EP1971904B1 - Fernsteuerung für eine mobile maschine, insbesondere eine schwere baumaschine oder landwirtschaftliche oder arbeitsmaschine - Google Patents

Fernsteuerung für eine mobile maschine, insbesondere eine schwere baumaschine oder landwirtschaftliche oder arbeitsmaschine Download PDF

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Publication number
EP1971904B1
EP1971904B1 EP06847155A EP06847155A EP1971904B1 EP 1971904 B1 EP1971904 B1 EP 1971904B1 EP 06847155 A EP06847155 A EP 06847155A EP 06847155 A EP06847155 A EP 06847155A EP 1971904 B1 EP1971904 B1 EP 1971904B1
Authority
EP
European Patent Office
Prior art keywords
remote control
lever
machine
control according
sealing wall
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.)
Not-in-force
Application number
EP06847155A
Other languages
English (en)
French (fr)
Other versions
EP1971904A2 (de
Inventor
Frédéric MALFOIS
Mathieu Marron
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.)
Bosch Rexroth DSI SAS
Original Assignee
Bosch Rexroth DSI SAS
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 Bosch Rexroth DSI SAS filed Critical Bosch Rexroth DSI SAS
Publication of EP1971904A2 publication Critical patent/EP1971904A2/de
Application granted granted Critical
Publication of EP1971904B1 publication Critical patent/EP1971904B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G25/00—Other details or appurtenances of control mechanisms, e.g. supporting intermediate members elastically
    • G05G25/04—Sealing against entry of dust, weather or the like
    • 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
    • G05G9/053—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 comprising a ball
    • 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
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04707—Mounting of controlling member with ball joint
    • 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
    • G05G2009/0474—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 characterised by means converting mechanical movement into electric signals
    • G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49002—Electrical device making
    • Y10T29/49105—Switch making
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Definitions

