EP2924535B1 - Joystick with intrinsically secure force feedback - Google Patents
Joystick with intrinsically secure force feedback Download PDFInfo
- Publication number
- EP2924535B1 EP2924535B1 EP15160304.0A EP15160304A EP2924535B1 EP 2924535 B1 EP2924535 B1 EP 2924535B1 EP 15160304 A EP15160304 A EP 15160304A EP 2924535 B1 EP2924535 B1 EP 2924535B1
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- European Patent Office
- Prior art keywords
- operating
- actuator
- operating element
- actuator unit
- restoring
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20012—Multiple controlled elements
- Y10T74/20201—Control moves in two planes
Definitions
- the present invention relates to a control element, as known from GB 2 482 409 in particular a joystick, comprising a housing, an actuating lever pivotally mounted in the housing about a pivot, and a reset unit for providing a return torque for returning the operating lever from a deflected state to a neutral state.
- Such controls are used inter alia for the control of commercial vehicles, machinery, work functions of commercial vehicles or construction machinery and attachments.
- Control elements in the context of the invention are, for example, control levers, accelerator pedals and, in particular, joysticks.
- Such joysticks are among the electrical control systems. Unlike the prior mechanical control systems, such electrical control systems do not provide feedback from the mechanical system to the user. It is therefore known to provide the joysticks with a force feedback, which is usually achieved by coupling a torque of an electric motor via a transmission to the operating lever of the joystick.
- a disadvantage of such constructions is that the joystick can be deflected out of its rest position even without user input, for example due to a malfunction of the control of the force feedback.
- Force Feedback is distributed for functions of simulators of all kinds for mass selling prices, especially for joysticks for computer games.
- the force feedback is usually implemented with motors that act directly on the axes and bring about the desired haptic feedback with a control technology.
- this use does not directly cause a hazard to the user, errors in the system can easily be accepted, an exchange is easily possible.
- a backup control with mechanical transmission is generally additionally installed due to the high safety risk in the event of a malfunction of the force feedback system.
- force feedback is also referred to as artificial feeling.
- the operating element comprises an actuator unit operatively connected to the reset unit, wherein the actuator unit is designed for limited modulating the restoring torque, wherein at a lower modulation limit, the restoring torque in the deflected state is greater than zero.
- the reset torque is positive in all the deflected states that are to be transferred to the neutral state if necessary, so that the operating lever automatically returns to the neutral state after release by the user and remains there. Since in a shared, deflected operating element always restoring torque and no deflection torque is applied, there is only a torque in the direction of the rest position of the actuating lever. With great advantage, this ensures that the operating element behaves analogously to a purely passive, spring-returning joystick. Will the invention Operating element is released, it automatically returns to the rest position. From this it can not move out automatically even with malfunction of the drives or the electronics.
- the restoring torque is smaller than a deflection torque which can be applied by a user for deflecting the actuating lever. This ensures that the operating element can be deflected by the user even in the event of malfunction or failure of the drives or the electronics, so that the system which is to be controlled by means of the operating element remains usable.
- the restoring torque in the deflected state is 0.001 Nm to 10.0 Nm.
- the maximum return torque at a maximum deflection of the operating lever is 4.0 Nm or 6.0 Nm.
- the maximum return torque is set relatively small, so that a typical user of the control element, such as a construction worker or farmer, can easily overcome the maximum restoring torque when needed and thus at all times has control over a deflection operation of the operating lever.
- the user-dependent applied deflection torque can be readily determined by methods known to those skilled in the art. For example, a series of experiments could be performed wherein the maximum return torque is incrementally increased and the user of the control element at each step attempts to further deflect the operating lever against the currently applied return torque. As long as the user succeeds, the restoring torque applied at an upper modulation limit, which corresponds to the maximum restoring torque, is smaller than the deflection torque that can be applied by the relevant user.
- the lower modulation limit or the upper modulation limit or both modulation limits are preferably realized mechanically by means of structural measures.
- An electronic, possibly even redundant vorzuhaltende, monitoring the force feedback system according to the invention is not required with great advantage.
- the reset unit has a compliance element, the actuator unit being designed to modulate a return characteristic of the compliance element.
- the actuator unit thus influences the tendency of the reset unit to return the actuating lever to the neutral state, but only within the modulation limits, so as not to jeopardize the intrinsically safe return of the actuating lever.
- the actuator unit allows a variety of haptic feedback to the user in the operating lever.
- the control element according to the invention allows a personalization of characteristics, a switching between different characteristic shapes depending on the operating state and generally one of the haptic perception of the user making accessible system states.
- the compliance element is preferably arranged between the actuating lever and the force feedback generating actuator.
- the reset unit may comprise one or more compliance elements.
- the compliance element comprises a compression spring or a tension spring or a gas piston or a magnet.
- a compliance element is understood to mean the following: coil spring, leg spring, coil spring, leaf spring, torsion spring, air spring, gas spring, elastomer spring or magnetic repulsion.
- actuator and compliance element transmission elements may be arranged for transmitting a travel of the actuator.
- other compliance elements according to the invention are conceivable, if they are compatible with the other components of the control.
- the restoring unit has a link and a scanning element scanning the link, wherein the actuator unit is designed to modulate a contact force of the feeler element against the link in terms of amount and / or direction.
- a link-feeler combination is generally well-known, widely used and proven in joysticks in particular. With this proven combination an actuator unit according to the invention is effectively connected to be able to feed additional feedback in the operating lever and to further improve the proven combination.
- the probe element has a ball or a roller or a cam.
- the reset unit comprises two magnets, wherein the actuator unit is designed modulating a magnetic force acting between the magnets in magnitude and / or direction in order to influence the restoring torque of the reset unit.
- the restoring unit has a linear chain whose one end adjoins the Housing and the other end are fixed to the actuating lever and which comprises the compliance element, wherein the actuator unit is designed to modulate a bias of the compliance element to influence the restoring torque of the return unit.
- the actuator unit is designed to provide an intrinsically limited travel. Such constructive barriers to the actuation unit travel ensure that a torque acting on the actuation lever is always a restoring torque that moves between a safe minimum and a safe maximum under all circumstances, and the actuation lever returns automatically to the neutral position and not in its displacement is restricted. By no position of the actuator is an automatic movement of the actuating lever from the neutral state out possible.
- the control element has stops for limiting a travel of the actuator unit.
- a type of actuator unit can be used to be installed in respect of the permitted travel different controls. This allows the use of structurally simpler or generalized actuator units, which is reflected in reduced production costs for the control element according to the invention.
- the actuator unit comprises an actuator, wherein the actuator is designed as an electric motor or an electrodynamic linear drive or a piezoelectric drive or an electromagnet or a pneumatic drive or a hydraulic drive.
- the piezoelectric drive comprises at least one of the following piezoelectric elements: Stack, bending beam and traveling wave motor.
- other actuators are inventively conceivable, if they are compatible with the other components of the control.
- actuator and compliance element are: electric motor and compression spring or tension spring or gas piston or magnet or coil spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; electrodynamic linear drive and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; piezoelectric drive and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; Electromagnet and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; pneumatic drive and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; and hydraulic drive and compression spring or tension spring or gas piston or magnet or coil spring or leg spring or
- the actuator unit has an actuator, wherein the actuator is arranged outside the operating element.
- the outsourced actuator is connected by means of an operative connection with another part of the actuator unit, the acts to modulate limited the restoring torque on the return unit.
- the control requires no internal actuator, which simplifies the structure of the control and reduces the cost of manufacturing the control.
- the external actuator is an actuator, which is already present in the machine or the vehicle, or which has the operating element.
