EP2219094A2 - Control device for a mobile work machine, in particular an industrial truck - Google Patents

Control device for a mobile work machine, in particular an industrial truck Download PDF

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Publication number
EP2219094A2
EP2219094A2 EP20100000412 EP10000412A EP2219094A2 EP 2219094 A2 EP2219094 A2 EP 2219094A2 EP 20100000412 EP20100000412 EP 20100000412 EP 10000412 A EP10000412 A EP 10000412A EP 2219094 A2 EP2219094 A2 EP 2219094A2
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EP
European Patent Office
Prior art keywords
control device
operating lever
magnetic sensor
sensor element
magnet
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Granted
Application number
EP20100000412
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German (de)
French (fr)
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EP2219094B1 (en
EP2219094A3 (en
Inventor
Thomas Köbeler
Wilfried Marner
Burkhard Schriefer
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Linde Material Handling GmbH
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Linde Material Handling GmbH
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Publication of EP2219094A3 publication Critical patent/EP2219094A3/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • 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

Definitions

  • the invention relates to a mobile work machine, in particular a control device for an industrial truck. More particularly, the present invention relates to a control device having a movable operating lever to which a magnet is attached, and a magnetic sensor element for non-contact detection of the movement of the operating lever.
  • Control devices are known with an operating lever which can be actuated about an axis or about two axes, and which are used in mobile machines, in particular for industrial trucks.
  • a joystick control devices functions of a working hydraulics, such as a mast or a fork, are preferably controlled upon actuation of the operating lever.
  • joysticks that detect the movements of the control lever with potentiometers.
  • contactless joysticks are preferably used, which detect the movement of the lever provided with a magnet via Hall sensors.
  • control devices can react sensitively to external magnetic fields.
  • the control device of a mobile work machine is a safety-relevant component. In the basic or zero position, in no case may incorrect output signals be sent by the control device.
  • the mobile work machine would otherwise perform actions, such as lifting or lowering the fork or tilting a mast of a truck to which a driver would have no influence.
  • changes in the behavior of the control device due to corruption of the output signal are generally to be avoided, since this can lead to malfunctions of the work machine.
  • One approach to this end is to measure external magnetic fields in a control device with a contactless, Hall sensor-based detection of the movement of the operating lever with additional measuring devices and to switch off the control device when such magnetic fields occur.
  • Another approach to avoiding this problem is to place the useful magnet close to the Hall sensor.
  • the Hall sensor mainly measures the signal from the magnet on the operating lever and the influence of disturbing magnetic fields is reduced.
  • From the DE 10 2004 006 166 A1 is a control member with an operating lever and a contactless sensor operatively connected therewith known in which the sensor is designed as a the deflection of the operating lever detecting magnetoresistive sensor.
  • a control member with a control lever which is connected to a bearing ball with integrated permanent magnet, wherein the poles of the permanent magnet are arranged vertically one above the other and when Deflection of the operating lever of the permanent magnet is rotated together with the bearing ball.
  • At least one non-contact sensor for detecting a deflection of the operating lever by measuring the orientation of the permanent magnet is present and the sensor is arranged vertically below the bearing ball and immediately adjacent thereto.
  • the object is achieved in that in a control device for a truck with a movable operating lever to which a magnet is attached, and arranged with a magnetic sensor element for detecting the movement and / or position of the operating lever, the region of the operating lever on which the magnet is and the magnetic sensor element is completely enclosed with a shield made of highly permeable material except for an opening for the implementation of the operating lever.
  • control device is insensitive to external static and low-frequency magnetic fields of medium strength, as they can occur in the working environment of industrial trucks in foundries.
  • the output signals of the control device change only minimally and the safe function remains ensured despite the external magnetic field. This results in a good shield against external magnetic fields.
  • the magnetic sensor element is a Hall sensor. As a result, a low-cost magnetic sensor can be realized.
  • the high permeability material is a nickel-iron alloy with at least 45%, in particular at least 75% nickel content.
  • the magnet of the operating lever is designed so that the magnetic flux density in the region of the magnetic sensor element is approximately 70 mT.
  • the shield is formed in cuboid shape.
  • the shield can be square in cross-section perpendicular to the operating lever and the magnetic sensor element can be arranged in the region of the center of the cuboid shape.
  • the magnetic field of the magnet in the region of the magnetic sensor element is least influenced by the shield itself and the behavior remains linearly as desired during a deflection. In particular, this is the case in the basic position or zero position, in which any influence by external magnetic fields should be avoided. All other positions of the control device can only be achieved under the control of an operator who can take corrective action at any time.
  • the magnetic sensor element to the magnet of the operating lever in a neutral position at a distance b and the magnetic sensor element to the top of the cuboid shape on which the operating lever is arranged, a distance e of two to six times the value of b.
  • the magnetic sensor element to the bottom of the cuboid shape on a distance d of four to eight times the value of b.
  • the magnetic sensor element to the side surfaces of the cuboid shape has a distance c of four to eight times the value of b.
  • the operating lever in the implementation of the cuboid shape on a ball through which the operating lever is mounted.
  • the shield can be brought up to the ball surface and there is no or only a small gap in the shield.
  • edges and corners of the cuboid shape are rounded.
  • edges and corners of the cuboid shape having a radius between 1 and 10 mm, preferably 6 mm, rounded at an edge length a in the range of 30 to 40 mm, in particular of 35.5 mm, and a wall thickness of the shield in the range of 0.5 to 2.5 mm, in particular of 1 mm ..
  • the Fig. 1 schematically shows the essential elements of a control device according to the invention in the vertical cross section.
  • a shield 6 made of a highly permeable material surrounds the area of the ball 2 with the magnet 4 and the magnetic sensor 5.
  • the shield 6 has a separation point 7, which divides the shield 6 into an upper and a lower part and allows the assembly.
  • the Fig. 2 schematically shows the control device of the invention Fig. 1 in horizontal cross-section.
  • the shield 6 is of square shape and the magnetic sensor 5 in the region of the center of the square.
  • the rounded edges of the cuboid shape have a radius r of 6 mm and the entire Outside edge length Edge length is 35.5 mm with a wall thickness of the shield 6 of 1 mm.
  • the magnetic sensor 5 is spaced from the top of the shield 6 by the distance e, preferably 10.4 mm, and from the underside of the shield 6 by the distance d, preferably 14 mm.
  • the distance c of the magnetic sensor 5 to the side surfaces of the shield is preferably about 17 mm.
  • the shield 6 can be designed with these dimensions e.g. made of Permenorm ® and as a magnetic sensor can be about a Melexis MLX90333 sensor chip used.
  • Fig. 3 shows the control device of the invention Fig. 1 in vertical cross-section.
  • the operating lever 1 with the ball 2 and the magnet 4 is disposed above the magnetic sensor 5.
  • the shield 6 of high-permeability material encloses the area of the ball 2 with the magnet 4 and the magnetic sensor 5 and is mounted within a housing on which a bellows 8 is arranged, which here as well as the operating lever 1 is only partially shown.
  • the magnetic sensor 5 is optionally with a carrier board 11. protected in a potting compound disposed within the shield 6.
  • Connecting lines 9 lead out of the shield 6 out to a connector 10.
  • the shield 6 encloses the region of the operating lever 1, on which the magnet 4 is arranged, and the magnetic sensor element 5 except for a region of an opening for the passage of the operating lever 1.
  • the area of the operating lever 1 is substantially enclosed by the shield 6, but has a circumferential opening at the separation point 7, in order to allow mounting, and further required feedthroughs, for example for the connection lines.
  • the sensor device according to the invention allows small dimensions and small distances between the control levers of several control devices. This results in advantageous symmetrical characteristics. Also, the use of industrial trucks in foundries is possible, but also in construction machinery, cranes and agricultural or forestry machinery.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The device has a movable control lever (1) with a region at which a magnet (4) is arranged and fastened. A magnet sensor element (5) i.e. Hall sensor, detects the movement and/or position of the control lever. The magnet sensor element is enclosed with a screen (6) made of high-permeable material upto a region of an opening for holding the control lever. The high-permeable material is Permenorm(RTM: Nickel iron alloy) consisting of 75 percentage of nickel. The screen is formed in the right parallelepiped shape.