  • the present invention relates to a remote control of mobile machinery, in particular public works machinery, agricultural machinery or handling.
  • Such a remote control must be waterproof to ensure proper operation during the life of the device.
  • the tightness of the handle is particularly important for cabins of mobile machinery intended to be washed with water, or subjected to the weather, in the case of open cabins.
  • the resin coating also imposes additional steps in the realization of the remote control, before the introduction of electrical components on the remote control.
  • the technical problem that arises is therefore to provide a remote control of the aforementioned type which guarantees the tightness of the remote control, under normal conditions of use, without presenting additional wear parts, and by not complicating the implementation of the remote control.
  • the solution according to the invention relates to a remote control of mobile machine of the type described above, characterized in that the remote control body comprises a sealed wall, separating on the one hand the detection means which are located d a first side of the sealed wall, and secondly the lever and the lever connecting means to the body which are located on a second side of the sealed wall.
  • This sealing can be ensured in the case where the remote control body itself comprises a closed housing, or in the case where the body is fixed on a support wall with an opening through which the body passes, the sealed wall of the body ensuring a continuity of the seal with the support wall.
  • the sealed wall comprises a recess for housing the base of the lever.
  • the recess protrudes from the first side of the watertight wall.
  • the detection means are positioned on the walls of the recess, the first side of the sealed wall.
  • the recess, and the positioning of the detection means on the wall of the lever allow to obtain an effective detection of the movement of the lever, along one or more axes, while ensuring the seal. Indeed, the distance between the detection means and the base of the lever is small, these elements being simply separated by the walls of the recess, forming part of the sealed wall.
  • the detection means comprise at least one Hall effect sensor, and the lever comprises a permanent magnet.
  • the permanent magnet is positioned at the base of the lever, located near the body.
  • the sealed wall defines at least in part a compartment formed in the body in which the detection means are housed.
  • a compartment allows protection of components, this compartment can be closed or not.
  • the compartment delimited by a sealed wall is at least partially filled with resin.
  • the remote control comprises means for guiding cables or conductors providing a guide course bypassing the sealed wall.
  • This arrangement allows the passage of cables or conductors without harming the desired sealing for the detection means.
  • the connecting means are housed in the recess formed in the sealed wall.
  • the remote control further comprises means for returning to the equilibrium of the lever.
  • the remote control comprises protection means intended to prevent the pinching of a cable or a conductor between the lever or the connecting means and the body, or with the means of returning to the equilibrium of the the sink.
  • the connecting means form a ball joint.
  • the present invention also relates to a method of manufacturing a remote control of mobile machinery, in particular public works machinery, agricultural machinery or handling as described above, characterized in that it comprises a step of injecting resin in the liquid or pasty state in a space delimited at least partially by a sealed wall.
  • This arrangement is made possible by the fact that the body has a sealed wall. It is thus possible to perform a resin injection directly into the remote control, which avoids performing a first step of coating the resin components in a first container, then separating the components of the mold once the resin has hardened, and finally to place them on the remote control.
  • the remote control body 2 comprises at least one compartment 7 delimited by a sealed wall 8 in which are housed the detection means 5, which are of the non-contact type.
  • the sealed wall constitutes the upper wall of the body 2.
  • the sealed wall also constitutes the side walls of the body.
  • the compartment 7 is intended to be closed by a cover not shown, which can be screwed onto the wall 8, and to complete the seal.
  • the detection means comprise Hall effect sensors 5, which cooperate with a permanent magnet 6 housed at the base of the lever 3, located near the body.
  • the wall 8 of the body 2 accommodating the lever 3 comprises a recess 9 for accommodating the connecting means 4 between the body 2 and the lever 3, as well as the base of the lever 3 comprising the magnet 6.
  • the detection means 5 are positioned on the inner walls of the recess, on the side of the inner wall of the body 2, that is to say on the side of the compartment 7.
  • the lever is intended to be movable along two axes of rotation A and B, oriented substantially perpendicularly to one another.
  • the rotational axes A and B are oriented substantially perpendicular to the walls of the recess, the recess 9 having a rectangular section, seen in a plane perpendicular to the axis of the lever.
  • a Hall effect sensor 5 On each of the four faces 10 of the recess perpendicular to the upper face of the body 3 is disposed a Hall effect sensor 5. Thus, two sensors per axis of rotation of the lever are used, ensuring the redundancy of the transmitted control signals.
  • the magnet 6 located in the base of the lever 3 can be oriented so that the axis between its north pole and its south pole is in the axis of the lever 3.
  • the remote control further comprises means for returning to the equilibrium of the lever.
  • the equilibrium return means of the lever comprise a nut 12, movable in translation on the lever, subjected to the action of elastic means constituted by a not shown compression spring, bearing on the one hand on the nut and d on the other hand on a sleeve 14 introduced on the lever and secured thereto.
  • the equilibrium return means comprise an element 15 of concave shape substantially inverted cone disposed in a housing 16 of the outer face of the body around the recess 9 delimited by a peripheral wall 17.
  • the nut 12 under the action of the spring, cooperates with the surface of the concave element 15, to ensure the return to a position of equilibrium lever 3, substantially perpendicular to the plane of the upper wall of the body 2.
  • the sleeve further comprises a skirt 18 located above and at least partially covering the concave element 15, the nut 12 and the spring.
  • This skirt 18 constitutes a protection means intended to prevent pinching of cables or conductive wires between the lever or the connecting means and the body, or with means for returning the lever to equilibrium.
  • a remote control commonly includes cables or conductors son connecting control elements including buttons on the handle, to external organs remote control.
  • the remote control also comprises means for guiding the cables or conductors consisting of guide recesses 19, 20 formed on the outer wall of the compartment 7.
  • connection means 4 of the lever 3 and the body are constituted by a hollow member whose outer shape is substantially complementary to the shape of the recess 9, to ensure the position of the member relative to the body, the member comprising a housing 22 with an opening defined by a retaining edge 23, the housing receiving the base of the lever, which has an end portion 24 of greater dimensions than the opening of the housing forming with the housing a connection type ball joint.
  • connection allows a rotation along the two axes A and B, but no rotation along an axis coincident with the axis of the lever.
  • This arrangement can be obtained by using an end portion having a section perpendicular to the axis of the asymmetrical lever, in particular oval, corresponding to a section also asymmetrical housing.
  • the method of manufacturing a remote control as described above comprises a step of injecting the resin 25 in the liquid or pasty state in the compartment 7.
  • the compartment 3 is thus at least partially filled with resin.
  • a remote control intended for example to be fixed on a control panel for a crane, includes a body attached to a support wall, forming part of the control panel, with an opening through which the body passes. Under these conditions, the body does not have a closed housing. The sealed wall of the body however ensures a continuity of sealing with the support wall which closes the control panel.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Soil Working Implements (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Telephone Set Structure (AREA)
  • Telephone Function (AREA)

