EP1662053A2 - Machine de construction avec une commande du type Joystick. - Google Patents

Machine de construction avec une commande du type Joystick. 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Withdrawn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
Other languages
German (de)
English (en)
Other versions
EP1662053A3 (fr
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/fr
Publication of EP1662053A3 publication Critical patent/EP1662053A3/fr
Withdrawn legal-status Critical Current

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Classifications

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

Definitions

  • the 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Control Devices (AREA)
  • Position Input By Displaying (AREA)
  • Operation Control Of Excavators (AREA)
EP05022160A 2004-11-25 2005-10-11 Machine de construction avec une commande du type Joystick. Withdrawn EP1662053A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202004018299U DE202004018299U1 (de) 2004-11-25 2004-11-25 Baumaschine mit Joystick-Steuerung

Publications (2)

Publication Number Publication Date
EP1662053A2 true EP1662053A2 (fr) 2006-05-31
EP1662053A3 EP1662053A3 (fr) 2007-05-30

Family

ID=35583375

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05022160A Withdrawn EP1662053A3 (fr) 2004-11-25 2005-10-11 Machine de construction avec une commande du type Joystick.

Country Status (3)

Country Link
US (1) US7409879B2 (fr)
EP (1) EP1662053A3 (fr)
DE (1) DE202004018299U1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5235005B2 (ja) * 2009-08-31 2013-07-10 株式会社クボタ グリップ
US8100218B2 (en) * 2009-10-19 2012-01-24 Cnh America Llc Electronic throttle on control handle
JP5874435B2 (ja) * 2012-02-22 2016-03-02 株式会社日本自動車部品総合研究所 車両用入力装置
CN103485384B (zh) * 2013-09-25 2015-09-16 于进策 挖掘机单手柄控制方法和系统
US9134187B1 (en) 2013-10-21 2015-09-15 Advanced Input Devices, Inc. Force sensing multi-axis gimbaled device
DE102013019937A1 (de) 2013-11-28 2015-05-28 Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, dieses vertreten durch das Bundesamt für Ausrüstung, Informationstechnik und Nutzung der Bundeswehr Steuereinrichtung zur Steuerung eines Auslegerarms
CN109072577B (zh) 2016-04-01 2021-07-30 克拉克设备公司 可变发动机速度控制
JP2022113563A (ja) * 2021-01-25 2022-08-04 新東工業株式会社 ６軸力覚センサを用いた操作システム、操作方法及びプログラム

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202004004953U1 (de) 2004-03-26 2004-08-19 F. Weyhausen Ag & Co. Kg Erdbaumaschine, insbesondere Radlader

Family Cites Families (24)

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Publication number Priority date Publication date Assignee Title
US4680577A (en) * 1983-11-28 1987-07-14 Tektronix, Inc. Multipurpose cursor control keyswitch
DE3404047A1 (de) * 1984-02-06 1985-08-08 Siemens AG, 1000 Berlin und 8000 München Steuerstab
JPS6226532A (ja) * 1985-07-19 1987-02-04 リチヤ−ド　エル．ジエンキンス アイソメトリツク制御装置
US5541622A (en) * 1990-07-24 1996-07-30 Incontrol Solutions, Inc. Miniature isometric joystick
SE9003318L (sv) * 1990-10-19 1991-11-11 Saab Automobile Reglage, arrangemang och foerfarande foer reglering av servoorgan foer motorfordons framfoerande
US5086870A (en) * 1990-10-31 1992-02-11 Division Driving Systems, Inc. Joystick-operated driving system
US5264768A (en) * 1992-10-06 1993-11-23 Honeywell, Inc. Active hand controller feedback loop
JP3041167B2 (ja) * 1993-08-25 2000-05-15 新キャタピラー三菱株式会社 操作レバー
FR2712406B1 (fr) * 1993-11-08 1995-12-15 Commissariat Energie Atomique Organe de commande manuelle à retour d'information tactile et/ou kinesthésique.
US5859372A (en) * 1994-04-11 1999-01-12 Neltoft; Peter Device for use in manual control of the movement of a real or imaginary object
JPH0887375A (ja) * 1994-09-16 1996-04-02 Fujitsu Ltd ポインティングデバイス
DE19625501C2 (de) * 1996-06-26 1999-10-14 Daimler Chrysler Ag Bedienelementanordnung zur Steuerung der Längs- und der Querbewegung eines Kraftfahrzeuges
JPH1091263A (ja) * 1996-09-13 1998-04-10 Komatsu Forklift Co Ltd 産業車両の操縦装置
JP2000122742A (ja) * 1998-06-29 2000-04-28 Caterpillar Inc コントロ―ルスティックに付与される力を制御する装置
JP2000204599A (ja) * 1999-01-14 2000-07-25 Hitachi Constr Mach Co Ltd 建設機械の操作レバ―装置
US6152239A (en) * 1999-01-25 2000-11-28 Caterpillar Inc. Ergonomic electronic hand control for a motor grader
TW454935U (en) * 1999-07-02 2001-09-11 Hoshiden Corp Multi-direction input apparatus
US7176891B2 (en) * 2000-02-22 2007-02-13 Brother Kogyo Kabushiki Kaisha Pointing device, keyboard mounting the pointing device, and electronic device provided with the keyboard
DE10111609A1 (de) * 2001-03-10 2002-09-12 Deere & Co Bedienungselement
CA2345951A1 (fr) * 2001-05-04 2002-11-04 Volvo Motor Graders Limited Commandes perfectionnees de niveleuse
JP3664665B2 (ja) * 2001-06-01 2005-06-29 株式会社カワサキプレシジョンマシナリ ジョイスティック装置
JP3900912B2 (ja) * 2001-12-05 2007-04-04 株式会社豊田自動織機 産業車両
DE10217039B3 (de) * 2002-04-12 2004-02-26 Fernsteuergeräte Kurt Oelsch GmbH Steuergriff mit Betätigungseinheiten
JP2004278208A (ja) * 2003-03-18 2004-10-07 Shin Caterpillar Mitsubishi Ltd 建設機械の操縦装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202004004953U1 (de) 2004-03-26 2004-08-19 F. Weyhausen Ag & Co. Kg Erdbaumaschine, insbesondere Radlader

Also Published As

Publication number Publication date
EP1662053A3 (fr) 2007-05-30
DE202004018299U1 (de) 2006-04-06
US20070062789A1 (en) 2007-03-22
US7409879B2 (en) 2008-08-12

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