EP2196888A2 - Device for controlling machines and vehicles - Google Patents

Device for controlling machines and vehicles Download PDF

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Publication number
EP2196888A2
EP2196888A2 EP09014321A EP09014321A EP2196888A2 EP 2196888 A2 EP2196888 A2 EP 2196888A2 EP 09014321 A EP09014321 A EP 09014321A EP 09014321 A EP09014321 A EP 09014321A EP 2196888 A2 EP2196888 A2 EP 2196888A2
Authority
EP
European Patent Office
Prior art keywords
bracket
operating lever
console
brackets
intersecting
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.)
Granted
Application number
EP09014321A
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German (de)
French (fr)
Other versions
EP2196888B1 (en
EP2196888A3 (en
Inventor
Rainer Maurer
Christian Bartenwerfer
Henning Koschke
Michael Stoffers
Thomas Göbelt
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Deltatech Controls USA LLC
Original Assignee
CoActive Technologies LLC
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Publication of EP2196888A2 publication Critical patent/EP2196888A2/en
Publication of EP2196888A3 publication Critical patent/EP2196888A3/en
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Publication of EP2196888B1 publication Critical patent/EP2196888B1/en
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    • 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
    • G05G25/00—Other details or appurtenances of control mechanisms, e.g. supporting intermediate members elastically
    • G05G25/02—Inhibiting the generation or transmission of noise
    • 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
    • G05G2009/04714—Mounting of controlling member with orthogonal axes
    • G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type 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
    • G05G2009/04766—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 providing feel, e.g. indexing means, means to create counterforce
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20396—Hand operated

Abstract

The control device (10) has an operating lever (11) and a stationary console (12). The mechanical devices (36,37) are assigned to the operating lever with force variation points or areas for each oscillatory moving direction. The mechanical devices are arranged between the console and the cross clamps (21,22) above an assembly plane (13). The cutting axes (18,19) run below the assembly plane of the console for the cross clamps.

Description

Die vorliegende Erfindung bezieht sich auf eine Vorrichtung zum Steuern von Maschinen und Fahrzeugen, insbesondere Baumaschinen, Krane, landwirtschaftlichen Fahrzeugen und dergleichen nach dem Oberbegriff des Anspruchs 1.The present invention relates to an apparatus for controlling machines and vehicles, in particular construction machines, cranes, agricultural vehicles and the like according to the preamble of claim 1.

Bei einer derartigen aus der DE 103 45 397 A1 bekannten Vorrichtung ist dem Bedienhebel in jeder der beiden Richtungen eine Arretiervorrichtung zugeordnet, die einen Elektromagneten aufweist, der die positionsabhängige Arretierung mittels einer externen Ansteuerung bewirkt. Hierzu müssen die Positionsdaten des Bedienhebels entsprechend ausgewertet werden, damit bei der gewünschten Position der Elektromagnet aktiviert werden kann. Der Bedienhebel wird derart arretiert, dass eine weitere Bewegung erst nach einer Deaktivierung bzw. nach einem Ausschalten des Elektromagneten möglich ist. Dabei sind die Elektromagnete seitlich außerhalb der Bügel angeordnet, was zu einer erheblichen Grundflächenvergrößerung der ortfesten Konsole führt. Des weiteren ist nachteilig, dass die Arretierung des Bedienhebels in einer bestimmten Position nur durch eine zusätzliche Steuerung erfolgen kann.In such from the DE 103 45 397 A1 Known device is assigned to the operating lever in each of the two directions a locking device having an electromagnet which causes the position-dependent locking by means of an external control. For this purpose, the position data of the operating lever must be evaluated accordingly, so that at the desired position of the solenoid can be activated. Of the Control lever is locked in such a way that further movement is possible only after deactivation or after switching off the electromagnet. In this case, the electromagnets are arranged laterally outside of the bracket, resulting in a significant increase in base area of the stationary console. Furthermore, it is disadvantageous that the locking of the operating lever in a certain position can be done only by an additional control.

Bei derartigen Vorrichtungen wird der Bedienhebel von Federn unterschiedlichster Ausprägung in eine definierte Nullstellung zurückgestellt. Zur weiteren Unterstützung des Bedieners werden zusätzlich taktile Rückmeldungen auf dem jeweiligen Bedienweg implementiert. Diese Positionsrückmeldungen erleichtern dem Benutzer die Bedienung bei der konstanten Auslenkung bzw. bei der Auslenkung auf eine bestimmte Position. Dies hat dann ein konstantes Ausgangssignal zur Folge. Bei Kranen wird dies zum Beispiel dazu verwendet, im Betrieb in einfacher Weise eine konstante Arbeitsgeschwindigkeit der jeweiligen Funktionen einzuhalten.In such devices, the operating lever is reset by springs of various characteristics in a defined zero position. To further assist the operator, additional tactile feedback is implemented on the respective operating path. These position feedbacks make it easier for the user to operate in the constant deflection or in the deflection to a specific position. This will result in a constant output signal. In cranes, this is used, for example, to maintain a constant operating speed of the respective functions in a simple manner during operation.

