EP2196888A2 - Dispositif de commande de machines et de véhicules - Google Patents

Dispositif de commande de machines et de véhicules Download PDF

Info

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
Other languages
German (de)
English (en)
Other versions
EP2196888A3 (fr
EP2196888B1 (fr
Inventor
Rainer Maurer
Christian Bartenwerfer
Henning Koschke
Michael Stoffers
Thomas Göbelt
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.)
Deltatech Controls USA LLC
Original Assignee
CoActive Technologies LLC
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 CoActive Technologies LLC filed Critical CoActive Technologies LLC
Publication of EP2196888A2 publication Critical patent/EP2196888A2/fr
Publication of EP2196888A3 publication Critical patent/EP2196888A3/fr
Application granted granted Critical
Publication of EP2196888B1 publication Critical patent/EP2196888B1/fr
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
    • 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

Definitions

  • 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.
  • the operating lever is reset by springs of various characteristics in a defined zero position.
  • 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.
  • 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.
  • 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.
  • the device or its console housing can be arranged sunk in a simple manner in a component.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Jigs For Machine Tools (AREA)
EP09014321A 2008-12-15 2009-11-17 Dispositif de commande de machines et de véhicules Not-in-force EP2196888B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008063238A DE102008063238A1 (de) 2008-12-15 2008-12-15 Vorrichtung zum Steuern von Maschinen und Fahrzeugen

Publications (3)

Publication Number Publication Date
EP2196888A2 true EP2196888A2 (fr) 2010-06-16
EP2196888A3 EP2196888A3 (fr) 2011-01-12
EP2196888B1 EP2196888B1 (fr) 2012-04-04

Family

ID=42025738

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09014321A Not-in-force EP2196888B1 (fr) 2008-12-15 2009-11-17 Dispositif de commande de machines et de véhicules

Country Status (4)

Country Link
US (1) US20100147099A1 (fr)
EP (1) EP2196888B1 (fr)
AT (1) ATE552548T1 (fr)
DE (1) DE102008063238A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105980744B (zh) 2013-11-29 2019-08-20 马夸特有限责任公司 致动器，特别用于机动车辆的致动器
CN112998625B (zh) * 2021-02-08 2022-12-09 首都医科大学附属北京天坛医院 内镜适配装置

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10345397A1 (de) 2002-10-03 2004-04-15 Parker Hannifin Ab Steuerung und Verfahren zum Steuern eines Steuerobjekts

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JP3698586B2 (ja) * 1999-04-22 2005-09-21 アルプス電気株式会社 多方向入力装置
JP3850619B2 (ja) * 1999-07-14 2006-11-29 アルプス電気株式会社 車載用入力装置
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DE10345397A1 (de) 2002-10-03 2004-04-15 Parker Hannifin Ab Steuerung und Verfahren zum Steuern eines Steuerobjekts

Also Published As

Publication number Publication date
EP2196888A3 (fr) 2011-01-12
ATE552548T1 (de) 2012-04-15
DE102008063238A1 (de) 2010-06-17
US20100147099A1 (en) 2010-06-17
EP2196888B1 (fr) 2012-04-04

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