EP2212755B1 - Levier de commande pour faire fonctionner une machine, procédé pour faire fonctionner une machine par l'intermédiaire d'un levier de commande et utilisation du levier de commande - Google Patents

Levier de commande pour faire fonctionner une machine, procédé pour faire fonctionner une machine par l'intermédiaire d'un levier de commande et utilisation du levier de commande Download PDF

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Publication number
EP2212755B1
EP2212755B1 EP08873360.5A EP08873360A EP2212755B1 EP 2212755 B1 EP2212755 B1 EP 2212755B1 EP 08873360 A EP08873360 A EP 08873360A EP 2212755 B1 EP2212755 B1 EP 2212755B1
Authority
EP
European Patent Office
Prior art keywords
control
machine
control lever
displaceable
grip
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.)
Active
Application number
EP08873360.5A
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German (de)
English (en)
Other versions
EP2212755A4 (fr
EP2212755A1 (fr
Inventor
Kenth Bengtsson
Lotta Grahn
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.)
SVAB HYDRAULIK AB
Original Assignee
SVAB HYDRAULIK AB
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 SVAB HYDRAULIK AB filed Critical SVAB HYDRAULIK AB
Priority claimed from PCT/SE2008/000547 external-priority patent/WO2009048364A1/fr
Publication of EP2212755A1 publication Critical patent/EP2212755A1/fr
Publication of EP2212755A4 publication Critical patent/EP2212755A4/fr
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Publication of EP2212755B1 publication Critical patent/EP2212755B1/fr
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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
    • 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
    • G05G9/04785—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 being the operating part of a switch arrangement
    • G05G9/04788—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 being the operating part of a switch arrangement comprising additional control elements
    • 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 concerns a control lever for operating a construction work vehicle/machine such as, for example, an excavator.
  • the control lever can be most directly likened to a joystick that has proportional operation in two directions.
  • the invention concerns a control lever that includes a number of controls arranged so that they can be operated by an operator's fingers.
  • the invention concerns a control lever that includes displaceable/rotary controls with which a machine's movements can be controlled in proportion to the movement of the relevant control.
  • the present invention also relates to machines that are operated, in one way or another, by a control lever.
  • the control lever can have a gripping section (a grip) that has various contacts for starting various machine processes. This, for example, is the case in vehicles where a number of functions have been transferred to buttons on the steering wheel.
  • the invention relates more specifically to various types of construction machines, which may be mobile, static or permanent. If, for example, such a machine has a control lever with a grip arranged to receive a human hand, said grip can be provided with various actuating controls that can be actuated by the digits of the human hand.
  • a construction work vehicle/machine such as, for example, an excavator comprises an undercarriage, a superstructure and an equipment unit.
  • the undercarriage is usually equipped with wheels or caterpillar tracks. It may also include other operable units such as, for example, a bulldozer blade or, to increase stability, lowerable feet.
  • the superstructure which is freely rotatable around an axis that is perpendicular to the plane of the undercarriage, includes an engine section and a cab section.
  • the superstructure also supports the equipment unit or the digging equipment that carries out the digging itself.
  • the equipment unit usually includes two links (members) - the boom and the stick - and a tool mount.
  • the boom, the stick and the tool mount are rotatable around their separate axes, which are horizontal to the plane of the undercarriage.
  • the inner end of the boom is journalled in the superstructure.
  • the boom supports the stick, which, at its outer end, supports the tool mount.
  • the tool mount carries a tool such as, for example, a bucket. All parts of the equipment unit and the undercarriage are usually operated by hydraulics, which may be electronically controlled.
  • a tilt rotator is an intermediary unit that enables rotation and tilting of the tool.
  • the tilt rotator is operated by hydraulics that can be controlled by one or more control levers in the cab.
  • a tilt rotator is a powerful aid that, besides simplifying and streamlining operations, also improves profitability. Furthermore, it contributes to safer workplaces.
  • the tilt rotator has become a self-evident choice.
  • An integrated control system gives, amongst other things, unlimited rotation and tilting up to 45° in two directions. Directly from the cab, control of the tilt rotator and the various work operations can be exercised both simultaneously and rapidly.
  • a tilt rotator can be likened to a wrist between the excavator and the bucket (tool) itself.