Aufgabe der vorliegenden Erfindung ist es deshalb, eine Vorrichtung zum Steuern von Maschinen und Fahrzeugen, insbesondere Baumaschinen, Krane, landwirtschaftlichen Fahrzeuge und dergleichen, der eingangs genannten Art zu schaffen, bei der in einfacher Weise zusätzliche taktile Rückmeldungen für den Bedienenden eingerichtet werden können.The object of the present invention is therefore to provide an apparatus for controlling machines and vehicles, in particular construction machines, cranes, agricultural vehicles and the like, of the type mentioned above, in which additional tactile feedback can be set up for the operator in a simple manner.

Zur Lösung dieser Aufgabe sind bei einer Vorrichtung zur Steuerung von Maschinen und Fahrzeugen der genannten Art die im Anspruch 1 angegebenen Merkmale vorgesehen.To solve this problem, the features specified in claim 1 are provided in a device for controlling machines and vehicles of the type mentioned.

Durch die erfindungsgemäßen Maßnahmen ist eine einfache mechanisch Einrichtung gegeben, die allein vom Bedienenden in mechanischer Weise in die entsprechenden Positionen gebracht werden kann. Ohne weitere Maßnahmen kann der Bedienende dabei die jeweilige Position einrichten bzw. abändern. Die bauliche Anordnung der mechanischen Rasteinrichtung zwischen den Bügeln und der Konsole machte es möglich, Druckelemente der mechanischen Einrichtung bei Bedarf auszutauschen, ohne den gesamten Bedienhebel ausbauen zu müssen. Die Verlagerung der sich schneidenden Achsen nach unterhalb der Einbauebene der Konsole macht es möglich, den Bauraum oberhalb der Einbauebene der Konsole auf ein Minimum zu begrenzen, ebenso wie die aufzuwendenden Schwenkkräfte. Durch Verlagerung der Bügel oberhalb des Drehpunktes wird der Bauraum darunter für die Auswerteelektronik freigehalten. Dies kann auch dazu genutzt werden, die allgemeine Einbautiefe zu reduzieren.The inventive measures a simple mechanical device is given, which can be brought by the operator alone in a mechanical manner in the appropriate positions. Without further measures, the operator can set or change the respective position. The structural arrangement of the mechanical locking device between the brackets and the console made it possible to replace pressure elements of the mechanical device when needed, without having to remove the entire control lever. The displacement of the intersecting axes to below the mounting plane of the console makes it possible to limit the space above the mounting plane of the console to a minimum, as well as the required pivotal forces. By shifting the bracket above the fulcrum, the space below is kept free for the transmitter. This can also be used to reduce the overall installation depth.

Vorteilhafte Anordnungen der mechanischen Einrichtung oberhalb der Einbauebene der Konsole ergeben sich aus den Merkmalen des Anspruchs 2 und/oder 3.Advantageous arrangements of the mechanical device above the mounting plane of the console result from the features of claim 2 and / or 3.

Vorteilhafte Ausgestaltungen der mechanischen Einrichtung ergeben sich aus den Merkmalen eines oder mehrerer der Ansprüche 4 bis 8.Advantageous embodiments of the mechanical device result from the features of one or more of claims 4 to 8.

Mit den Merkmalen des Anspruchs 9 ist erreicht, dass die Vorrichtung bzw. deren Konsolengehäuse in einfacher Weise in ein Bauteil versenkt angeordnet werden kann.With the features of claim 9 it is achieved that the device or its console housing can be arranged sunk in a simple manner in a component.

Eine Begrenzung der Auslenkbewegungen des Bedienhebels ist in einfacher Weise durch die Merkmale gemäß Anspruch 10 gegeben. Um bei einem Überdrücken in eine der Richtungen eine Beschädigung des oder der Bügel zu verhindern, ohne dass der Bauraum vergrößert werden muss, sind die Merkmale gemäß Anspruch 11 vorgesehen.A limitation of the deflection movements of the operating lever is given in a simple manner by the features according to claim 10. In order to prevent damage to the one or more straps when pressed in one of the directions, without that the space must be increased, the features of claim 11 are provided.

Mit den Merkmalen gemäß Anspruch 12 ist ein Klappern bei der Bewegung des Bedienhebels sowie ein Verschluss der Längsschlitze der Bügel, längs denen der Bedienhebel bewegt wird, verhindert.With the features of claim 12 is a rattle in the movement of the operating lever and a closure of the longitudinal slots of the bracket, along which the operating lever is moved, prevented.