Claims (13)

  1. Fernbedienung für ein mobiles Gerät, insbesondere eine Baumaschine, Landmaschine oder Transportmaschine, die umfasst:
    - einen Körper (2) der Fernbedienung,
    - einen Hebel (3), der mit einem Griff verbunden ist, der dazu bestimmt ist, von einem Benutzer mit der Hand erfasst zu werden,
    - Verbindungsmittel (4) des Hebels (3) mit dem Körper (2), die eine Bewegung des Hebels (3) im Verhältnis zum Körper (2) gemäß mindestens einer Achse (A, B) erlauben,
    - kontaktlose Erfassungsmittel (5) der relativen Bewegung des Hebels (3) im Verhältnis zum Körper (2) der Fernbedienung, wobei die von den Erfassungsmitteln ausgegebenen Signale zur Steuerung eines Organs des mobilen Geräts bestimmt sind,
    dadurch gekennzeichnet, dass der Körper der Fernbedienung (3) eine dichte Wand (8) aufweist, die einerseits die Erfassungsmittel (5), die sich auf einer ersten Seite der dichten Wand (8) befinden, und andererseits den Hebel (3) und die Verbindungsmittel (4) des Hebels mit dem Körper, die sich auf einer zweiten Seite der dichten Wand (8) befinden, trennt.
  2. Fernbedienung nach Anspruch 1, dadurch gekennzeichnet, dass die dichte Wand (8) eine Verstärkung (9) umfasst, die es erlaubt, die Basis des Hebels (3) aufzunehmen.
  3. Fernbedienung nach Anspruch 2, dadurch gekennzeichnet, dass die Erfassungsmittel (5) auf den Wänden der Verstärkung (9) auf der ersten Seite der dichten Wand (8) positioniert sind.
  4. Fernbedienung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Erfassungsmittel (5) mindestens einen Hall-Sensor umfassen und dass der Hebel einen Dauermagneten (6) aufweist.
  5. Fernbedienung nach Anspruch 4, dadurch gekennzeichnet, dass der Dauermagnet (6) auf Ebene der Basis des Hebels (3) positioniert ist, die sich in der Nähe des Körpers (2) befindet.
  6. Fernbedienung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass sie Kabel- oder Leitungsführungsmittel (19, 20) aufweist, die an der Kontur der dichten Wand (8) eine Führungsstrecke ausbilden.
  7. Fernbedienung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die dichte Wand (8) mindestens teilweise ein im Körper (2) ausgebildetes Abteil (7) begrenzt, in dem die Erfassungsmittel (5) untergebracht sind.
  8. Fernbedienung nach Anspruch 7, dadurch gekennzeichnet, dass das von einer dichten Wand (8) begrenzte Abteil (7) mindestens teilweise mit Harz (20) gefüllt ist.
  9. Fernbedienung nach einem der Ansprüche 2 bis 8, dadurch gekennzeichnet, dass die Verbindungsmittel (4) in der Verstärkung (9) untergebracht sind, die in der dichten Wand (8) ausgebildet ist.
  10. Fernbedienung nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass sie ferner Mittel (12, 14) aufweist, die den Hebels (3) ins Gleichgewicht zurückführen.
  11. Fernbedienung nach Anspruch 10, dadurch gekennzeichnet, dass sie Schutzmittel (18) aufweist, die dazu bestimmt sind, das Verklemmen eines Kabels oder eines Leiters zwischen dem Hebel oder den Verbindungsmitteln (4) und dem Körper (2) oder mit den Mitteln (12, 14), die den Hebel ins Gleichgewicht zurückführen, zu vermeiden.
  12. Fernbedienung nach einem der Ansprüche 1 bis 11, dadurch gekennzeichnet, dass die Verbindungsmittel (4) eine Kugelgelenkverbindung bilden.
  13. Verfahren zur Herstellung einer Fernbedienung eines mobilen Geräts, insbesondere einer Baumaschine, Landmaschine oder Transportmaschine, nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, dass es einen Schritt umfasst, der darin besteht, Harz (25) in flüssigem oder pastösem Zustand in einen Raum (7) einzuspritzen, der mindestens teilweise von einer dichten Wand (8) begrenzt wird.
EP06847155A 2006-01-10 2006-12-28 Fernsteuerung für eine mobile maschine, insbesondere eine schwere baumaschine oder landwirtschaftliche oder arbeitsmaschine Not-in-force EP1971904B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0600189A FR2896082B1 (fr) 2006-01-10 2006-01-10 Telecommande d'engin de travaux publics
PCT/FR2006/002899 WO2007080293A2 (fr) 2006-01-10 2006-12-28 Télécommande d'engin mobile, en particulier engin de travaux publics, engin agricole ou de manutention