- the external actuator is a hydraulic cylinder of an excavator arm of an excavator, wherein the excavator arm is connected by means of a linkage to the control element for controlling the excavator and the linkage is coupled to the reset unit to modulate the restoring torque in response to the position of the excavator arm and thus to influence the characteristic of the operating element.
- the actuator unit has an actuator instead of an actuator.
- an actuator is a technically less complex component that regularly requires no power supply.
- the actuator is preferably a mechanical actuator, for example a lever or an adjusting screw, which acts on the restoring unit for limited modulating the return torque and thus changes the characteristic of the operating element.
- the use of an actuator instead of an actuator is particularly useful when the characteristic of the control element is relatively rare to change, for example, when the characteristic is once adapted to the needs of the user and subsequently no further situation-dependent modulation of the characteristic is desired.
- the actuator unit has an actuator and an actuator.
- the combination of actuator and actuator in particular mechanical actuator, allows the Provision of a universally configurable operating element by double modulation of the characteristic.
- This control element offers the function of intrinsically safe force feedback, while the control element is individually configurable.
- the individual configuration of the characteristic according to the needs of the user forms a basic setup for the control element, which is superimposed on the force feedback.
- the pivot point is designed as an actuating axis or as two actuation axes oriented orthogonally to one another or as three actuation axes which are orthogonal to one another.
- a trained as an actuating axis pivot allows pivoting of the control element in only one plane.
- An axis of rotation designed as two orthogonally oriented actuation axes or as three mutually orthogonal actuation axes permits a varied design of a swivel pattern for the operating element, so that a multiplicity of functions can be implemented.
- the requirements for the storage of the actuating lever in the housing are high, but can be fulfilled by means of a gimbal example storage.
- the operating element comprises a control unit which interrogates the state of the operating element, in particular the deflection of the actuating lever. From the system, the control unit receives information about a mode of operation and possibly a size to be displayed as force feedback on the control element. From this, the control unit calculates the momentarily required modulation of the return torque and controls the actuator unit accordingly.
- the operating element in addition to the restoring unit has a locking device to leave the operating lever fixed at a predefined deflection.
- angle inaccuracies, vibrations and the like are to be considered more.
- electronics of the control unit which is independent of the control itself, appropriate characteristics or characteristics are deposited.
- the Fig. 1 shows a schematic view of an operating element according to the invention according to a first embodiment not claimed.
- the operating element is designed as a joystick.
- the joystick comprises an operating lever 1 with handle and handle bar, which is pivotally mounted in a housing, not shown about a pivot point 2 and a reset unit for providing a return torque M R for returning the operation lever 1 from a deflected state to a neutral state.
- the joystick includes in operative connection with the reset unit actuator 3, wherein the actuator unit 3 is formed for limited modulating the return torque M R, wherein the restoring torque M R is greater at a lower modulation limit in the deflected state of zero, and wherein in an upper modulation limit the Return torque M R is less than a user applicable deflecting torque for deflecting the operating lever 1.
- the reset unit has a compliance element 4 in the form of a helical spring, wherein the actuator unit 3 is designed to modulate a return characteristic of the helical spring.
- the actuator unit 3 performs a linear movement for providing a travel.
- the compliance element 4 is connected at one end to the actuator unit 3 and at the other end to a feeler element, which is guided on a link 5 and scans it.
- the actuator unit 3 additionally generates a variable bias in the coil spring. This bias causes different spring forces F F and thus different restoring forces F R can be generated at a constant angular position.
- the Fig. 2 shows a schematic view of an operating element according to the invention according to a second unclaimed embodiment in a deflected state.
- the operating element is designed as a joystick.
- the actuator unit 3-compliance element 4-sequence of the first embodiment is replaced by an adjustable compliance element 6, wherein the actuator unit 3 is integrated in the compliance element 4, such as with gas springs or air springs with variable internal pressure. In these springs, a gas pressure p can be varied, whereby a corresponding spring force F F is generated.
- the Fig. 3 shows a schematic view of an operating element according to the invention according to a third embodiment not claimed.
- the operating element is designed as a joystick.
- the joystick In the figure part on the left, the joystick is in a neutral state with the actuator unit 3 retracted and on the right in a neutral state with the actuator unit 3 extended.
- the actuator unit 3 does not act directly on the compliance element 4, but indirectly, acting on the slide 5 adjusted with respect to the compliance element 4. That is, the link 5 is designed to be movable relative to the housing, not shown. Also by this kinematically inverse arrangement results in a variable bias of the coil spring formed as a compliance element 4 and thus a variable restoring force F R.
- the compliance element and the actuator unit can be realized with various of the technical implementations mentioned above.
- the Fig. 4 shows a schematic view of an operating element according to the invention according to a fourth embodiment not claimed.
- the operating element is designed as a joystick.
- the operating lever 1 is rotatably mounted in the pivot point 2, but it is not the compliance element 4 and the actuator unit 3, but a relative to the housing, not shown movable gate 8 attached.
- a plunger which has the compliance element 4 and the actuator unit 3, in particular consists of the compliance element 4 and the actuator unit 3, wherein also here the plunger is replaceable by an adjustable compliance element 6.
- Fig. 5 shows a schematic view of an operating element according to the invention according to a fifth embodiment not claimed.
- the operating element is designed as a joystick.
- the joystick comprises two adjustable compliance elements.
- the gate 5 is formed by a cuboid with rounded corners, which is arranged in the pivot point 2.
- the feeler elements the reset unit are provided by the flat contact surfaces, which clamp the cuboid on two sides.
- the exact outer shape of the gate 5 is not necessarily cuboid. Other shapes are not excluded according to the invention and depend on the desired characteristic of the compliance element 4 to be generated.
- the gate 5 is acted on both sides via a compliance element 4, the bias voltage can be varied in each case with an actuator unit 3, with a force.
- the force application points between the gate 5 and the compliance element 4 change.
- the elongation of the compliance element 4 changes, as a result of which the spring force F F is varied.
- a restoring torque M R results from spring force F F and distance of the force application point 9 in relation to the axis of rotation 2. It is particularly advantageous that no bearing forces occur on the axis of rotation 2 in a symmetrical design of the arrangement.
- actuator unit 3 and compliance element 4 can be replaced by an adjustable compliance element 6.
- plan contact surfaces can be referred to as a backdrop and the cuboid as a probe element. Consequently, the backdrop would be flat and the probe element formed as a two-sided acting cam.
- the Fig. 6 shows a schematic view of an operating element according to the invention according to a sixth embodiment not claimed.
- the operating element is designed as a joystick.
- the joystick In the figure part on the left, the joystick is in a neutral state with retracted actuator units 3a, 3b, in the middle in a deflected state retracted actuator unit 3a, 3b and right in a neutral state with extended actuator units 3a, 3b.
- two compliance elements 4a, 4b act directly on the actuating lever 2.
- stops 10 ensure that upon deflection of the actuating lever 1, only one compliant element 4 acts on the actuating lever 1.
- the actuator units 3a, 3b allow a bias voltage of the compliance elements 4a, 4b, at the same time a parallel displacement of the characteristic along the torque axis is achieved over this.
- the actuator units 3a, 3b can be controlled differently in this embodiment and thus affect the characteristic branches left and right of the neutral position of the actuating lever 1 separated from each other.
- actuator unit 3 and compliance element 4 are replaced by an adjustable compliance element 6.
- the Fig. 7 shows a schematic view of an operating element according to the invention according to a seventh unclaimed embodiment.
- the operating element is designed as a joystick.
- the joystick In the figure part 1 from the left, the joystick is in a neutral state with retracted actuator unit 3, 2 from the left in a deflected state with retracted actuator unit 3, 3 from the left in a neutral state with extended actuator unit 3, 4 from the left in a neutral state with retracted actuator unit 3 and 5 from the left in a deflected state with retracted actuator unit 3.