Eine vorteilhafte konstruktive Ausgestaltung ergibt sich durch die Merkmale nach Anspruch 13. Dabei kann es zweckmäßig sein, die Merkmale gemäß Anspruch 14 vorzusehen.An advantageous structural embodiment results from the features of claim 13. It may be expedient to provide the features of claim 14.

In weiterer Ausgestaltung sind die Merkmale nach Anspruch 15 vorgesehen, was zu einer Anordnung der Sensorik führt, die von dem Zustand bzw. den Auswirkungen der mechanischen Einrichtung getrennt und damit unabhängig ist.In a further embodiment, the features of claim 15 are provided, which leads to an arrangement of the sensor, which is separated from the state or the effects of the mechanical device and thus independent.

Weitere Einzelheiten der Erfindung sind der folgenden Beschreibung zu entnehmen, in der die Erfindung anhand des in der Zeichnung dargestellten Ausführungsbeispieles näher beschrieben und erläutert ist. Es zeigen:

Figur 1
in schematischer perspektivischer Darstellung eine Vorrichtung zum Steuern von Maschinen und Fahrzeugen gemäß einem bevorzugten Ausführungsbeispiel vorliegender Erfindung,
Figur 2
in vergrößerter Darstellung einen Schnitt längs der Linie II-II der Figur 1 und
Figur 3
eine Unteransicht der Vorrichtung gemäß Pfeil III der Figur 1.
Further details of the invention can be found in the following description in which the invention with reference to the embodiment shown in the drawing is described and explained in more detail. Show it:
FIG. 1
a schematic perspective view of a device for controlling machines and vehicles according to a preferred embodiment of the present invention,
FIG. 2
in an enlarged view a section along the line II-II of FIG. 1 and
FIG. 3
a bottom view of the device according to arrow III of FIG. 1 ,

Die in der Zeichnung dargestellte Vorrichtung 10 dient zum Steuern von Maschinen und Fahrzeugen, insbesondere Baumaschinen, Krane, landwirtschaftlichen Fahrzeugen und dergleichen und beinhaltet die Implementierung von zusätzlichen taktilen Rückmeldungen für den Bedienenden auf dem jeweiligen Bedienweg bzw. Verfahrweg der Vorrichtung 10. Die Vorrichtung 10 ist nach Art eines Joystick ausgebildet, der gemäß dem dargestellten Ausführungsbeispiel in zwei zueinander senkrechten Richtungen gemäß den Doppelpfeilen A und B und in entsprechenden kombinierten Richtungen hin- und hergehend bewegbar ist.The device 10 shown in the drawing is used to control machines and vehicles, in particular Construction equipment, cranes, agricultural vehicles and the like and includes the implementation of additional tactile feedback to the operator on the respective travel path or the device 10. The device 10 is formed in the manner of a joystick, which according to the illustrated embodiment in two mutually perpendicular directions according to the double arrows A and B and in corresponding combined directions reciprocally movable.

Die Vorrichtung 10 besitzt einen Bedienhebel 11, der in nicht dargestellter Weise in einer Konsole 12 kardanisch in einer XY-Ebene schwenkbar gelagert ist. Die Konsole 12 besitzt eine Konsolenplatte 13, die die Einbauebene der Vorrichtung 10 in einem Bauteil der Maschine bzw. des Fahrzeugs bildet und an deren Unterseite ein Konsolengehäuse 14 zur Aufnahme der erwähnten kardanischen Aufhängung 15 des Bedienhebels 11 und einer nicht dargestellten Sensorik sowie einer nicht dargestellten Auswerteelektronik für die Stellung des Bedienhebels 11. Die Konsolenplatte 13 ist mit Ausnehmungen 16 zur Befestigung an den betreffenden Maschinen- bzw. Fahrzeugbauteilen versehen.The device 10 has an operating lever 11, which is mounted in a manner not shown in a console 12 gimbal in an XY plane pivotally. The console 12 has a console plate 13, which forms the installation level of the device 10 in a component of the machine or the vehicle and on the underside of a console housing 14 for receiving the aforementioned gimbal 15 of the operating lever 11 and a sensor, not shown, and a non-illustrated Evaluation electronics for the position of the operating lever 11. The console plate 13 is provided with recesses 16 for attachment to the relevant machine or vehicle components.