Description

Die Erfindung betrifft eine mobile Arbeitsmaschine, insbesondere eine Steuerungsvorrichtung für ein Flurförderzeug. Vor allem betrifft die vorliegende Erfindung eine Steuervorrichtung mit einem bewegbaren Bedienhebel, an dem ein Magnet befestigt ist, und einem Magnetsensorelement zur berührungslosen Erfassung der Bewegung des Bedienhebels.The invention relates to a mobile work machine, in particular a control device for an industrial truck. More particularly, the present invention relates to a control device having a movable operating lever to which a magnet is attached, and a magnetic sensor element for non-contact detection of the movement of the operating lever.

Bekannt sind Steuervorrichtungen mit einem Bedienhebel, der um eine Achse oder um zwei Achsen betätigt werden kann, und die bei mobilen Arbeitsmaschinen, insbesondere bei Flurförderzeugen zum Einsatz kommen. Durch solche auch als Joystick bekannte Steuervorrichtungen werden bei Betätigung des Bedienhebels bevorzugt Funktionen einer Arbeitshydraulik, beispielsweise eines Hubgerüsts oder einer Lastgabel, gesteuert.Control devices are known with an operating lever which can be actuated about an axis or about two axes, and which are used in mobile machines, in particular for industrial trucks. By such known as a joystick control devices functions of a working hydraulics, such as a mast or a fork, are preferably controlled upon actuation of the operating lever.

Bekannt sind dabei Ausführungen von Joysticks, die die Bewegungen des Bedienhebels mit Potentiometern erfassen. Da diese jedoch verschleißen können, kommen bevorzugt berührungslose Joysticks zum Einsatz, die über Hallsensoren die Bewegung des mit einem Magneten versehenen Bedienhebels erfassen.Known here are designs of joysticks that detect the movements of the control lever with potentiometers. However, as these can wear out, contactless joysticks are preferably used, which detect the movement of the lever provided with a magnet via Hall sensors.