  • a construction work vehicle/machine such as, for example, an excavator is usually operated using feet and hands.
  • control levers or joysticks with which the machine is operated
  • control levers may also include buttons or displaceable controls such as rotary wheels.
  • certain difficulties have thus far emerged as regards using more digits of the human hand than the thumb only.
  • US 2005/0034549 Braud , a device for interactive control using an operator's hand is previously known.
  • a first object of the device is avoiding cramp spasms in the operator's fingers.
  • the known device comprises a control lever with a saddle-shaped upper part.
  • the saddle-shaped upper part has three saucer-shaped zones in which the operating controls are arranged.
  • the three zones are arranged for individual manipulation by the thumb, the index finger and the middle finger.
  • Each zone can be provided with both buttons and displaceable controls such as rotary wheels.
  • these controls are arranged so that they are displaceable in the finger's or the thumb's longitudinal orientation.
  • EP 1 353 257 A1 discloses a control lever, a related method for controlling a first, second and third movement of a machine using a control lever, a use of said control lever and a use of said method.
  • the object of the present invention is to seek ways to provide a method and a device to operate a construction work vehicle/machine, said device being restful for the operator and giving a large number of operating possibilities.
  • control lever characterized by the features in the independent claim 1; or by a method characterized by the steps in the independent claim 5.
  • the device comprises a control handle with an ergonomically designed grip that provides the hand of the operator to enclose the control lever sideways.
  • the grip has a front side facing the operator and a rear side turned away from the operator.
  • the front side comprises control means manipulable by the thumb of the hand.
  • the rear side comprises control means manipulable by the fingers of the hand.
  • the front side comprises a plurality of manipulable buttons and a front displaceable control means.
  • the rear side comprises a plurality of manipulable buttons and a rear displaceable control means.
  • the direction of displacement of both the displaceable control means is arranged acrossing the direction of the control lever. All the control means influence electrical or electronic functions. Such electrical functions may relate to the actuation of a hydraulic valve.
  • the front displaceable control is manipulable by the thumb in a direction across the thumb's longitudinal direction.
  • the rear displaceable control is manipulable by a finger in a direction parallel with the finger's longitudinal direction.
  • the controlling finger is any of the hand's digits other than the thumb.
  • the control lever's grip can be firmly enclosed in the hand while still leaving the thumb and a number of fingers free for manipulating the controls.
  • the thumb and any finger can thus, simultaneously and individually, manipulate its individual displaceable control while another free finger can control one or more buttons on the rear face.
  • the displaceable controls include various electrical controls (e.g. sliders, rotary wheels, etc.) that can be displaced and which may or may not have automatic return. Each control generates an analogue or digital signal that is dependent on the control's displacement. In one design, the displaceable control could be a rotary wheel with automatic spring-back to a zero position.
  • the buttons include a variety of switching devices with two or more positions, e.g. spring-return, two-position switches, toggle switches, etc.
  • the grip is designed to be used by the digits of the human hand. In this way, a grip that can be actuated via as many different controls as possible is achieved. This is a great advantage.
  • the grip can be separate and can be connected to various controls. It can also be shaped for the end of an operating lever.
  • the grip is intended to interact with a construction machine that can have various machine mechanisms of, for example, both the hydraulic and the electrical type.
  • An ordinary excavator has mechanical equipment for raising and lowering a digging bucket. As a rule, these machine movements are effected hydraulically, but can also conceivably be effected electronically.
  • the digging bucket can be turned in various directions around an axis. This can also be effected electrically or hydraulically.
  • the operating lever can be in the cab of a construction machine and the lever's end can have a grip shaped as per the present application.
  • the grip can be made as an integral part of the operating lever, but it can also be made as a separate part and affixed at any suitable point whatsoever.
  • the idea embodied in the invention also includes the grip being composed of a number of parts that can be moulded in plastic.
  • An inner cavity in the grip is used to house the electronics needed for the control lever's functions and may also contain a microprocessor.