Der Bedienhebel 11 ist an einem der kardanischen Aufhängung 15 abgewandten Bereich oberhalb der Konsolenplatte 13 durch zwei senkrecht zueinander schwenkbar gelagerte Bügel 21 und 22 geführt. Die Bügel 21 und 22 sind um zwei sich senkrecht kreuzende Achsen 18 und 19, die unterhalb der Einbauebene liegen, jeweils schwenkbar gelagert angeordnet. Jeder Bügel 21, 22 ist U-förmig, das heißt aus einem auf dem Kopf stehenden U gebildet, dessen bogenförmiger Bereich 23 bzw. 24 mit jeweils einem Längsschlitz 25, 26 versehen ist, die vom Bedienhebel 11 durchdrungen sind und in denen der Bedienhebel 11 geführt ist. Die beiden bogenförmigen Bereiche 23 und 24 befinden sich in axialer Richtung des Bedienhebels 11 übereinander bzw. untereinander und sind jeweils von ebenen Schenkeln 27 und 28 bzw. 29 und 30 begrenzt. Beide Bügel 21 und 22 sind einstückig geformt. Die Seitenschenkel 27 und 28 sind um die Achse 18 und die Seitenschenkel 29 und 30 um die Achse 19 in Richtung des Doppelpfeils A bzw. B schwenkbar gelagert. Die beiden Achsen 18 und 19 befinden sich unterhalb der Konsolenplatte 13 bzw. der Einbauebene und kreuzen sich in derselben Ebene. Hierzu sind die Seitenschenkel 27 bis 30 in Taschen 33 bzw. 34 eingebracht, deren Zugang sich in der Konsolenplatte 13 befindet und die sich längs des Konsolengehäuses 14 unterhalb der Konsolenplatte 13 erstrecken. Auf diese Weise bewegen sich je nach Auslenkung des Bedienhebels 11 die Bügel 21 und/oder 22 um ihre Achse 18 und/oder 19.The operating lever 11 is guided on a gimbal 15 facing away from the area above the console plate 13 by two mutually perpendicular pivotally mounted bracket 21 and 22. The brackets 21 and 22 are arranged to pivot about two perpendicularly intersecting axes 18 and 19, which are below the mounting plane, respectively. Each bracket 21, 22 is U-shaped, that is formed from an upside-down U, the arcuate portion 23 and 24, each with a longitudinal slot 25, 26 is provided, which are penetrated by the operating lever 11 and in which Control lever 11 is guided. The two arcuate regions 23 and 24 are located in the axial direction of the operating lever 11 one above the other or with each other and are each bounded by planar legs 27 and 28 or 29 and 30. Both brackets 21 and 22 are integrally formed. The side legs 27 and 28 are pivotally mounted about the axis 18 and the side legs 29 and 30 about the axis 19 in the direction of the double arrow A and B. The two axes 18 and 19 are located below the console plate 13 and the installation level and intersect in the same plane. For this purpose, the side legs 27 to 30 are inserted into pockets 33 and 34, respectively, whose access is in the console plate 13 and which extend along the console housing 14 below the console plate 13. In this way, depending on the deflection of the operating lever 11, the bracket 21 and / or 22 move about its axis 18 and / or 19.

Aus Figur 1 ist ferner ersichtlich, dass jeder Bügel 21 und 22 an einem Übergang vom bogenförmigen Schenkel 23 bzw. 24 zu einem der Seitenschenkel 27 und 28 bzw. 29 und 30 mit einer mechanischen Einrichtung 36 bzw. 37 mit taktil erfassbaren Kraftveränderungspunkten oder -bereichen versehen ist, von denen die mechanische Einrichtung 37 am Bügel 22 in vergrößerter Darstellung in Figur 2 in näheren Einzelheiten gezeigt ist.Out FIG. 1 It can also be seen that each bracket 21 and 22 is provided at a transition from the arcuate leg 23 or 24 to one of the side legs 27 and 28 or 29 and 30 with a mechanical means 36 and 37 with force detectable force change points or areas, of which the mechanical device 37 on the bracket 22 in an enlarged view in FIG. 2 shown in more detail.

Die mechanische Einrichtung 36 besitzt ein bogenförmiges Bahnelement 38 (Figur 1) und die mechanische Einrichtung 37 besitzt ein bogenförmiges Bahnelement 39 (Figuren 1 und 2). Beide bogenförmigen Bahnelemente 38 und 39 sind am dem Seitenschenkel 27 bzw. dem Seitenschenkel 29 zugewandten Ende des bogenförmigen Schenkels 23 bzw. 24 hängend befestigt und zwar mit beispielsweise Schrauben 41, 42 derart, dass sie bei Bedarf auswechselbar sind. Hierzu besitzen die bogenförmigen Bahnelemente 38 und 39 Befestigungszapfen 43 (Figur 2), die der Zentrierung der Bahnelemente 38, 39 im Bügel 21 bzw. 22 dienen.The mechanical device 36 has a curved web element 38 (FIG. FIG. 1 ) and the mechanical device 37 has an arcuate path element 39 (FIG. FIGS. 1 and 2 ). Both arcuate web elements 38 and 39 are attached to the side leg 27 and the side leg 29 facing the end of the arcuate leg 23 and 24 suspended and with such screws 41, 42 such that they are interchangeable if necessary. For this have the arcuate track elements 38 and 39 mounting pin 43 ( FIG. 2 ), which serve to center the web members 38, 39 in the bracket 21 and 22 respectively.