Nachteilig an solchen bekannten Steuervorrichtungen ist, dass diese empfindlich auf äußere Magnetfelder reagieren können. Die Steuerungsvorrichtung einer mobilen Arbeitsmaschine ist jedoch ein sicherheitsrelevantes Bauteil. In Grund- oder Nullstellung dürfen in keinem Fall falsche Ausgangssignale von der Steuerungsvorrichtung gesendet werden. Die mobile Arbeitsmaschine würde ansonsten Aktionen durchführen, z.B. ein Heben oder Senken der Lastgabel oder ein Neigen eines Hubgerüstes eines Flurförderzeuges, auf die ein Fahrer keinen Einfluss mehr hätte. Auch sind Veränderungen des Verhaltens der Steuerungsvorrichtung durch eine Verfälschung des Ausgangssignals allgemein zu vermeiden, da dies zu Fehlfunktionen der Arbeitsmaschine führen kann.A disadvantage of such known control devices is that they can react sensitively to external magnetic fields. However, the control device of a mobile work machine is a safety-relevant component. In the basic or zero position, in no case may incorrect output signals be sent by the control device. The mobile work machine would otherwise perform actions, such as lifting or lowering the fork or tilting a mast of a truck to which a driver would have no influence. Also, changes in the behavior of the control device due to corruption of the output signal are generally to be avoided, since this can lead to malfunctions of the work machine.

Ein Lösungsansatz hierzu ist es, bei einer Steuervorrichtung mit einer berührungslosen, Hallsensor-basierten Erfassung der Bewegung des Bedienhebels mit zusätzlichen Messeinrichtungen externe Magnetfelder zu messen und bei Auftreten solcher Magnetfelder die Steuervorrichtung abzuschalten.One approach to this end is to measure external magnetic fields in a control device with a contactless, Hall sensor-based detection of the movement of the operating lever with additional measuring devices and to switch off the control device when such magnetic fields occur.

Diese Lösung ist jedoch gerade für als Flurförderzeuge ausgebildete mobile Arbeitsmaschinen nur bedingt geeignet. Bei Verwendungen von Steuerungsvorrichtungen in der Art eines Joysticks, wie etwa bei Baumaschinen, landwirtschaftlichen Maschinen oder Kränen treten externe Magnetfelder im Regelfall nicht auf, da diese Maschinen nicht in Bereichen mit hohen Magnetfeldern fahren oder betrieben werden. Flurförderzeuge, wie etwa Gabelstapler fahren jedoch oftmals in Bereichen, die hohen Magnetfeldern ausgesetzt sind, wie z.B. in Gießereien. Eine Abschaltung kann hier nicht erfolgen und würde die Benutzung des Flurförderzeugs insgesamt ausschließen.However, this solution is only suitable for trained as industrial trucks mobile machines only limited. When using joystick control devices such as construction machinery, agricultural machinery or cranes, external magnetic fields typically do not occur because these machines are not operated or operated in high magnetic field areas. However, industrial trucks, such as forklifts, often travel in areas exposed to high magnetic fields, e.g. in foundries. A shutdown can not be done here and would exclude the use of the truck altogether.

Ein weiterer Lösungsansatz, dieses Problem zu vermeiden, ist es, den Nutzmagnet nahe an dem Hallsensor anzuordnen. Dadurch misst der Hallsensor überwiegend das Signal des Magneten an dem Bedienhebel und der Einfluss von störenden Magnetfeldern wird verringert.Another approach to avoiding this problem is to place the useful magnet close to the Hall sensor. As a result, the Hall sensor mainly measures the signal from the magnet on the operating lever and the influence of disturbing magnetic fields is reduced.

Durch die Nähe des Magneten zu dem Hall-Sensor kann in dem Zwischenraum jedoch keine Dichtung vorgesehen werden, die den oberen und unteren Bereich des Joysticks trennt. Auch ist eine solche Positionierung nur bis zu einem gewissen Maß möglich, insbesondere müssen die Vorgaben der Charakteristik des benutzten Magneten und Hall-Sensors beachtet werden. Es darf nicht zu Fehlern in der Signalcharakteristik kommen, wie etwa unbeabsichtigtes Abweichen von einer linearen Kennlinie.However, due to the proximity of the magnet to the Hall sensor, no seal can be provided in the gap separating the upper and lower portions of the joystick. Also, such a positioning is possible only to a certain extent, in particular, the specifications of the characteristics of the used magnet and Hall sensor must be considered. It must not come to errors in the signal characteristic, such as unintentional deviation from a linear characteristic.

Aus der DE 10 2004 006 166 A1 ist ein Steuerorgan mit einem Bedienhebel und einem damit in Wirkverbindung stehenden berührungslosen Sensor bekannt, bei dem der Sensor als ein die Auslenkung des Bedienhebels erfassender magnetoresistiver Sensor ausgebildet ist.From the DE 10 2004 006 166 A1 is a control member with an operating lever and a contactless sensor operatively connected therewith known in which the sensor is designed as a the deflection of the operating lever detecting magnetoresistive sensor.