  • a control lever for operating a machine said control lever including an ergonomic grip configured to receive an operator's hand in such a way that the hand encloses the grip, the grip including a front face with a number of front controls for manipulation by the operator's thumb and a rear face with a number of rear controls for manipulation by the operator's other digits, one of said front controls comprising a control that is displaceable in a direction across the thumb's longitudinal direction and configured to control a first machine movement.
  • the rear controls include a switch which, when pressed by one of the operator's fingers, allows the front displaceable control to control a second machine movement.
  • one of the rear controls comprises a displaceable control.
  • the displaceable controls comprise rotary wheels with automatic return.
  • the object is met by a procedure for operating a machine via a control lever, said control lever including an ergonomic grip configured to receive an operator's hand in such a way that the hand encloses the grip, the grip including a front face with a number of front controls for manipulation by the operator's thumb and a rear face with a number of rear controls for manipulation by the operator's other digits, there being a front displaceable control on the front face, said front displaceable control being displaceable in a direction across the thumb's longitudinal direction, a first machine movement being effected by manipulation of the front displaceable control on the grip's front face.
  • the method includes a second machine movement being effected by manipulation of the front displaceable control while a first rear control is pressed on the grip's rear face. In another design of the invention, the method includes a fourth machine movement being effected by manipulation of the front displaceable control while a second rear control is pressed on the grip's rear face.
  • Figure 1 shows an operating handle for operating construction machines, e.g. excavators.
  • operators want to control many functions simultaneously and to control these functions proportionally (steplessly).
  • the currently available solutions are based on using, for example, operating levers that can be manipulated in the X and Y axes.
  • the present design is equipped with actuating controls that can be pressed or rotated.
  • the example shown here has two rotatable and a number of depressible actuating controls.
  • the actuating controls can be varied and combined in many different ways.
  • the handle also includes circuit boards with, amongst other things, cable connections. This enables the sending of command signals to a control system, which may preferably be electrical or electrohydraulic.
  • the device as per figure 1 includes a grip 1 with a bottom section 2 configured for connection to a control lever or an operating handle (neither being shown here) as per the invention.
  • the grip includes a front face 3 and a rear face 9 which, when combined, form the grip.
  • the front face has a number of controls in the form of push-buttons 4, 5, 6 and 7 and a front displaceable control in the form of a rotary wheel 8.
  • the front face's controls are arranged for manipulation by the operator's thumb.
  • the rear face has a number of controls in the form of a first push-button 10 and a second push-button 11 as well as a rear displaceable control in the form of a rotary wheel 12.
  • the grip as per the invention has an ergonomic design and the example shown here is configured for a right-handed operator.
  • the upper part of the front face 3 is twisted anticlockwise.
  • the lower part of the rear face 9 is twisted clockwise. Because the hand grips around and encloses the grip, the thumb and a number of fingers are left free to manipulate the controls even though the hand is simultaneously manipulating the control lever.
  • the front displaceable control is arranged for manipulation by the operator's thumb, the direction of control being across the thumb's longitudinal direction.
  • the rear displaceable control is arranged for manipulation by one of the operator's fingers (suitably the index finger), the direction of control being along the finger's longitudinal direction.
  • the front rotary wheel controls, for example, a first movement of the construction work vehicle/machine.
  • a finger pressing for example, the first control button on the rear part
  • the function of the front rotary wheel is changed so that it now controls a second movement of the construction work vehicle/machine.
  • the second control button on the rear part it is similarly possible to enable the front rotary wheel to control a fourth movement.
  • Each control is configured to generate an electrical signal to a processor that controls the hydraulic systems, pistons or motors used to operate the construction work vehicle/machine.
  • the signals can be either analogue or digital.
  • Each displaceable control generates a signal that is proportional to the displacement of the control.
  • the displaceable controls are usually rotary wheels that return automatically to a zero position.
  • control lever also includes it being possible for the control lever to be used for all types of machines, e.g. aircraft, boats and similar.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Operation Control Of Excavators (AREA)