Aus Figur 2 ist ersichtlich, dass das bogenförmige Bahnelement 39 der mechanischen Einrichtung 37 an seiner Unterseite mit einer Kreisbahn 45 versehen ist, deren Achse die Achse 19 ist und deren Kontur 46 über den Kreisbogen hinweg mit mehreren Kraftveränderungspunkten oder - bereichen 47, wie beispielsweise radial nach innen vorstehenden Ausbuchtungen (Nasen), Vertiefungen (Rille), keilförmige Bahnabschnitte oder dergleichen versehen ist, die den Kraftaufwand verändernde Kontur 46 in beiden Bewegungsrichtungen identisch oder unterschiedlich ausgebildet sein kann, sowohl was die Ausgestaltung als auch was die Anzahl der Punkte bzw. Bereich 47 anbetrifft.Out FIG. 2 It can be seen that the arcuate path element 39 of the mechanical device 37 is provided on its underside with a circular path 45, whose axis is the axis 19 and the contour 46 over the circular arc with multiple force change points or areas 47, such as radially inwardly projecting Bumps (lugs), recesses (groove), wedge-shaped track sections or the like is provided, the force varying contour 46 in both directions of movement may be identical or different, both in terms of design and as regards the number of points or area 47.

Die mechanische Einrichtung 37 (und ebenso die mechanische Einrichtung 36) besitzt ferner ein Druckelement 50, das ortsfest auf der Konsolenplatte 13 gehalten ist und das mit einer Aufnahmebohrung 51 für eine Druckfeder 52 und der letzteren abgewandt mit einem Stößel 53, beispielsweise in Form einer Rolle oder Kugel versehen ist, die durch die Druckfeder 52 federbelastet an der mit den Kraftveränderungspunkten oder -bereichen 47 versehenen Kontur 46 der Kreisbahn 45 anliegt. Die Druckfeder 52 für das Druckelement 50 stützt sich in einer Sacklochbohrung 54 des Druckelements 50 bzw. der Konsolenplatte 13 ab.The mechanical device 37 (and also the mechanical device 36) further has a pressure element 50 which is held stationary on the console plate 13 and facing away with a receiving bore 51 for a compression spring 52 and the latter with a plunger 53, for example in the form of a roll or ball is provided, which is spring-loaded by the compression spring 52 at the provided with the force variation points or areas 47 contour 46 of the circular path 45 is applied. The compression spring 52 for the pressure element 50 is supported in a blind hole 54 of the pressure element 50 or the console plate 13.

Bei der Bewegung des Bedienhebels 11 beispielsweise in einer der Richtungen des Doppelpfeils B gelangt der Stößel 53 längs einer Ruhe- bzw. Ausgangsposition 49 zu einer ersten Nase 47, die einen taktilen Druckpunkt in dieser Bewegungsrichtung darstellt, der durch eine erhöhte Bedienkraft überwunden werden muss, da der Stößel 53 entgegen der Druckfeder 52 radial ausgelenkt werden muss. Hinter dieser ersten Nase 47 gelangt der Stößel 53 in eine erste Position 47, die dem Bedienenden durch die veränderte Druckaufwendung am Bedienhebel 11 taktil vermittelt wird. In dieser ersten Position ist beispielsweise eine bestimmte Antriebsgeschwindigkeit eines Bauteils der Maschine oder des Fahrzeugs vorgegeben. Der Bedienende kann durch weiteren bewussten Bewegungsdruck auf den Bedienhebel 11 diese Position in die eine oder andere Richtung verlassen.During the movement of the control lever 11, for example in one of the directions of the double arrow B, the plunger 53 comes along a rest or initial position 49 to a first nose 47, which represents a tactile pressure point in this direction of movement, which must be overcome by an increased operating force, because the ram 53 must be deflected radially against the compression spring 52. Behind this first nose 47, the plunger 53 reaches a first position 47, which is tactfully conveyed to the operator by the changed pressure on the operating lever 11. In this first position, for example, a specific drive speed of a component of the machine or of the vehicle is specified. The operator can leave this position in one direction or the other by further conscious movement pressure on the operating lever 11.