Aus der DE10 2006 037 526 A1 ist ein Steuerorgan mit einem Bedienhebel bekannt, der mit einer Lagerkugel mit integriertem Permanentmagnet verbunden ist, wobei die Pole des Permanentmagneten vertikal übereinander angeordnet sind und beim Auslenken des Bedienhebels der Permanentmagnet zusammen mit der Lagerkugel verdreht wird. Mindestens ein berührungsloser Sensor zur Erfassung einer Auslenkung des Bedienhebels durch Messung der Ausrichtung des Permanentmagneten ist vorhanden und der Sensor ist vertikal unterhalb der Lagerkugel und unmittelbar benachbart zu dieser angeordnet.
Beide aus dem Stand der Technik bekannten Steuerungsvorrichtungen weisen die bereits geschilderten Nachteile auf.From the DE10 2006 037 526 A1 is a control member with a control lever is known, which is connected to a bearing ball with integrated permanent magnet, wherein the poles of the permanent magnet are arranged vertically one above the other and when Deflection of the operating lever of the permanent magnet is rotated together with the bearing ball. At least one non-contact sensor for detecting a deflection of the operating lever by measuring the orientation of the permanent magnet is present and the sensor is arranged vertically below the bearing ball and immediately adjacent thereto.
Both known from the prior art control devices have the disadvantages already described.

Es ist daher Aufgabe der vorliegenden Erfindung, eine Steuerungsvorrichtung für ein Flurförderzeug mit einer berührungslosen magnetischen Erfassung der Bewegungen bzw. der Stellung eines Bedienhebels zur Verfügung zu stellen, die durch äußere Magnetfelder nicht gestört wird.It is therefore an object of the present invention to provide a control device for a truck with a non-contact magnetic detection of the movements or the position of an operating lever, which is not disturbed by external magnetic fields.

Diese Aufgabe wird durch eine Steuerungsvorrichtung für ein Flurförderzeug mit den Merkmalen des unabhängigen Anspruchs 1 gelöst. Die Unteransprüche geben vorteilhafte Weiterbildungen an.This object is achieved by a control device for a truck with the features of independent claim 1. The dependent claims indicate advantageous developments.

Die Aufgabe wird erfindungsgemäß dadurch gelöst, dass bei einer Steuerungsvorrichtung für ein Flurförderzeug mit einem bewegbaren Bedienhebel, an dem ein Magnet befestigt ist, und mit einem Magnetsensorelement zur Erfassung der Bewegung und/oder Stellung des Bedienhebels, der Bereich des Bedienhebels an dem der Magnet angeordnet ist und das Magnetsensorelement bis auf eine Öffnung zur Durchführung des Bedienhebels vollständig mit einer Abschirmung aus hochpermeablem Material umschlossen ist.The object is achieved in that in a control device for a truck with a movable operating lever to which a magnet is attached, and arranged with a magnetic sensor element for detecting the movement and / or position of the operating lever, the region of the operating lever on which the magnet is and the magnetic sensor element is completely enclosed with a shield made of highly permeable material except for an opening for the implementation of the operating lever.

Dadurch ist die Steuerungsvorrichtung unempfindlich gegen äußere statische und niederfrequente Magnetfelder mittlerer Stärke, wie sie in der Arbeitsumgebung von Flurförderzeugen etwa in Gießereien auftreten können. Die Ausgangssignale der Steuerungsvorrichtung verändern sich nur minimal und die sichere Funktion bleibt weiterhin trotz äußerem Magnetfeld gewährleistet. Es ergibt sich eine gute Abschirmung gegen äußere Magnetfelder.As a result, the control device is insensitive to external static and low-frequency magnetic fields of medium strength, as they can occur in the working environment of industrial trucks in foundries. The output signals of the control device change only minimally and the safe function remains ensured despite the external magnetic field. This results in a good shield against external magnetic fields.

In günstiger Ausführung ist das Magnetsensorelement ein Hall-Sensor. Dadurch kann ein kostengünstiger Magnetsensor verwirklicht werden.In a favorable embodiment, the magnetic sensor element is a Hall sensor. As a result, a low-cost magnetic sensor can be realized.

Vorteilhaft ist das hochpermeable Material eine Nickel-Eisen-Legierung mit mindestens 45 %, insbesondere mindestens 75% Nickelanteil.Advantageously, the high permeability material is a nickel-iron alloy with at least 45%, in particular at least 75% nickel content.

Mit diesen Materialen kann bei sehr geringer Materialstärke der Abschirmung bereits erreicht werden, dass ein äußeres niederfrequentes Magnetfeld nicht oder nur in geringem Ausmaß in den Innenraum der Abschirmung eindringen kann. Ein solches hochpermeables Material mit einem hohen Nickelanteil von ca. 75% ist zum Beispiel unter dem Namen Mu-Metall bekannt.With these materials, with very low material thickness of the shield can already be achieved that an external low-frequency magnetic field can not penetrate or only to a small extent in the interior of the shield. Such a highly permeable material with a high nickel content of about 75% is known, for example, as Mu-Metall.

Ebenfalls kann die unter dem Markennamen Permenorm ® bekannte hochpermeable Legierung eingesetzt werden, die einen geringeren Nickelanteil von ca. 47 % aufweist. Bei einer sehr großen Abschirmung kann auch üblicher Stahl verwendet werden.It is also possible to use the high-permeability alloy known under the brand name Permenorm®, which has a lower nickel content of about 47%. For a very large shield, ordinary steel can also be used.

In vorteilhafter Ausführungsform ist der Magnet des Bedienhebels so ausgelegt, dass die magnetische Flussdichte im Bereich des Magnetsensorelements ca. 70 mT beträgt.In an advantageous embodiment, the magnet of the operating lever is designed so that the magnetic flux density in the region of the magnetic sensor element is approximately 70 mT.