- the operating lever 1 is rotatably mounted about the pivot point 2. About a fixed to the housing, not shown joint 11 of the actuating lever 1 with the Actuator 3 and this connected to the compliance element 4.
- the compliance element 4 is in turn rotatably mounted in a hinge 12 which is fixed to the housing, not shown.
- a hinge 12 which is fixed to the housing, not shown.
- the actuator unit 3 By deflection of the actuating lever 1, the distance between the joint 11 and joint 12 increases, whereby the spring force F F generated by the compliance element 4 is increased.
- a lateral offset of the joint 11 with respect to the pivot point 2 leads to a restoring torque M R.
- the actuator unit 3 the bias of the compliance element 4 and thus the characteristic of the joystick can be varied. It is also possible to specify an alternative of this embodiment with a stationary actuator unit 3 '.
- the Fig. 8 shows a schematic view of an operating element according to the invention according to an eighth embodiment.
- the operating element is designed as a joystick.
- the compliance element 4 is supported on a link 5 by means of the feeler element.
- a restoring torque M R arises as a function of spring force F F and angle between the guide 5 and the actuating lever 1.
- the slide 5 is formed in this embodiment so that it has different slide sections in the z direction. This is achieved by a link block 13, wherein the link block 13 is adjustable in the z direction by the actuator unit 3.
- different characteristics are displayed. The transitions between the individual characteristics can be designed steplessly, alternatively, a discrete number of characteristics can be realized on the gate block 13.
- the Fig. 9 shows a schematic view of an operating element according to the invention according to a ninth embodiment.
- the operating element is designed as a joystick.
- the various scenes are not linear, but arranged on the circumference of a crank roller 14.
- the scenes 5 can merge into one another continuously or it can be arranged as a discrete number of scenes 5 as a flat sub-segments on the mantle of the crank roller 14.
- the generation of the restoring torque M R is analogous to the first or eighth embodiment.
- the actuator unit 3 comprises an actuator, which is designed as a rotary motion as Stellweg providing electric motor.
- the Fig. 10 shows a schematic view of an operating element according to the invention according to a tenth unclaimed embodiment.
- the operating element is designed as a joystick.
- the joystick is in a neutral state with retracted actuator unit 3 and right in a deflected state with retracted actuator unit 3.
- the compliance element 4 between the actuator unit 3, which is attached to the housing, not shown, and the backdrop 5 arranged.
- the actuator unit affects the bias of the compliance element 4.
- the probe element is directly connected to the backdrop 5 facing the end of the actuating lever 1 and slides in the deflection of the actuating lever 1 on the backdrop 5.
- the scenery 5 in turn is movable in the housing, not shown, in particular sliding , stored and is pressed by a compliance element 4 with the spring force F F against the actuating lever 1.
- Analogous to the first embodiment results in deflection of the actuating lever 1, a restoring torque M R.
- the two bearings 15 indicate that the gate 5 is designed to be mainly vertically displaceable.
- the Fig. 11 shows a schematic view of an operating element according to the invention according to an eleventh unclaimed embodiment, wherein the control element designed as a joystick is in a neutral state with retracted actuator units 3.
- the eleventh embodiment is a magnetic embodiment.
- a magnet 16 is attached at the remote from the user end of the actuating lever 1.
- a magnet 16 is attached at the remote from the user end of the actuating lever 1.
- Left and right of this magnet 16 are further magnets 17, 18 arranged oriented so that they repel the magnet 16 respectively.
- the joystick is centered in the neutral position or in the neutral state.
- a deflection of the actuating lever 1 for example, a first air gap between the magnet 16 and the magnet 18 decreases and a second air gap between the magnet 16 and the magnet 17 increases.
- the repulsion increases in the smaller first air gap, it decreases in the larger second air gap.
- the behavior of a compliance element 4 is achieved and a restoring torque M R is generated.
- the magnets 17, 18 are permanent magnets, but according to the invention could also be replaced by electromagnets.
- This embodiment requires further circuit protection measures for shielding the magnets from magnetic interference fields to ensure that the operating lever 1 learns by the reset unit exclusively reset torques M R , which act in the direction of its neutral position.
- the Fig. 12 shows a schematic view of a compliance element of a control element according to the invention according to a twelfth unclaimed embodiment.
- the actuator unit 3 in an extended state and right in a retracted state.
- it is provided to firmly clamp a torsion spring 22 with a rectangular cross-section in a bearing block 20.
- a second bearing block 21 can be moved by an actuator unit 3 along the longitudinal axis of the torsion spring 22, wherein the second bearing block 21 receives all torsional moments.
- the free end of the torsion spring 22 is arranged in the pivot point 2 of the actuating lever 1.
- a leaf spring clamped on one side is provided as a bending spring.
- the Fig. 13 shows a schematic view of an operating element according to the invention according to a thirteenth unclaimed embodiment.
- the operating element is designed as a joystick.
- the figure part left is the joystick in a neutral state with retracted actuator unit 3 and right in a deflected state with retracted actuator unit 3.
- the thirteenth embodiment slides a plunger 23 on the backdrop 5.
- the actuator unit 3 is fixedly connected to the actuating lever 1 in order to modulate the bias of the compliance element 4.
- the compliance element 4 is preferably formed as a helical spring, the Operating lever 1 engages and is slidably mounted on it. This results in a particularly compact arrangement.
- the plunger 23 deviates due to the backdrop 5 against the spring force F F of the compliance element 4. In this way, a restoring torque M R is generated.
- the Fig. 14 shows a schematic view of an operating element according to the invention according to a fourteenth embodiment.
- the operating element is designed as a joystick.
- the joystick In the figure to the left, the joystick is in a neutral state with the actuator unit 3 extended and on the right in a neutral state with the actuator unit 3 retracted.
- the gate 25 is designed not to be displaceable in parallel by the actuator unit 3 but to be flexible and loose stored between four bearings 26.
- the actuator unit 3 modulates the shape of the gate 25.
- the bias of the compliance element 4 and the distance of a support point 27 of the probe element on the backdrop to the pivot point 2 are changed simultaneously.
- the travel paths of the actuator units 3 are to be limited by means of intrinsic travel limit stops or stops such that the actuator units 3 of the flexible link 25 can not give shape, the local extrema in the course of the potential energy of the probe element contains.