Claims (8)

  1. Levier de commande pour faire fonctionner une machine, ledit levier de commande comprend une poignée ergonomique (1) configurée pour recevoir une main d'un opérateur de telle manière que la main enserre la poignée, la poignée incluant une partie avant (3) présentant une pluralité de moyens de commande avant (4, 5, 6, 7 et 8) manipulables par le pouce de l'opérateur, et une partie arrière (9) dont le moyen de commande avant comprend un premier moyen de commande déplaçable (8) pouvant être déplacé dans une direction latérale à la direction longitudinale du pouce et configuré pour commander un premier mouvement de la machine, dans lequel la partie arrière (9) comprend une pluralité de moyens de commande arrière (10, 11 et 12) manipulables par les autres doigts de l'opérateur, dans lequel un premier moyen de commande arrière comprend un premier commutateur (10) qui, quand il est pressé, permet au premier moyen de commande déplaçable (8) de commander un deuxième mouvement de la machine, et un second moyen de commande déplaçable (12) pouvant être déplacé dans une direction parallèle à la direction longitudinale du doigt qui le manipule, et configuré pour commander un troisième mouvement de la machine simultanément avec le premier ou le deuxième mouvement de la machine.
  2. Levier de commande selon la revendication 1, dans lequel un second moyen de commande arrière comprend un second commutateur (11) qui, quand il est pressé par un des doigts de l'opérateur, permet au premier moyen de commande déplaçable (8) de commander un quatrième mouvement de la machine.
  3. Levier de commande selon la revendication 1 ou 2, dans lequel le moyen de commande déplaçable comprend des roues rotatives (8 et 12) à retour automatique.
  4. Levier de commande selon l'une quelconque des revendications 1 à 3, dans lequel la poignée est composée d'un certain nombre de parties et comprend une cavité interne contenant de l'électronique et un microprocesseur nécessaires au fonctionnement du levier de commande.
  5. Procédé de commande d'un premier, deuxième et troisième mouvement d'une machine en utilisant un levier de commande selon l'une quelconque des revendications 1 à 4.
  6. Procédé selon la revendication 5, dans lequel un quatrième mouvement de la machine est effectué par la manipulation du moyen de commande avant déplaçable (8), mais pendant qu'une seconde commande arrière (11) est pressée sur la partie arrière (9) de la poignée.
  7. Utilisation d'un levier de commande selon l'une quelconque des revendications 1 à 4, pour le fonctionnement d'un véhicule/d'une machine de travail de construction ou d'une excavatrice.
  8. Utilisation d'un procédé selon l'une quelconque des revendications 5 à 6, pour le fonctionnement d'un véhicule/d'une machine de travail de construction ou d'une excavatrice.
EP08873360.5A 2007-10-08 2008-10-07 Levier de commande pour faire fonctionner une machine, procédé pour faire fonctionner une machine par l'intermédiaire d'un levier de commande et utilisation du levier de commande Active EP2212755B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0702271 2007-10-08
PCT/SE2008/000547 WO2009048364A1 (fr) 2007-10-08 2008-10-07 Levier de commande pour faire fonctionner une machine, procédé pour faire fonctionner une machine par l'intermédiaire d'un levier de commande et utilisation du levier de commande

Publications (3)

Publication Number Publication Date
EP2212755A1 EP2212755A1 (fr) 2010-08-04
EP2212755A4 EP2212755A4 (fr) 2014-01-15
EP2212755B1 true EP2212755B1 (fr) 2023-05-10

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EP08873360.5A Active EP2212755B1 (fr) 2007-10-08 2008-10-07 Levier de commande pour faire fonctionner une machine, procédé pour faire fonctionner une machine par l'intermédiaire d'un levier de commande et utilisation du levier de commande

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202015103509U1 (de) * 2015-07-03 2015-07-21 MULAG FAHRZEUGWERK Heinz Wössner GmbH & Co. KG Steuerelement

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
DE10217039B3 (de) * 2002-04-12 2004-02-26 Fernsteuergeräte Kurt Oelsch GmbH Steuergriff mit Betätigungseinheiten

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EP2212755A4 (fr) 2014-01-15
EP2212755A1 (fr) 2010-08-04

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