Bei diesem oder einem ähnlich großen Wert für die magnetische Flussdichte überwiegt das von dem Magneten des Bedienhebels herrührende magnetische Feld im Inneren der Abschirmung soweit gegenüber den trotz der Abschirmung von äußeren Magnetfeldern herrührenden Anteilen, dass letztere sich nicht auswirken. Umgekehrt wird ein Magnetfeld dieser Stärke bei üblichen Dimensionen einer solchen Steuerungsvorrichtung nicht ungünstig von der Abschirmung mit ihrem permeablem Material beeinflusst.In this or a similarly large value for the magnetic flux density outweighs the originating from the magnet of the operating lever magnetic field in the interior of the shield so far compared to the originating despite the shielding of external magnetic fields shares that the latter do not affect. Conversely, a magnetic field of this magnitude is not adversely affected by the shielding of its permeable material in conventional dimensions of such a control device.

In günstiger Ausführungsform ist die Abschirmung in Quaderform ausgebildet. Die Abschirmung kann im Querschnitt senkrecht zu dem Bedienhebel quadratisch sein und das Magnetsensorelement kann im Bereich des Zentrums der Quaderform angeordnet sein.In a favorable embodiment, the shield is formed in cuboid shape. The shield can be square in cross-section perpendicular to the operating lever and the magnetic sensor element can be arranged in the region of the center of the cuboid shape.

Durch die zentrale Anordnung des Magnetsensorelements in der Mitte der quaderförmigen Abschirmung wird das Magnetfeld des Magneten im Bereich des Magnetsensorelements am wenigsten von der Abschirmung selbst beeinflusst und das Verhalten bleibt bei einer Auslenkung wie gewünscht linear. Insbesondere ist dies in der Grundstellung oder Nullstellung der Fall, in der jede Beeinflussung durch äußere Magnetfelder vermieden werden sollte. Alle anderen Stellungen der Steuervorrichtung können nur unter der Kontrolle einer Bedienperson erreicht werden, die jederzeit korrigierend eingreifen kann.Due to the central arrangement of the magnetic sensor element in the middle of the cuboid shield, the magnetic field of the magnet in the region of the magnetic sensor element is least influenced by the shield itself and the behavior remains linearly as desired during a deflection. In particular, this is the case in the basic position or zero position, in which any influence by external magnetic fields should be avoided. All other positions of the control device can only be achieved under the control of an operator who can take corrective action at any time.

In günstiger Ausführungsform weist das Magnetsensorelement zu dem Magneten des Bedienhebels in einer Neutralstellung einen Abstand b auf und das Magnetsensorelement zur Oberseite der Quaderform, an der der Bedienhebel angeordnet ist, einen Abstand e des zwei- bis sechsfachen Wertes von b.In a favorable embodiment, the magnetic sensor element to the magnet of the operating lever in a neutral position at a distance b and the magnetic sensor element to the top of the cuboid shape on which the operating lever is arranged, a distance e of two to six times the value of b.

In günstiger Ausführungsform weist das Magnetsensorelement zur Unterseite der Quaderform einen Abstand d des vier- bis achtfachen Wertes von b auf.In a favorable embodiment, the magnetic sensor element to the bottom of the cuboid shape on a distance d of four to eight times the value of b.

Vorteilhaft hat das Magnetsensorelement zu den Seitenflächen der Quaderform einen Abstand c des vier- bis achtfachen Wertes von b.Advantageously, the magnetic sensor element to the side surfaces of the cuboid shape has a distance c of four to eight times the value of b.

Dadurch kann erreicht werden, dass vor allem in der Nullstellung des Bedienhebels, aber auch in einem möglichst weiten Auslenkungsbereich des Bedienhebels äußere Magnetfelder abgeschirmt werden oder im Verhältnis zu dem durch den Magneten bewirkten Magnetfeld klein sind und zugleich das Magnetfeld des Magneten in dem Bedienhebel durch die Abschirmung nicht gestört wird, so dass ein Ausgangssignal des Magnetsensors linear zu einer Auslenkung des Bedienhebels ist.It can thereby be achieved that, especially in the zero position of the operating lever, but also in the widest possible deflection range of the control lever external magnetic fields are shielded or in relation to the magnet caused by the magnetic field are small and at the same time the magnetic field of the magnet in the operating lever Shielding is not disturbed, so that an output signal of the magnetic sensor is linear to a deflection of the operating lever.

Ebenfalls vorteilhaft weist der Bedienhebel im Bereich der Durchführung durch die Quaderform eine Kugel auf, durch die der Bedienhebel gelagert ist.Also advantageously, the operating lever in the implementation of the cuboid shape on a ball through which the operating lever is mounted.

An eine solche Kugel, die zugleich den Drehpunkt der Bewegung des Bedienhebels darstellt, kann die Abschirmung bis an die Kugeloberfläche herangeführt werden und es verbleibt keine oder nur eine geringe Lücke in der Abschirmung.At such a ball, which also represents the pivot point of the movement of the operating lever, the shield can be brought up to the ball surface and there is no or only a small gap in the shield.

Vorteilhaft sind die Kanten und Ecken der Quaderform abgerundet.Advantageously, the edges and corners of the cuboid shape are rounded.