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Description
Die vorliegende Erfindung betrifft ein Bedienelement, wie bekannt aus
Derartige Bedienelemente werden unter anderem zur Steuerung von Nutzfahrzeugen, Maschinen, Arbeitsfunktionen von Nutzfahrzeugen oder Baumaschinen und Anbaugeräten eingesetzt. Bedienelemente im Sinne der Erfindung sind beispielsweise Fahrhebel, Fahrpedale und insbesondere Joysticks. Solche Joysticks gehören zu den elektrischen Steuersystemen. Im Gegensatz zu den früheren mechanischen Steuersystemen geben derartige elektrische Steuersysteme keinerlei Rückmeldungen des mechanischen Systems an den Nutzer weiter. Es ist daher bekannt, die Joysticks mit einem Force-Feedback zu versehen, was üblicherweise durch ein Einkoppeln eines Drehmoments eines Elektromotors über ein Getriebe auf den Betätigungshebel des Joysticks erreicht wird. Nachteilig an derartigen Konstruktionen ist jedoch, dass der Joystick auch ohne eine Benutzereingabe aus seiner Ruhelage ausgelenkt werden kann, beispielsweise durch eine Fehlfunktion der Steuerung des Force-Feedbacks. Eine solche Fehlfunktion würde dazu führen, dass sich eine Maschine oder ein Fahrzeug selbsttätig in Bewegung setzt, was entsprechend gefährlich ist. Im Kraftfahrzeugbereich sind solche Force-Feedback-Lösungen bereits für Gaspedale bekannt, bei denen ebenfalls unbedingt sichergestellt werden muss, dass das Gaspedal das Fahrzeug durch einen Fehler nicht selbsttätig beschleunigt. Im Unterschied zu Gaspedalen weisen Joysticks jedoch mindestens zwei Auslenkrichtungen aus ihrer Ruhelage auf. Die bekannten Lösungen für Gaspedale lassen sich daher nicht auf einen Joystick übertragen. Ein Force-Feedback für einen Joystick darf diesen daher unter keinen Umständen aus der Neutralstellung heraus auslenken, bei einem Fehler muss der Joystick weiterhin selbsttätig in die Neutrallage zurückkehren, wenn er vom Benutzer losgelassen wird. Zusätzlich sollte er auch bei einem Fehler des Force-Feedback-Systems weiterhin nutzbar bleiben, um die Verfügbarkeit des Fahrzeugs beziehungsweise der Maschine nicht zu gefährden.Such controls are used inter alia for the control of commercial vehicles, machinery, work functions of commercial vehicles or construction machinery and attachments. Control elements in the context of the invention are, for example, control levers, accelerator pedals and, in particular, joysticks. Such joysticks are among the electrical control systems. Unlike the prior mechanical control systems, such electrical control systems do not provide feedback from the mechanical system to the user. It is therefore known to provide the joysticks with a force feedback, which is usually achieved by coupling a torque of an electric motor via a transmission to the operating lever of the joystick. A disadvantage of such constructions, however, is that the joystick can be deflected out of its rest position even without user input, for example due to a malfunction of the control of the force feedback. Such a malfunction would cause a machine or a vehicle to automatically start moving, which is correspondingly dangerous. In the automotive sector, such force feedback solutions are already known for accelerators, in which it must also be absolutely certain that the accelerator pedal does not automatically accelerate the vehicle due to a fault. Unlike gas pedals, however, joysticks have at least two deflection directions from their rest position. The known solutions for Accelerators can not therefore be transferred to a joystick. Force feedback for a joystick must under no circumstances deflect it out of neutral position; in the event of a fault, the joystick must continue to automatically return to the neutral position when released by the user. In addition, it should remain usable even in the event of a fault in the force feedback system, so as not to jeopardize the availability of the vehicle or the machine.
Force-Feedback wird beispielsweise für Funktionen von Simulatoren jeglicher Art für massentaugliche Verkaufspreise vertrieben, insbesondere bei Joysticks für Computerspiele. Baulich wird das Force-Feedback in der Regel mit Motoren umgesetzt, welche direkt an den Achsen wirken und mit einer Steuerungstechnik die gewünschte haptische Rückmeldung bewirken. Da diese Verwendung jedoch nicht direkt eine Gefährdung des Nutzers hervorruft, können hier Fehler im System ohne Weiteres in Kauf genommen werden, ein Austausch ist einfach möglich. Bei Flugzeugen, die mittels sogenannter Fly-by-Wire-Systemen arbeiten, ist auf Grund des hohen Sicherheitsrisikos bei einer Fehlfunktion des Force-Feedback-Systems in der Regel zusätzlich eine Backup-Steuerung mit mechanischer Übertragung verbaut. In der Luftfahrttechnik wird das Force-Feedback auch als Artificial Feel bezeichnet.For example, Force Feedback is distributed for functions of simulators of all kinds for mass selling prices, especially for joysticks for computer games. Structurally, the force feedback is usually implemented with motors that act directly on the axes and bring about the desired haptic feedback with a control technology. However, since this use does not directly cause a hazard to the user, errors in the system can easily be accepted, an exchange is easily possible. In the case of aircraft operating using so-called fly-by-wire systems, a backup control with mechanical transmission is generally additionally installed due to the high safety risk in the event of a malfunction of the force feedback system. In aviation technology, force feedback is also referred to as artificial feeling.
Allen diesen bekannten Vorrichtungen ist gemeinsam, dass sie den Ausschluss einer eigenständigen Bewegung des Joysticks nicht gewährleisten oder nur über eine redundante Überwachung der elektronischen Ansteuerung des Force-Feedback-Systems sehr wahrscheinlich vermeiden können. Eine Fehlfunktion des Force-Feedback-Systems kann jedoch nicht gänzlich ausgeschlossen werden und würde sich gegebenenfalls in einer eigenständigen Bewegung des Joysticks bemerkbar machen.All these known devices have in common that they can not guarantee the exclusion of an independent movement of the joystick or very likely can only avoid a redundant monitoring of the electronic control of the force feedback system. However, a malfunction of the force feedback system can not be completely ruled out and would possibly manifest itself in a separate movement of the joystick.
Selbst wenn eine eigenständige Bewegung des Joysticks durch eine redundante Überwachung der Elektronik verhindert wird, kann es bei Ausfall von Komponenten zu einem Funktionsverlust des Joysticks kommen. Dies kann wiederum dazu führen, dass der Joystick beim Loslassen durch den Benutzer nicht mehr eigenständig in seine Neutralstellung zurückkehrt, die bei den meisten Anwendungen der sichere Zustand ist. Selbst wenn sich auch dieser Fall durch eine Überwachungselektronik erkennen ließe, würde er doch eine erhebliche Einschränkung der Verfügbarkeit des Joysticks und des damit zu steuernden Systems darstellen und sich negativ auf die Akzeptanz bei den Benutzern auswirken.Even if a separate movement of the joystick is prevented by a redundant monitoring of the electronics, it can lead to a loss of function of the joystick in case of failure of components. This, in turn, can cause the joystick to no longer automatically return to its neutral position when released by the user, which is the safe state in most applications. Even if this case could be detected by a monitoring electronics, but it would represent a significant limitation of the availability of the joystick and the system to be controlled and have a negative impact on the acceptance of the users.
Es ist daher Aufgabe der vorliegenden Erfindung, ein Bedienelement der eingangs genannten Art anzugeben, das ein haptisches Force-Feedback bereitstellt, das intrinsisch sicher ist.It is therefore an object of the present invention to provide a control element of the type mentioned, which provides a haptic force feedback that is intrinsically safe.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass das Bedienelement eine mit der Rückstelleinheit in Wirkverbindung stehende Aktoreinheit umfasst, wobei die Aktoreinheit zum begrenzten Modulieren des Rückstelldrehmoments ausgebildet ist, wobei bei einer unteren Modulationsgrenze das Rückstelldrehmoment in dem ausgelenkten Zustand größer null ist. Das Rückstelldrehmoment ist in allen ausgelenkten Zuständen, die im Bedarfsfall in den neutralen Zustand zu überführen sind, positiv, sodass der Betätigungshebel nach Freigabe durch den Benutzer selbständig in den neutralen Zustand zurückkehrt und dort verbleibt. Da bei einem freigegebenen, ausgelenkten Bedienelement stets ein Rückstelldrehmoment und kein Auslenkdrehmoment anliegt, existiert nur ein Drehmoment in Richtung auf die Ruhelage des Betätigungshebels. Mit großem Vorteil ist so sichergestellt, dass sich das Bedienelement analog zu einem rein passiven, durch Federn zurückstellenden Joystick verhält. Wird das erfindungsgemäße Bedienelement losgelassen, so kehrt es automatisch in die Ruhelage zurück. Aus dieser kann es sich auch bei Fehlfunktion der Antriebe oder der Elektronik nicht selbsttätig heraus bewegen.This object is achieved in that the operating element comprises an actuator unit operatively connected to the reset unit, wherein the actuator unit is designed for limited modulating the restoring torque, wherein at a lower modulation limit, the restoring torque in the deflected state is greater than zero. The reset torque is positive in all the deflected states that are to be transferred to the neutral state if necessary, so that the operating lever automatically returns to the neutral state after release by the user and remains there. Since in a shared, deflected operating element always restoring torque and no deflection torque is applied, there is only a torque in the direction of the rest position of the actuating lever. With great advantage, this ensures that the operating element behaves analogously to a purely passive, spring-returning joystick. Will the invention Operating element is released, it automatically returns to the rest position. From this it can not move out automatically even with malfunction of the drives or the electronics.