Es versteht sich, dass die Anzahl und Anordnung von taktil erfassbaren Kraftveränderungspunkten oder -bereichen 47 längs der Kontur 46 der Kreisbahn 45 beim bogenförmigen Bahnelement 39 und beim bogenförmigen Bahnelement 38 der jeweiligen mechanischen Einrichtung 37, 36 gleich oder unterschiedlich sein kann, wobei sich die unterschiedliche Anordnung insgesamt auf die Kreisbahn oder lediglich richtungsabhängig darstellen kann. Dem Bedienenden wird aufgrund des Gegendrucks des Stößels 53 ein spürbarer Widerstand beim Auslenken entgegengesetzt, so dass für den Bedienenden eine taktile Positionsrückmeldung gewährleistet ist. Die taktilen Druckpunkte bzw. -bereiche ergeben Kraftveränderungen spezieller Ausprägungen, die bis hin zu einer Rastung gestaltet werden können.It is understood that the number and arrangement of tactile detectable force variation points or regions 47 along the contour 46 of the circular path 45 in the arcuate path element 39 and the arcuate path element 38 of the respective mechanical device 37, 36 may be the same or different, with the different Overall arrangement on the circular path or only direction-dependent can represent. The operator is due to the back pressure of the plunger 53, a noticeable resistance when deflecting opposite, so that a tactile position feedback is ensured for the operator. The tactile pressure points or areas result in force changes of special characteristics, which can be designed up to a detent.

Gemäß den Figuren 1 und 2 ist der Bedienhebel 11 mit einer mit einem radialen Rand 56 versehenen Hülse 57 aus beispielsweise Kunststoff bestückt, die als Führungshülse in den Längsschlitzen 25 und 26 der beiden Bügel 21 und 22 geführt ist.According to the FIGS. 1 and 2 the operating lever 11 is equipped with a provided with a radial edge 56 sleeve 57 made of plastic, for example, which is guided as a guide sleeve in the longitudinal slots 25 and 26 of the two brackets 21 and 22.

Des weiteren ist ein hier etwa würfelförmiges Anschlagelement 58 vorgesehen, das vom Bedienhebel 11 durchdrungen ist und das zwischen dem unteren Bügel 22 und der Einbauebene 13 der Konsole 12 angeordnet ist. Dem Anschlagelement 58 sind jeweils (in jede Richtung) Bewegungsbegrenzungselemente 59 zugeordnet, die in Form von Leisten jeweils nahe den Seitenschenkeln 27 bis 30 der Bügel 21 und 22 ortsfest an der Konsolenplatte 13 angeordnet sind.Furthermore, a here approximately cube-shaped stop element 58 is provided, which is penetrated by the operating lever 11 and which is arranged between the lower bracket 22 and the installation level 13 of the console 12. the Stop element 58 are each assigned (in each direction) movement limiting elements 59 which are arranged in the form of strips respectively near the side legs 27 to 30 of the bracket 21 and 22 fixed to the console plate 13.

Figur 3 zeigt die kardanische Aufhängung 15 zur Bewegung des Bedienhebels 11 in der XY-Ebene. Diese kardanische Aufhängung 15 besitzt ein äußeres Element 61, das um eine Achse 62 schwenkbar ist und ein inneres Element 63, das um eine zur Achse 62 senkrechten Achse 64 schwenkbar ist. Die beiden sich schneidenden Kardanachsen 62 und 64 liegen in derselben Ebene wie die beiden sich schneidenden Achsen 18 und 19 der sich kreuzenden Bügel 21 und 22. Figur 3 zeigt die jeweiligen in einer allen gemeinsamen Ebene liegende Teile der Achsen 18 und 19 sowie 62 und 64. Mit anderen Worten, die außenliegenden Teile der Achse 18 befinden sich in Verlängerung der Teile der Achse 62 und die beiden außenliegenden Teile der Achse 19 liegen in Verlängerung der Teile der Achse 64. FIG. 3 shows the gimbal 15 for movement of the operating lever 11 in the XY plane. This gimbal 15 has an outer member 61 which is pivotable about an axis 62 and an inner member 63 which is pivotable about an axis 62 perpendicular to the axis 64. The two intersecting gimbal axes 62 and 64 lie in the same plane as the two intersecting axes 18 and 19 of the intersecting brackets 21 and 22. FIG. 3 shows the respective parts of the axles 18 and 19 and 62 and 64 which lie all in common plane. In other words, the outer parts of the axle 18 are in extension of the parts of the axle 62 and the two outer parts of the axle 19 are in extension the parts of the axis 64.

Des weiteren zeigt Figur 1 eine Materialverstärkung 60 am Bügel 22, die sich an einer Längsseite des bogenförmigen Schenkels 24 befindet, so dass ein Überdrücken des Bedienhebels 11 in dieser einen Richtung gemäß Doppelpfeil B nicht zu einer Beschädigung des Bügels 22 bzw. dessen Längsschlitzes 26 führen kann.Further shows FIG. 1 a material reinforcement 60 on the bracket 22, which is located on a longitudinal side of the arcuate leg 24, so that overpressing the operating lever 11 in this one direction according to double arrow B can not lead to damage of the bracket 22 and its longitudinal slot 26.