Dadurch werden Spitzen in der Feldstärke vermieden.This avoids peaks in the field strength.

Vorteilhaft sind die Kanten und Ecken der Quaderform mit einem Radius zwischen 1 und 10 mm, bevorzugt 6 mm, abgerundet bei einer Kantenlänge a im Bereich von 30 bis 40 mm, insbesondere von 35,5 mm, und einer Wandstärke der Abschirmung im Bereich von 0,5 bis 2,5 mm, insbesondere von 1 mm..Advantageously, the edges and corners of the cuboid shape having a radius between 1 and 10 mm, preferably 6 mm, rounded at an edge length a in the range of 30 to 40 mm, in particular of 35.5 mm, and a wall thickness of the shield in the range of 0.5 to 2.5 mm, in particular of 1 mm ..

Damit ergeben sich besonders vorteilhafte Eigenschaften bei den zur Verfügung stehenden elektronischen Bauelementen für das Magnetsensorelement.This results in particularly advantageous properties in the available electronic components for the magnetic sensor element.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in den schematischen Figuren dargestellten Ausführungsbeispiels näher erläutert. Hierbei zeigt

Fig. 1
schematisch eine erfindungsgemäße Steuervorrichtung im senkrechten Querschnitt,
Fig. 2
schematisch die erfindungsgemäße Steuervorrichtung der Fig. 1 im horizontalen Querschnitt und
Fig. 3
die erfindungsgemäße Steuervorrichtung der Fig. 1 im senkrechten Querschnitt.
Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in the schematic figures. This shows
Fig. 1
schematically a control device according to the invention in the vertical cross section,
Fig. 2
schematically the control device of the invention Fig. 1 in horizontal cross-section and
Fig. 3
the control device of the invention Fig. 1 in vertical cross-section.

Die Fig. 1 zeigt schematisch die wesentlichen Elemente einer erfindungsgemäßen Steuervorrichtung im senkrechten Querschnitt. Ein Bedienhebel 1 mit einer Kugel 2, mit der der Bedienhebel 1 in seiner nicht dargestellten Lagerung geführt ist, weist in der Kugel 2 eine Bohrung 3 auf, in die ein Magnet 4 eingesetzt ist. In einer Nullstellung des Bedienhebels 1 in einem Abstand b von beispielsweise 3,1 mm zu dem Magneten 4 ist unter dem Magneten 4 ein Magnetsensor 5, hier als Elektronikbauteil mit einem Hallsensor, angeordnet, der eine Bewegung bzw. Auslenkung des Bedienhebels 1 erfasst. Eine Abschirmung 6 aus einem hochpermeablem Material umschließt den Bereich der Kugel 2 mit dem Magneten 4 und dem Magnetsensor 5. Die Abschirmung 6 weist eine Trennstelle 7 auf, die die Abschirmung 6 in einen oberen und einen unteren Teil aufteilt und die Montage ermöglicht.The Fig. 1 schematically shows the essential elements of a control device according to the invention in the vertical cross section. An operating lever 1 with a ball 2, with which the operating lever 1 is guided in its bearing, not shown, has in the ball 2 a bore 3, in which a magnet 4 is inserted. In a zero position of the operating lever 1 at a distance b of, for example, 3.1 mm to the magnet 4, a magnetic sensor 5, here as an electronic component with a Hall sensor, arranged under the magnet 4, which detects a movement or deflection of the operating lever 1. A shield 6 made of a highly permeable material surrounds the area of the ball 2 with the magnet 4 and the magnetic sensor 5. The shield 6 has a separation point 7, which divides the shield 6 into an upper and a lower part and allows the assembly.

Die Fig. 2 zeigt schematisch die erfindungsgemäße Steuervorrichtung der Fig. 1 im horizontalen Querschnitt. Die Abschirmung 6 ist von quadratischer Gestalt und der Magnetsensor 5 im bereich des Zentrums des Quadrats angeordnet. Die abgerundeten Kanten der Quaderform haben einen Radius r von 6 mm und die gesamte Außenkantenlänge Kantenlänge beträgt 35,5 mm bei einer Wandstärke der Abschirmung 6 von 1 mm.The Fig. 2 schematically shows the control device of the invention Fig. 1 in horizontal cross-section. The shield 6 is of square shape and the magnetic sensor 5 in the region of the center of the square. The rounded edges of the cuboid shape have a radius r of 6 mm and the entire Outside edge length Edge length is 35.5 mm with a wall thickness of the shield 6 of 1 mm.

Der Magnetsensor 5 ist von der Oberseite der Abschirmung 6 um den Abstand e, bevorzugt 10,4 mm, und von der Unterseite der Abschirmung 6 um den Abstand d, bevorzugt 14 mm, beabstandet. Der Abstand c des Magnetsensors 5 zu den Seitenflächen der Abschirmung beträgt bevorzugt ca. 17 mm.The magnetic sensor 5 is spaced from the top of the shield 6 by the distance e, preferably 10.4 mm, and from the underside of the shield 6 by the distance d, preferably 14 mm. The distance c of the magnetic sensor 5 to the side surfaces of the shield is preferably about 17 mm.