Es erweist sich erfindungsgemäß als besonders vorteilhaft, dass bei einer oberen Modulationsgrenze das Rückstelldrehmoment kleiner als ein von einem Benutzer aufbringbares Auslenkdrehmoment zum Auslenken des Betätigungshebels ist. Somit ist sichergestellt, dass das Bedienelement auch bei Fehlfunktion oder Ausfall der Antriebe oder der Elektronik durch den Benutzer ausgelenkt werden kann, sodass das System, das mittels des Bedienelements gesteuert werden soll, weiterhin benutzbar bleibt. Vorteilhafterweise beträgt das Rückstelldrehmoment in dem ausgelenkten Zustand 0,001 Nm bis 10,0 Nm. Insbesondere beträgt das maximale Rückstelldrehmoment bei einer maximalen Auslenkung des Betätigungshebels 4,0 Nm oder 6,0 Nm. Das maximale Rückstelldrehmoment ist relativ klein angesetzt, damit ein typischer Benutzer des Bedienelements, beispielsweise ein Bauarbeiter oder Landwirt, das maximale Rückstelldrehmoment im Bedarfsfall problemlos überwinden kann und damit zu jeder Zeit die Kontrolle über einen Auslenkvorgang des Betätigungshebels hat. Das benutzerabhängige aufbringbare Auslenkdrehmoment kann einfach bestimmt werden mit Verfahren, die dem Fachmann bekannt sind. Beispielsweise könnte eine Serie von Versuchen durchgeführt werden, wobei das maximale Rückstelldrehmoment schrittweise erhöht wird und der Benutzer des Bedienelements bei jedem Schritt versucht, den Betätigungshebel gegen das momentan anliegende Rückstelldrehmoment weiter auszulenken. Solange dies dem Benutzer gelingt, ist das bei einer oberen Modulationsgrenze anliegende Rückstelldrehmoment, was dem maximalen Rückstelldrehmoment entspricht, kleiner als das von dem relevanten Benutzer aufbringbare Auslenkdrehmoment.It proves to be particularly advantageous according to the invention that, at an upper modulation limit, the restoring torque is smaller than a deflection torque which can be applied by a user for deflecting the actuating lever. This ensures that the operating element can be deflected by the user even in the event of malfunction or failure of the drives or the electronics, so that the system which is to be controlled by means of the operating element remains usable. Advantageously, the restoring torque in the deflected state is 0.001 Nm to 10.0 Nm. In particular, the maximum return torque at a maximum deflection of the operating lever is 4.0 Nm or 6.0 Nm. The maximum return torque is set relatively small, so that a typical user of the control element, such as a construction worker or farmer, can easily overcome the maximum restoring torque when needed and thus at all times has control over a deflection operation of the operating lever. The user-dependent applied deflection torque can be readily determined by methods known to those skilled in the art. For example, a series of experiments could be performed wherein the maximum return torque is incrementally increased and the user of the control element at each step attempts to further deflect the operating lever against the currently applied return torque. As long as the user succeeds, the restoring torque applied at an upper modulation limit, which corresponds to the maximum restoring torque, is smaller than the deflection torque that can be applied by the relevant user.
Die untere Modulationsgrenze oder die obere Modulationsgrenze oder beide Modulationsgrenzen werden erfindungsgemäß bevorzugt mittels konstruktiver Maßnahmen mechanisch realisiert. Eine elektronische, gegebenenfalls sogar redundant vorzuhaltende, Überwachung des erfindungsgemäßen Force-Feedback-Systems ist mit großem Vorteil nicht erforderlich.The lower modulation limit or the upper modulation limit or both modulation limits are preferably realized mechanically by means of structural measures. An electronic, possibly even redundant vorzuhaltende, monitoring the force feedback system according to the invention is not required with great advantage.
Weiterhin ist erfindungsgemäß vorgesehen, dass die Rückstelleinheit ein Nachgiebigkeitselement aufweist, wobei die Aktoreinheit eine Rückstellcharakteristik des Nachgiebigkeitselements modulierend ausgebildet ist. Die Aktoreinheit nimmt somit Einfluss auf das Streben der Rückstelleinheit, den Betätigungshebel in den neutralen Zustand zurückzuführen, allerdings lediglich innerhalb der Modulationsgrenzen, um die intrinsisch sichere Rückstellung des Betätigungshebels nicht zu gefährden. In dem oben definierten Rahmen der Modulation erlaubt die Aktoreinheit ein Einleiten von vielfältigen haptischen Rückmeldungen an den Benutzer in den Betätigungshebel. Beispielsweise erlaubt das erfindungsgemäße Bedienelement ein Personalisieren von Kennlinien, ein Umschalten zwischen verschiedenen Kennlinienformen je nach Betriebszustand und generell ein der haptischen Wahrnehmung des Benutzers Zugänglichmachen von Systemzuständen. Derartig zugänglich gemachte Informationen muss der Benutzer nicht mehr visuell aufnehmen, was den Benutzer typischerweise entlastet und es ihm ermöglicht, sich besser auf seine primäre Aufgabe zu konzentrieren. Als Beispiele für Systemzustände seien der Grad der Auslenkung des Betätigungshebels, das Erreichen der Belastungsgrenze des Systems oder ein Alarm genannt. Das Nachgiebigkeitselement ist bevorzugt zwischen dem Betätigungshebel und der das Force-Feedback erzeugenden Aktorik angeordnet. Die Rückstelleinheit kann ein oder mehrere Nachgiebigkeitselemente umfassen.Furthermore, it is provided according to the invention that the reset unit has a compliance element, the actuator unit being designed to modulate a return characteristic of the compliance element. The actuator unit thus influences the tendency of the reset unit to return the actuating lever to the neutral state, but only within the modulation limits, so as not to jeopardize the intrinsically safe return of the actuating lever. In the modulation frame defined above, the actuator unit allows a variety of haptic feedback to the user in the operating lever. For example, the control element according to the invention allows a personalization of characteristics, a switching between different characteristic shapes depending on the operating state and generally one of the haptic perception of the user making accessible system states. Such information does not need to be visually captured by the user, which typically relieves the user of stress and enables them to better focus on their primary task. Examples of system states are the degree of deflection of the operating lever, the reaching of the load limit of the system or an alarm called. The compliance element is preferably arranged between the actuating lever and the force feedback generating actuator. The reset unit may comprise one or more compliance elements.
Erfindungsgemäß weist das Nachgiebigkeitselement eine Druckfeder oder eine Zugfeder oder einen Gaskolben oder einen Magnet auf. Insbesondere wird unter einem Nachgiebigkeitselement das Folgende verstanden: Spiralfeder, Schenkelfeder, Schraubenfeder, Blattfeder, Torsionsfeder, Luftfeder, Gasdruckfeder, Elastomerfeder oder magnetische Abstoßung. Zwischen Aktoreinheit und Nachgiebigkeitselement können Getriebeelemente zum Übertragen eines Stellwegs der Aktoreinheit angeordnet sein. Natürlich sind auch andere Nachgiebigkeitselemente erfindungsgemäß denkbar, falls sie mit den weiteren Komponenten des Bedienelements kompatibel sind.According to the invention, the compliance element comprises a compression spring or a tension spring or a gas piston or a magnet. In particular, a compliance element is understood to mean the following: coil spring, leg spring, coil spring, leaf spring, torsion spring, air spring, gas spring, elastomer spring or magnetic repulsion. Between actuator and compliance element transmission elements may be arranged for transmitting a travel of the actuator. Of course, other compliance elements according to the invention are conceivable, if they are compatible with the other components of the control.