In nicht dargestellter Weise sind die Kardanelemente 61 und 63 in beiden Bewegungsrichtungen mit Federn bestückt, die eine Rückkehr in die Ausgangs- bzw. Nullstellung des Bedienhebels gegebenenfalls auch unter Überwindung der taktilen Druckpunkte bewirken.In a manner not shown, the gimbals 61 and 63 are equipped in both directions of movement with springs that cause a return to the initial or zero position of the operating lever, if necessary, by overcoming the tactile pressure points.

Claims (15)

Vorrichtung (10) zum Steuern von Maschinen und Fahrzeugen, insbesondere Baumaschinen, Krane, landwirtschaftlichen Fahrzeugen und dergleichen, mit einem Bedienhebel (11) und mit einer ortsfesten Konsole (12), gegenüber der der Bedienhebel (11) um mindestens zwei sich schneidende Achsen (18, 19) schwenkbar ist, an denen sich kreuzende Bügel (21, 22) gehalten sind, deren Längsschlitze (25, 26) der Bedienhebel (11) umschließen und die dadurch mit ausgelenkt werden, dadurch gekennzeichnet, dass dem Bedienhebel (11) für vorzugsweise jede hin- und hergehende Bewegungsrichtung eine mechanische Einrichtung (36, 37) mit taktil erfassbaren Kraftveränderungspunkten oder -bereichen zugeordnet ist, die zwischen der Konsole (12) und den sich kreuzenden Bügeln (21, 22) oberhalb der Einbauebene (13) der Konsole (12) angeordnet ist, und dass die sich schneidenden Achsen (18, 19) für die sich kreuzenden Bügel (21, 22) unterhalb der Einbauebene (13) der Konsole (12) verlaufen.Device (10) for controlling machines and vehicles, in particular construction machines, cranes, agricultural vehicles and the like, with an operating lever (11) and with a stationary console (12), opposite which the operating lever (11) is arranged around at least two intersecting axes (11). 18, 19) is pivotable, at which intersecting brackets (21, 22) are held, the longitudinal slots (25, 26) of the operating lever (11) enclose and are thereby deflected with, characterized in that the operating lever (11) for Preferably, each reciprocating movement direction is associated with a mechanical device (36, 37) with tactile detectable force change points or areas between the bracket (12) and the intersecting brackets (21, 22) above the mounting plane (13) of the console (12) is arranged, and that the intersecting axes (18, 19) for the intersecting brackets (21, 22) below the mounting plane (13) of the bracket (12) extend. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die mechanische Einrichtung (36, 37) jeweils an einem Seitenbereich des betreffenden Bügels (21, 22) angeordnet ist.Apparatus according to claim 1, characterized in that the mechanical means (36, 37) each on a side region of the respective bracket (21, 22) is arranged. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, dass der Bügel (21, 22) U-förmig ist und die mechanische Einrichtung (36, 37) am Übergang zwischen dem mit dem Schlitz (25, 26) versehenen gebogenen und den mit der Achse (18, 19) endseitig verbundenen ebenen Schenkeln (23, 24; 27 bis 30) vorgesehen ist.Apparatus according to claim 2, characterized in that the bracket (21, 22) is U-shaped and the mechanical means (36, 37) at the transition between the curved legs provided with the slot (25, 26) and the plane legs (23, 24, 27 to 30) connected at the ends (18, 19) are provided. Vorrichtung nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Rasteinrichtung (36, 37) ein am Bügel (21, 22) befestigtes Bahnelement (38, 39) und ein an der ortsfesten Konsole (12) befestigtes Druckelement (50) aufweist, das gegen das Bahnelement (38, 39) drückt.Device according to at least one of the preceding claims, characterized in that the latching device (36, 37) has a web element (38, 39) fastened to the bracket (21, 22) and a pressure element (50) fastened to the stationary bracket (12), which presses against the web element (38, 39). Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass das Bahnelement (38, 39) an seiner dem Druckelement (50) zugewandten Unterseite mit einer um die betreffende Schwenkachse (18, 19) kreisbogenabschnittförmig verlaufende und mit den Kraftaufwand verändernde Kontur (46) versehene Bahn (45) ausgestattet ist.Apparatus according to claim 4, characterized in that the web element (38, 39) on its the pressure element (50) facing bottom with a about the respective pivot axis (18, 19) circular arc section running and with the force changing contour (46) provided path ( 45). Vorrichtung nach Anspruch 4 oder 5, dadurch gekennzeichnet, dass das Bahnelement (38, 39) am Bügel (21, 22) lösbar bzw. austauschbar gehalten ist.Apparatus according to claim 4 or 5, characterized in that the web element (38, 39) on the bracket (21, 22) is releasably or exchangeably held. Vorrichtung nach Anspruch 5 oder Anspruch 6, dadurch