Die Abschirmung 6 kann bei diesen Abmessungen z.B. aus Permenorm ® bestehen und als Magnetsensor kann etwa ein Melexis MLX90333 Sensorchip zum Einsatz kommen.The shield 6 can be designed with these dimensions e.g. made of Permenorm ® and as a magnetic sensor can be about a Melexis MLX90333 sensor chip used.

Fig. 3 zeigt die erfindungsgemäße Steuervorrichtung der Fig. 1 im senkrechten Querschnitt. Der Bedienhebel 1 mit der Kugel 2 und dem Magneten 4 ist oberhalb des Magnetsensors 5 angeordnet. Die Abschirmung 6 aus hochpermeablem Material umschließt den Bereich der Kugel 2 mit dem Magneten 4 und dem Magnetsensor 5 und ist innerhalb eines Gehäuses montiert, auf dem ein Faltenbalg 8 angeordnet ist, der hier ebenso wie der Bedienhebel 1 nur zum Teil dargestellt ist. Der Magnetsensor 5 ist mit einer Trägerplatine 11 gegebenenfalls. in einer Vergussmasse geschützt innerhalb der Abschirmung 6 angeordnet. Anschlussleitungen 9 führen aus der Abschirmung 6 heraus zu einem Anschlussstecker 10. Somit umschließt die Abschirmung 6 den Bereich des Bedienhebels 1, an dem der Magnet 4 angeordnet ist, und das Magnetsensorelement 5 bis auf einen Bereich einer Öffnung zur Durchführung des Bedienhebels 1. Der Bereich des Bedienhebels 1 ist im Wesentlichen von der Abschirmung 6 umschlossen, weist jedoch eine umlaufende Öffnung an der Trennstelle 7, um eine Montage zu ermöglichen, und weitere erforderliche Durchführungen auf, z.B. für die Anschlussleitungen 9. Fig. 3 shows the control device of the invention Fig. 1 in vertical cross-section. The operating lever 1 with the ball 2 and the magnet 4 is disposed above the magnetic sensor 5. The shield 6 of high-permeability material encloses the area of the ball 2 with the magnet 4 and the magnetic sensor 5 and is mounted within a housing on which a bellows 8 is arranged, which here as well as the operating lever 1 is only partially shown. The magnetic sensor 5 is optionally with a carrier board 11. protected in a potting compound disposed within the shield 6. Connecting lines 9 lead out of the shield 6 out to a connector 10. Thus, the shield 6 encloses the region of the operating lever 1, on which the magnet 4 is arranged, and the magnetic sensor element 5 except for a region of an opening for the passage of the operating lever 1. The area of the operating lever 1 is substantially enclosed by the shield 6, but has a circumferential opening at the separation point 7, in order to allow mounting, and further required feedthroughs, for example for the connection lines. 9

Die erfindungsgemäße Sensorvorrichtung ermöglicht kleine Abmessungen und kleine Abstände zwischen den Bedienhebeln mehrerer Steuervorrichtungen. Es ergeben sich vorteilhaft symmetrische Kennlinien. Auch ist der Einsatz bei Flurförderzeugen in Gießereien möglich, jedoch auch bei Baumaschinen, Kränen und land- oder forstwirtschaftlichen Maschinen.The sensor device according to the invention allows small dimensions and small distances between the control levers of several control devices. This results in advantageous symmetrical characteristics. Also, the use of industrial trucks in foundries is possible, but also in construction machinery, cranes and agricultural or forestry machinery.

Claims (13)