Publications (2)

Publication Number Publication Date
EP1971904A2 EP1971904A2 (de) 2008-09-24
EP1971904B1 true EP1971904B1 (de) 2012-03-07

Family

ID=37165863

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06847155A Not-in-force EP1971904B1 (de) 2006-01-10 2006-12-28 Fernsteuerung für eine mobile maschine, insbesondere eine schwere baumaschine oder landwirtschaftliche oder arbeitsmaschine

Country Status (8)

Country Link
US (1) US7893372B2 (de)
EP (1) EP1971904B1 (de)
JP (1) JP5055295B2 (de)
CN (1) CN101356484B (de)
AT (1) ATE548686T1 (de)
FR (1) FR2896082B1 (de)
RU (1) RU2396589C2 (de)
WO (1) WO2007080293A2 (de)

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CN101201643B (zh) * 2007-12-20 2010-06-09 中国科学院长春光学精密机械与物理研究所 单杆控制系统
CN102385374A (zh) * 2011-10-24 2012-03-21 三一重工股份有限公司 一种远程控制系统、远程控制方法及工程机械
US20150309508A1 (en) * 2014-04-28 2015-10-29 Kara Hasan Kubilay Gyroscope Based Radio Transmitter for Model Vehicles
CN106959727B (zh) * 2017-03-10 2018-07-20 国家海洋局第二海洋研究所 一种操纵杆调节设备
CN108008758A (zh) * 2017-11-27 2018-05-08 国家海洋局第二海洋研究所 一种遥控操纵机构

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Also Published As

Publication number Publication date
WO2007080293A2 (fr) 2007-07-19
JP2009522700A (ja) 2009-06-11
CN101356484A (zh) 2009-01-28
JP5055295B2 (ja) 2012-10-24
EP1971904A2 (de) 2008-09-24
US7893372B2 (en) 2011-02-22
WO2007080293A3 (fr) 2007-08-30
FR2896082B1 (fr) 2012-10-26
FR2896082A1 (fr) 2007-07-13
US20080302648A1 (en) 2008-12-11
RU2008131669A (ru) 2010-02-20
RU2396589C2 (ru) 2010-08-10
ATE548686T1 (de) 2012-03-15
CN101356484B (zh) 2011-06-15

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