gekennzeichnet, dass die den Kraftaufwand verändernde Kontur (46) in beiden relativen Bewegungsrichtungen zwischen Bahn (45) und Druckelement (50) gleich oder unterschiedlich ausgebildet ist.Apparatus according to claim 5 or claim 6, characterized in that the force-changing contour (46) in both relative directions of movement between the web (45) and pressure element (50) is identical or different. Vorrichtung nach mindestens einem der Ansprüche 4 bis 7, dadurch gekennzeichnet, dass das Druckelement (50) mit einem federbelastet gegen die Bahn (45) vorgespannten Stößel (53), beispielsweise in Form einer Kugel oder rolle versehen ist.Device according to at least one of claims 4 to 7, characterized in that the pressure element (50) is provided with a spring-loaded against the web (45) biased plunger (53), for example in the form of a ball or roller. Vorrichtung nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Bügel (21, 22) beidseitig in eine sich nach unterhalb der Einbauebene (13) erstreckende Tasche (33, 34) der Konsole (12) eintaucht.Device according to at least one of the preceding claims, characterized in that the bracket (21, 22) on both sides in a below the mounting plane (13) extending pocket (33, 34) of the console (12) is immersed. Vorrichtung nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Bedienhebel (11) in einem Bereich zwischen Konsole (12) und den sich kreuzenden Bügeln (21, 22) ein Anschlagelement (58) durchdringt, dem in allen vier Bewegungsrichtungen ein ortsfestes Bewegungsbegrenzungselement (59) an der Oberseite der Konsole (12) zugeordnet ist.Device according to at least one of the preceding claims, characterized in that the operating lever (11) in a region between the bracket (12) and the intersecting brackets (21, 22) penetrates a stop element (58), in all four directions of movement a stationary movement limiting element (59) is associated with the top of the console (12). Vorrichtung nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein oder beide Bügel (21, 22) an einer oder beiden Längsseiten mit einer Verstärkung versehen ist/sind.Device according to at least one of the preceding claims, characterized in that one or both brackets (21, 22) is / are provided on one or both longitudinal sides with a reinforcement. Vorrichtung nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass auf dem Bedienhebel (11) eine Gleitbuchse (57) sitzt, die in den Längsschlitzen (25, 26) der Bügel (21, 22) gleitet, und dadurch die Reibung und das Geräusch zwischen dem Bedienhebel (11) und den beiden Bügeln (21, 22) verringert.Device according to at least one of the preceding claims, characterized in that on the operating lever (11) a sliding bush (57) sits in the longitudinal slots (25, 26) of the bracket (21, 22) slides, thereby reducing the friction and noise between the operating lever (11) and the two brackets (21, 22). Vorrichtung nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Bedienhebel (11) in einem Bereich unterhalb der Einbauebene (13) der Konsole (12) kardanisch aufgehängt ist, wobei die in einer gemeinsamen Ebene sich kreuzenden Achsen (18, 19) der kardanischen Aufhängung (15) in derselben Ebene wie die sich schneidenden Achsen (18, 19) der sich kreuzenden Bügeln (21, 22) befinden.Device according to at least one of the preceding claims, characterized in that the operating lever (11) is gimballed in a region below the installation plane (13) of the bracket (12), the axes (18, 19) crossing in a common plane gimbal (15) in the same plane as the intersecting axes (18, 19) of the intersecting brackets (21, 22) are located. Vorrichtung nach Anspruch 13, dadurch gekennzeichnet, dass die senkrecht zueinander schwenkbaren Elemente (61, 63) der kardanischen Aufhängung (15) in ihren Bewegungen federbelastet rückführbar sind.Apparatus according to claim 13, characterized in that the elements (61, 63) of the cardan suspension (15) which are pivotable perpendicular to one another are spring-loaded in their movements. Vorrichtung nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine Sensorik für eine Auswerteeinheit am unteren inneren Ende des Bedienhebels (11) im Konsolengehäuse (14) angeordnet ist.Device according to at least one of the preceding claims, characterized in that a sensor for an evaluation unit at the lower inner end of the operating lever (11) in the console housing (14) is arranged.
EP09014321A 2008-12-15 2009-11-17 Device for controlling machines and vehicles Not-in-force EP2196888B1 (en)

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EP2196888B1 (en) 2012-04-04
DE102008063238A1 (en) 2010-06-17
EP2196888A3 (en) 2011-01-12
US20100147099A1 (en) 2010-06-17
ATE552548T1 (en) 2012-04-15

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