mittels einer Sensoreinrichtung (6) erfasst und in ein Steuersignal umgesetzt wird, dadurch gekennzeichnet, dass als Sensoreinrichtung ein Kraft- und/oder Momentenmesser (6) vorgesehen ist, der mit dem Betätigungselement (4) verbunden ist und auf das Betätigungselement ausgeübte Betätigungskräfte und/oder -momente erfasst.Construction machine such as excavator, caterpillar, wheel loader or the like, with at least one working tool (9) which is actuated by means of an electronic control (10), wherein the controller (10) is a preferably multiaxial movable control handle (1), in particular stick, for generating of control commands for the working tool (9), wherein on the control handle (1) at least one actuating element (4) is arranged, whose operation is detected by means of a sensor device (6) and converted into a control signal, characterized in that a sensor as a force - And / or torque meter (6) is provided which is connected to the actuating element (4) and detects actuation forces and / or moments exerted on the actuating element. Baumaschine nach dem vorhergehenden Anspruch, wobei der Kraft- und/oder Momentenmesser aus zumindest einer Messzelle, insbesondere Dehnungsmessstreifenmesszelle (6) besteht.Construction machine according to the preceding claim, wherein the force and / or torque meter consists of at least one measuring cell, in particular strain gauge measuring cell (6). Baumaschine nach einem der vorhergehenden Ansprüche, wobei das Betätigungselement (4) im wesentlichen unbeweglich angeordnet und starr mit dem Kraft- und/oder Momentenmesser (6) verbunden ist.Construction machine according to one of the preceding claims, wherein the actuating element (4) arranged substantially immovable and rigidly connected to the force and / or torque meter (6). Baumaschine nach Anspruch 1 oder 2, wobei das Betätigungselement (4) beweglich, insbesondere quer verschieblich, angeordnet und über eine Feder mit dem Kraft- und/oder Momentenmesser (6) verbunden ist.Construction machine according to claim 1 or 2, wherein the actuating element (4) movable, in particular transversely displaceable, arranged and connected via a spring with the force and / or torque meter (6). Baumaschine nach einem der vorhergehenden Ansprüche, wobei der Kraft- und/oder Momentenmesser (6) für eine mehrachsige Kraft- und/oder Momentenerfassung ausgebildet ist.Construction machine according to one of the preceding claims, wherein the force and / or torque meter (6) is designed for a multi-axis force and / or torque detection. Baumaschine nach einem der vorhergehenden Ansprüche, wobei der Kraft- und/oder Momentenmesser (6) derart ausgebildet ist, dass in Abhängigkeit der Richtung und/oder der Größe der auf das Betätigungselement ausgeübten Betätigungskräfte unterschiedliche Steuerungssignale erzeugt werden.Construction machine according to one of the preceding claims, wherein the force and / or torque meter (6) is designed such that different control signals are generated depending on the direction and / or the size of the actuating forces exerted on the actuating element. Baumaschine nach einem der vorhergehenden Ansprüche, wobei das Betätigungselement (4) und/oder die Sensoreinrichtung (6) derart ausgebildet sind, dass eine Betätigung im wesentlichen entlang einer Steuergriffoberfläche, die das Betätigungselement (4) umgibt, in entsprechende Steuersignale umgesetzt wird.Construction machine according to one of the preceding claims, wherein the actuating element (4) and / or the sensor device (6) are designed such that an actuation substantially along a control handle surface which surrounds the actuating element (4) is converted into corresponding control signals. Baumaschine nach einem der vorhergehenden Ansprüche, wobei das Betätigungselement (4) im Bereich eines Kopfabschnitts (3) des Steuergriffs (1) passend für den Daumen einer den Steuergriff (1) umgreifenden Hand angeordnet ist.Construction machine according to one of the preceding claims, wherein the actuating element (4) in the region of a head portion (3) of the control handle (1) is arranged to fit the thumb of the control handle (1) embracing hand. Baumaschine nach einem der vorhergehenden Ansprüche, wobei sowohl das Betätigungselement (4) als auch der Kraft- und/oder Momentenmesser (6) in den Steuergriff (1) integriert sind.Construction machine according to one of the preceding claims, wherein both the actuating element (4) and the force and / or torque meter (6) in the control handle (1) are integrated.
EP05022160A 2004-11-25 2005-10-11 Construction machine with a Joystick control lever. Withdrawn EP1662053A3 (en)

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DE202004018299U1 (en) 2006-04-06
US20070062789A1 (en) 2007-03-22
US7409879B2 (en) 2008-08-12

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