Steuerungsvorrichtung für eine mobile Arbeitsmaschine, insbesondere ein Flurförderzeug mit einem bewegbaren Bedienhebel (1), an dem ein Magnet (4) befestigt ist, und einem Magnetsensorelement (5) zur Erfassung der Bewegung und/oder Stellung des Bedienhebels (1),
dadurch gekennzeichnet,
dass der Bereich des Bedienhebels (1), an dem der Magnet (4) angeordnet ist, und das Magnetsensorelement (5) bis auf einen Bereich einer Öffnung zur Durchführung des Bedienhebels (1) mit einer Abschirmung (6) aus hochpermeablem Material umschlossen ist.Control device for a mobile work machine, in particular an industrial truck with a movable operating lever (1) to which a magnet (4) is fastened, and a magnetic sensor element (5) for detecting the movement and / or position of the operating lever (1),
characterized,
in that the region of the operating lever (1) on which the magnet (4) is arranged and the magnetic sensor element (5) are enclosed by a shield (6) of highly permeable material except for a region of an opening for passing the operating lever (1). Steuerungsvorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass das Magnetsensorelement (5) ein Hall-Sensor ist.Control device according to claim 1,
characterized,
that the magnetic sensor element (5) is a Hall sensor. Steuerungsvorrichtung nach Anspruch 1 oder 2,
dadurch gekennzeichnet,
dass das hochpermeable Material eine Nickel-Eisen-Legierung mit mindestens 47 %, bevorzugt mit mindestens 75 % Nickelanteil ist.Control device according to claim 1 or 2,
characterized,
that the highly permeable material is a nickel-iron alloy having at least 47%, preferably at least 75% nickel content. Steuerungsvorrichtung nach Anspruch einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
dass der Magnet (4) des Bedienhebels (1) so ausgelegt ist, dass die magnetische Flussdichte im Bereich des Magnetsensorelements (5) 70 mT beträgt.Control device according to one of the preceding claims,
characterized,
in that the magnet (4) of the operating lever (1) is designed such that the magnetic flux density in the region of the magnetic sensor element (5) is 70 mT. Steuerungsvorrichtung nach Anspruch einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
dass die Abschirmung (6) in Quaderform ausgebildet ist.Control device according to one of the preceding claims,
characterized,
that the shield (6) is formed in cuboid shape. Steuerungsvorrichtung nach Anspruch 5,
dadurch gekennzeichnet,
dass die Abschirmung (6) im Querschnitt senkrecht zu dem Bedienhebel (1) quadratisch ist.Control device according to claim 5,
characterized,
that the screen (6) in the cross section perpendicular to the operating lever (1) is square. Steuerungsvorrichtung nach Anspruch 5 oder 6,
dadurch gekennzeichnet,
dass das Magnetsensorelement (5) im Bereich des Zentrums der Quaderform angeordnet istControl device according to claim 5 or 6,
characterized,
that the magnetic sensor element (5) is arranged in the region of the center of the rectangular shape Steuerungsvorrichtung nach einem der Ansprüche 5 bis 7,
dadurch gekennzeichnet,
dass das Magnetsensorelement (5) zu dem Magneten (4) des Bedienhebels (1) in einer Neutralstellung einen Abstand b aufweist und das Magnetsensorelement (5) zur Oberseite der Quaderform, an der der Bedienhebel (1) angeordnet ist, einen Abstand e des zwei- bis sechsfachen Wertes von b aufweist.Control device according to one of claims 5 to 7,
characterized,
in that the magnetic sensor element (5) has a distance b from the magnet (4) of the control lever (1) in a neutral position and the magnetic sensor element (5) is at a distance e of the two from the upper side of the parallelepiped shape on which the operating lever (1) is arranged - has up to six times the value of b. Steuerungsvorrichtung nach einem der Ansprüche 5 bis 8,
dadurch gekennzeichnet,
dass das Magnetsensorelement (5) zu dem Magneten (4) des Bedienhebels (1) in einer Neutralstellung einen Abstand b aufweist und das Magnetsensorelement (5) zur Unterseite der Quaderform einen Abstand d des vier- bis achtfachen Wertes von b aufweist.Control device according to one of claims 5 to 8,
characterized,
that the magnetic sensor element (5) to the magnet (4) of the operating lever (1) in a neutral position has a distance b and the magnetic sensor element (5) to the bottom of the parallelepiped shape has a distance d of four to eight times the value of b. Steuerungsvorrichtung nach einem der Ansprüche 5 bis 9,
dadurch gekennzeichnet,
dass das Magnetsensorelement (5) zu dem Magneten (4) des Bedienhebels (1) in einer Neutralstellung einen Abstand b aufweist und das Magnetsensorelement (5) zu den Seitenflächen der Quaderform einen Abstand c des vier- bis achtfachen Wertes von b aufweist.Control device according to one of claims 5 to 9,
characterized,
in that the magnetic sensor element (5) has a distance b from the magnet (4) of the control lever (1) in a neutral position and the magnetic sensor element (5) has a distance c of four to eight times the value of b from the side surfaces of the cuboid shape. Steuerungsvorrichtung nach einem der Ansprüche 5 bis 10,
dadurch gekennzeichnet,
dass der Bedienhebel (1) im Bereich der Durchführung durch die Quaderform eine Kugel (2) aufweist, durch die der Bedienhebel (1) gelagert ist.Control device according to one of claims 5 to 10,
characterized,
in that the operating lever (1) in the region of the passage through the rectangular shape has a ball (2) through which the operating lever (1) is mounted. Steuerungsvorrichtung nach einem der Ansprüche 5 bis 11,
dadurch gekennzeichnet,
dass die Kanten und Ecken der Quaderform abgerundet sind.Control device according to one of claims 5 to 11,
characterized,
that the edges and corners of the cuboid shape are rounded. Steuerungsvorrichtung nach Anspruch 12,
dadurch gekennzeichnet,
dass die Kanten und Ecken der Quaderform mit einem Radius zwischen 1 und 10 mm, bevorzugt 6 mm, abgerundet sind bei einer Kantenlänge a im Bereich von 30 bis 40 mm, insbesondere von 35,5 mm, und einer Wandstärke der Abschirmung (6) im Bereich von 0,5 bis 2,5 mm, insbesondere von 1 mm.Control device according to claim 12,
characterized,
that the edges and corners of the cuboid shape having a radius between 1 and 10 mm, preferably 6 mm, are rounded off with an edge length a in the range of 30 to 40 mm, in particular of 35.5 mm, and a wall thickness of the shield (6) in FIG Range of 0.5 to 2.5 mm, in particular of 1 mm.
EP10000412.6A 2009-02-17 2010-01-18 Control device for a mobile work machine, in particular an industrial truck Active EP2219094B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009009311 2009-02-17
DE102009010244A DE102009010244A1 (en) 2009-02-17 2009-02-24 Control device for a mobile work machine, in particular an industrial truck

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EP2219094A3 EP2219094A3 (en) 2011-05-25
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Publication number Publication date
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DE102009010244A1 (en) 2010-08-19
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