Es erweist sich erfindungsgemäß als sehr vorteilhaft, dass die Rückstelleinheit eine Kulisse und ein die Kulisse abtastendes Tastelement aufweist, wobei die Aktoreinheit eine Anpresskraft des Tastelements gegen die Kulisse nach Betrag und/oder Richtung modulierend ausgebildet ist. Eine Kulissen-Tastelement-Kombination ist insbesondere bei Joysticks allgemein bekannt, vielfach benutzt und hat sich bewährt. Mit dieser bewährten Kombination ist erfindungsgemäß eine Aktoreinheit wirkmäßig verbunden, um ein zusätzliches Feedback in den Betätigungshebel einspeisen zu können und die bewährte Kombination weiter zu verbessern. Das Tastelement weist eine Kugel oder eine Walze oder einen Nocken auf.It proves to be very advantageous according to the invention that the restoring unit has a link and a scanning element scanning the link, wherein the actuator unit is designed to modulate a contact force of the feeler element against the link in terms of amount and / or direction. A link-feeler combination is generally well-known, widely used and proven in joysticks in particular. With this proven combination an actuator unit according to the invention is effectively connected to be able to feed additional feedback in the operating lever and to further improve the proven combination. The probe element has a ball or a roller or a cam.
Alternativ dazu ist erfindungsgemäß, aber nicht beansprucht, vorgesehen, dass die Rückstelleinheit zwei Magnete aufweist, wobei die Aktoreinheit eine zwischen den Magneten wirkende Magnetkraft nach Betrag und/oder Richtung modulierend ausgebildet ist, um das Rückstelldrehmoment der Rückstelleinheit zu beeinflussen.Alternatively, it is provided according to the invention, but not claimed, that the reset unit comprises two magnets, wherein the actuator unit is designed modulating a magnetic force acting between the magnets in magnitude and / or direction in order to influence the restoring torque of the reset unit.
In einer weiteren Alternative ist erfindungsgemäß vorgesehen, dass die Rückstelleinheit eine lineare Kette aufweist, deren eines Ende an dem Gehäuse und deren anderes Ende an dem Betätigungshebel befestigt sind und die das Nachgiebigkeitselement umfasst, wobei die Aktoreinheit eine Vorspannung des Nachgiebigkeitselements modulierend ausgebildet ist um das Rückstelldrehmoment der Rückstelleinheit zu beeinflussen.In a further alternative, it is provided according to the invention that the restoring unit has a linear chain whose one end adjoins the Housing and the other end are fixed to the actuating lever and which comprises the compliance element, wherein the actuator unit is designed to modulate a bias of the compliance element to influence the restoring torque of the return unit.
Es erweist sich erfindungsgemäß als besonders vorteilhaft, dass die Aktoreinheit einen intrinsisch begrenzten Stellweg bereitstellend ausgebildet ist. Solche konstruktiven Schranken für den Stellweg der Aktoreinheit gewährleisten, dass ein auf den Betätigungshebel wirkendes Drehmoment stets ein Rückstelldrehmoment ist, das sich unter allen Umständen zwischen einem sicheren Minimum und einem sicheren Maximum bewegt, und der Betätigungshebel selbsttätig in die Neutrallage zurückkehrt und in seiner Auslenkung nicht eingeschränkt ist. Durch keine Stellung der Aktoreinheit ist eine selbsttätige Bewegung des Betätigungshebels aus dem neutralen Zustand heraus möglich.It proves to be particularly advantageous according to the invention that the actuator unit is designed to provide an intrinsically limited travel. Such constructive barriers to the actuation unit travel ensure that a torque acting on the actuation lever is always a restoring torque that moves between a safe minimum and a safe maximum under all circumstances, and the actuation lever returns automatically to the neutral position and not in its displacement is restricted. By no position of the actuator is an automatic movement of the actuating lever from the neutral state out possible.
Alternativ oder zusätzlich zu einem intrinsisch begrenzten Stellweg weist das Bedienelement Anschläge zum Begrenzen eines Stellwegs der Aktoreinheit auf. Durch diese Konstellation kann ein Typ von Aktoreinheit verwendet werden, um in bezüglich des erlaubten Stellwegs unterschiedlichen Bedienelementen verbaut zu werden. Dies erlaubt den Einsatz von konstruktiv einfacheren oder generalisierten Aktoreinheiten, was sich in reduzierten Herstellungskosten für das erfindungsgemäße Bedienelement niederschlägt.Alternatively, or in addition to an intrinsically limited travel, the control element has stops for limiting a travel of the actuator unit. By this constellation, a type of actuator unit can be used to be installed in respect of the permitted travel different controls. This allows the use of structurally simpler or generalized actuator units, which is reflected in reduced production costs for the control element according to the invention.
Es ist erfindungsgemäß vorgesehen, dass die Aktoreinheit einen Aktor aufweist, wobei der Aktor als ein Elektromotor oder ein elektrodynamischer Linearantrieb oder ein piezoelektrischer Antrieb oder ein Elektromagnet oder ein pneumatischer Antrieb oder ein hydraulischer Antrieb ausgebildet ist. Erfindungsgemäß umfasst der piezoelektrische Antrieb mindestens eines der folgenden piezoelektrischen Elemente: Stapel, Biegebalken und Wanderwellenmotor. Natürlich sind auch andere Aktoren erfindungsgemäß denkbar, falls sie mit den weiteren Komponenten des Bedienelements kompatibel sind.It is inventively provided that the actuator unit comprises an actuator, wherein the actuator is designed as an electric motor or an electrodynamic linear drive or a piezoelectric drive or an electromagnet or a pneumatic drive or a hydraulic drive. According to the invention, the piezoelectric drive comprises at least one of the following piezoelectric elements: Stack, bending beam and traveling wave motor. Of course, other actuators are inventively conceivable, if they are compatible with the other components of the control.
Erfindungsgemäß bevorzugte Kombinationen von Aktor und Nachgiebigkeitselement sind: Elektromotor und Druckfeder oder Zugfeder oder Gaskolben oder Magnet oder Spiralfeder oder Schenkelfeder oder Schraubenfeder oder Blattfeder oder Torsionsfeder oder Luftfeder oder Gasdruckfeder oder Elastomerfeder; elektrodynamischer Linearantrieb und Druckfeder oder Zugfeder oder Gaskolben oder Magnet oder Spiralfeder oder Schenkelfeder oder Schraubenfeder oder Blattfeder oder Torsionsfeder oder Luftfeder oder Gasdruckfeder oder Elastomerfeder; piezoelektrischer Antrieb und Druckfeder oder Zugfeder oder Gaskolben oder Magnet oder Spiralfeder oder Schenkelfeder oder Schraubenfeder oder Blattfeder oder Torsionsfeder oder Luftfeder oder Gasdruckfeder oder Elastomerfeder; Elektromagnet und Druckfeder oder Zugfeder oder Gaskolben oder Magnet oder Spiralfeder oder Schenkelfeder oder Schraubenfeder oder Blattfeder oder Torsionsfeder oder Luftfeder oder Gasdruckfeder oder Elastomerfeder; pneumatischer Antrieb und Druckfeder oder Zugfeder oder Gaskolben oder Magnet oder Spiralfeder oder Schenkelfeder oder Schraubenfeder oder Blattfeder oder Torsionsfeder oder Luftfeder oder Gasdruckfeder oder Elastomerfeder; und hydraulischer Antrieb und Druckfeder oder Zugfeder oder Gaskolben oder Magnet oder Spiralfeder oder Schenkelfeder oder Schraubenfeder oder Blattfeder oder Torsionsfeder oder Luftfeder oder Gasdruckfeder oder Elastomerfeder.According to preferred combinations of actuator and compliance element are: electric motor and compression spring or tension spring or gas piston or magnet or coil spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; electrodynamic linear drive and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; piezoelectric drive and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; Electromagnet and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; pneumatic drive and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; and hydraulic drive and compression spring or tension spring or gas piston or magnet or coil spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring.
In einer vereinfachten Ausführungsform der vorliegenden Erfindung weist die Aktoreinheit einen Aktor auf, wobei der Aktor außerhalb des Bedienelements angeordnet ist. Der ausgelagerte Aktor ist mittels einer Wirkverbindung mit einem weiteren Teil der Aktoreinheit verbunden, der zum begrenzten Modulieren des Rückstelldrehmoments auf die Rückstelleinheit einwirkt. Somit bedarf das Bedienelement keines internen Aktors, was den Aufbau des Bedienelements vereinfacht und die Herstellungskosten für das Bedienelement senkt. Besonders bevorzugt ist der externe Aktor ein Aktor, der ohnehin in der Maschine oder dem Fahrzeug vorhanden ist, die oder das das Bedienelement aufweist. Beispielsweise ist der externe Aktor ein Hydraulikzylinder eines Baggerarms eines Baggers, wobei der Baggerarm mittels eines Gestänges mit dem Bedienelement zum Steuern des Baggers verbunden ist und das Gestänge mit der Rückstelleinheit gekoppelt ist, um das Rückstelldrehmoment in direkter Abhängigkeit von der Stellung des Baggerarms begrenzt zu modulieren und somit die Kennlinie des Bedienelements zu beeinflussen.In a simplified embodiment of the present invention, the actuator unit has an actuator, wherein the actuator is arranged outside the operating element. The outsourced actuator is connected by means of an operative connection with another part of the actuator unit, the acts to modulate limited the restoring torque on the return unit. Thus, the control requires no internal actuator, which simplifies the structure of the control and reduces the cost of manufacturing the control. Particularly preferably, the external actuator is an actuator, which is already present in the machine or the vehicle, or which has the operating element. For example, the external actuator is a hydraulic cylinder of an excavator arm of an excavator, wherein the excavator arm is connected by means of a linkage to the control element for controlling the excavator and the linkage is coupled to the reset unit to modulate the restoring torque in response to the position of the excavator arm and thus to influence the characteristic of the operating element.
In einer weiteren vereinfachten Ausführungsform der vorliegenden Verbindung weist die Aktoreinheit anstatt eines Aktors ein Stellglied auf. Im Vergleich zu einem Aktor ist ein Stellglied ein technisch weniger komplexes Bauteil, das regelmäßig keine Energieversorgung erfordert. Das Stellglied ist bevorzugt ein mechanisches Stellglied, zum Beispiel ein Hebel oder eine Stellschraube, das zum begrenzten Modulieren des Rückstelldrehmoments auf die Rückstelleinheit einwirkt und somit die Kennlinie des Bedienelements ändert. Die Verwendung eines Stellglieds anstatt eines Aktors ist insbesondere dann zweckmäßig, wenn die Kennlinie des Bedienelements nur relativ selten zu ändern ist, beispielsweise wenn die Kennlinie einmal an die Bedürfnisse des Benutzers angepasst wird und nachfolgend keine weitere situationsabhängige Modulation der Kennlinie gewünscht ist.In a further simplified embodiment of the present invention, the actuator unit has an actuator instead of an actuator. Compared to an actuator, an actuator is a technically less complex component that regularly requires no power supply. The actuator is preferably a mechanical actuator, for example a lever or an adjusting screw, which acts on the restoring unit for limited modulating the return torque and thus changes the characteristic of the operating element. The use of an actuator instead of an actuator is particularly useful when the characteristic of the control element is relatively rare to change, for example, when the characteristic is once adapted to the needs of the user and subsequently no further situation-dependent modulation of the characteristic is desired.
In einer allgemeineren Variante der vorliegenden Erfindung weist die Aktoreinheit einen Aktor und ein Stellglied auf. Die Kombination von Aktor und Stellglied, insbesondere mechanischem Stellglied, ermöglicht die Bereitstellung eines universell konfigurierbaren Bedienelements durch zweifache Modulation der Kennlinie. Dieses Bedienelement bietet die Funktion des intrinsisch sicheren Force-Feedbacks, gleichzeitig ist das Bedienelement individuell konfigurierbar. Die individuelle Konfiguration der Kennlinie nach den Bedürfnissen des Benutzers bildet ein Basissetup für das Bedienelement, dem das Force-Feedback überlagert ist.In a more general variant of the present invention, the actuator unit has an actuator and an actuator. The combination of actuator and actuator, in particular mechanical actuator, allows the Provision of a universally configurable operating element by double modulation of the characteristic. This control element offers the function of intrinsically safe force feedback, while the control element is individually configurable. The individual configuration of the characteristic according to the needs of the user forms a basic setup for the control element, which is superimposed on the force feedback.
Je nach Einsatzzweck des Bedienelements erweist es sich erfindungsgemäß als vorteilhaft, dass der Drehpunkt als eine Betätigungsachse oder als zwei zueinander orthogonal orientierte Betätigungsachsen oder als drei zueinander orthogonale Betätigungsachsen ausgebildet ist. Ein als eine Betätigungsachse ausgebildeter Drehpunkt erlaubt ein Schwenken des Bedienelements in lediglich einer Ebene. Hiermit kann beispielsweise ein lagerungstechnisch einfacher und robuster Joystick aufgebaut werden, mit dem im Minimalfall nur eine einzige Funktion implementiert ist. Ein als zwei zueinander orthogonal orientierte Betätigungsachsen oder als drei zueinander orthogonale Betätigungsachsen ausgebildeter Drehpunkt erlaubt eine variantenreiche Gestaltung eines Schwenkmusters für das Bedienelement, sodass eine Vielzahl an Funktionen implementierbar sind. Insbesondere bei letzterer Alternative sind die Anforderungen an die Lagerung des Betätigungshebels in dem Gehäuse hoch, jedoch mittels einer beispielsweise kardanischen Lagerung erfüllbar.Depending on the intended use of the operating element, it proves to be advantageous according to the invention that the pivot point is designed as an actuating axis or as two actuation axes oriented orthogonally to one another or as three actuation axes which are orthogonal to one another. A trained as an actuating axis pivot allows pivoting of the control element in only one plane. Hereby, for example, a storage technically simple and robust joystick can be constructed, with which only a single function is implemented in the minimum case. An axis of rotation designed as two orthogonally oriented actuation axes or as three mutually orthogonal actuation axes permits a varied design of a swivel pattern for the operating element, so that a multiplicity of functions can be implemented. In particular, in the latter alternative, the requirements for the storage of the actuating lever in the housing are high, but can be fulfilled by means of a gimbal example storage.
Darüber hinaus umfasst das Bedienelement eine Steuereinheit, die den Zustand des Bedienelements, insbesondere die Auslenkung des Betätigungshebels abfragt. Von dem System erhält die Steuereinheit Informationen über einen Betriebsmodus und gegebenenfalls eine als Force-Feedback am Bedienelement darzustellende Größe. Hieraus berechnet die Steuereinheit die momentan erforderliche Modulation des Rückstelldrehmoments und steuert die Aktoreinheit entsprechend an.In addition, the operating element comprises a control unit which interrogates the state of the operating element, in particular the deflection of the actuating lever. From the system, the control unit receives information about a mode of operation and possibly a size to be displayed as force feedback on the control element. From this, the control unit calculates the momentarily required modulation of the return torque and controls the actuator unit accordingly.
Denkbar ist ebenfalls, dass das Bedienelement zusätzlich zu der Rückstelleinheit eine Rastvorrichtung aufweist, um den Betätigungshebel bei einer vordefinierten Auslenkung feststehen zu lassen. Bei der Umsetzung der erfindungsgemäßen Lösung sind Winkelungenauigkeiten, Vibrationen und dergleichen mehr zu berücksichtigen. In der Elektronik der Steuereinheit, die von dem Bedienelement an sich unabhängig ist, sind entsprechende Kennlinien oder Charakteristiken zu hinterlegen.It is also conceivable that the operating element in addition to the restoring unit has a locking device to leave the operating lever fixed at a predefined deflection. In the implementation of the solution according to the invention angle inaccuracies, vibrations and the like are to be considered more. In the electronics of the control unit, which is independent of the control itself, appropriate characteristics or characteristics are deposited.
Im Nachfolgenden wird die Erfindung in 14 Ausführungsformen unter Bezugnahme auf die Zeichnungen beispielhaft beschrieben, wobei weitere vorteilhafte Einzelheiten den Figuren der Zeichnungen zu entnehmen sind. Die Figuren der Zeichnungen zeigen im Einzelnen:
-
Fig. 1 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer ersten nicht beanspruchten Ausführungsform; -
Fig. 2 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer zweiten nicht beanspruchten Ausführungsform; -
Fig. 3 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer dritten nicht beanspruchten Ausführungsform; -
Fig. 4 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer vierten nicht beanspruchten Ausführungsform; -
Fig. 5 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer fünften nicht beanspruchten Ausführungsform; -
Fig. 6 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer sechsten nicht beanspruchten Ausführungsform; -
Fig. 7 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer siebten nicht beanspruchten Ausführungsform; -
Fig. 8 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer achten Ausführungsform; -
Fig. 9 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer neunten Ausführungsform; -
Fig. 10 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer zehnten nicht beanspruchten Ausführungsform; -
Fig. 11 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer elften nicht beanspruchten Ausführungsform; -
Fig. 12 eine schematische Ansicht eines Nachgiebigkeitselements eines erfindungsgemäßen Bedienelements gemäß einer zwölften nicht beanspruchten Ausführungsform; -
Fig. 13 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer dreizehnten nicht beanspruchten Ausführungsform; und -
Fig. 14 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer vierzehnten Ausführungsform.
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Fig. 1 a schematic view of an operating element according to the invention according to a first embodiment not claimed; -
Fig. 2 a schematic view of an operating element according to the invention according to a second embodiment not claimed; -
Fig. 3 a schematic view of an operating element according to the invention according to a third unclaimed embodiment; -
Fig. 4 a schematic view of an operating element according to the invention according to a fourth embodiment not claimed; -
Fig. 5 a schematic view of an operating element according to the invention according to a fifth embodiment not claimed; -
Fig. 6 a schematic view of an operating element according to the invention according to a sixth embodiment not claimed; -
Fig. 7 a schematic view of an operating element according to the invention according to a seventh unclaimed embodiment; -
Fig. 8 a schematic view of an operating element according to the invention according to an eighth embodiment; -
Fig. 9 a schematic view of an operating element according to the invention according to a ninth embodiment; -
Fig. 10 a schematic view of an operating element according to the invention according to a tenth unclaimed embodiment; -
Fig. 11 a schematic view of an operating element according to the invention according to an eleventh unclaimed embodiment; -
Fig. 12 a schematic view of a compliance element of a control element according to the invention according to a twelfth unclaimed embodiment; -
Fig. 13 a schematic view of an operating element according to the invention according to a thirteenth unclaimed embodiment; and -
Fig. 14 a schematic view of an operating element according to the invention according to a fourteenth embodiment.
Die
Die
Die
Die
Die
Die
Die
Die
Die
Die
Die
Die
Die
- 11
- Betätigungshebelactuating lever
- 22
- Drehpunktpivot point
- 33
- Aktoreinheitactuator
- 3a3a
- Aktoreinheitactuator
- 3b3b
- Aktoreinheitactuator
- 3'3 '
- Aktoreinheitactuator
- 44
- Nachgiebigkeitselementcompliant element
- 4a4a
- Nachgiebigkeitselementcompliant element
- 4b4b
- Nachgiebigkeitselementcompliant element
- 55
- Kulissescenery
- 66
- Einstellbares NachgiebigkeitselementAdjustable compliance element
- 77
- Gasdruckgas pressure
- 88th
- Kulissescenery
- 99
- KraftangriffspunktForce application point
- 1010
- Anschlagattack
- 1111
- Gelenkjoint
- 1212
- Gelenkjoint
- 1313
- Kulissenblockbackdrop block
- 1414
- Kulissenwalzecam roller
- 1515
- Lagerwarehouse
- 1616
- Magnetmagnet
- 1717
- Magnetmagnet
- 1818
- Magnetmagnet
- 2020
- Lagerblockbearing block
- 2121
- Lagerblockbearing block
- 2222
- Torsionsfedertorsion spring
- 2323
- Stößeltappet
- 2424
- GriffstangeGrab bars
- 2525
- Kulissescenery
- 2626
- Lagerwarehouse
- 2727
- Auflagepunktsupport point
- FB F B
- Benutzerkraftusers force
- FF F F
- Federkraftspring force
- FR F R
- RückstellkraftRestoring force
- pp
- Gasdruckgas pressure
- MR M R
- RückstelldrehmomentRestoring torque
Claims (11)
- Operating element comprising a housing, an operating lever (1) borne pivotably about a point of rotation (2) in the housing and a restoring unit for providing a restoring moment (MR) for restoring the operating lever (1) from a deflected state into a neutral state, wherein the operating element comprises an actuator unit (3) which is in operative connection with the restoring unit, wherein the actuator unit (3) is configured for the limited modulation of the restoring moment (MR), wherein at a lower modulation limit the restoring moment (MR) in the deflected state is greater than zero, wherein restoring unit comprises guide (5) and sensing element sensing the guide (5), wherein the actuator unit (3) is configured in a manner modulating a pressing force of the sensing element against the guide (5) in terms of magnitude and/or direction, characterised in that the guide (5) has different guide sections in the z-direction and/or the guide (5) is deformable and/or through turning a guide roller (14) various guides (5) can be retrieved.
- Operating element according to claim 1 characterised in that at an upper modulation limit the restoring moment MR is smaller than a deflection moment for deflecting the operating lever (1) appliable by a user.
- Operating element according to claim 1 or 2 characterised in that the restoring unit comprises a resilience element (4), wherein the actuator unit (3) is configured in a manner modulating a restoring characteristic of the resilience element (4).
- Operating element according to claim 3 characterised in that the resilience element (4) comprises a pressure spring or a tensile spring or a gas piston or a magnet.
- Operating element according to claim 1 characterised in that the sensing element comprises a sphere or a roller or a cam.
- Operating element according to claim 3 or 4 characterised in that the restoring unit comprises a linear chain, one end of which is fastened to the housing and the other end of which is fastened to the operating lever (1) and which encompasses the resilience element (4), wherein the actuator unit (3) is configured in a manner modulating a pre-tensioning of the resilience element (4).
- Operating element according to any one of the preceding claims characterised in that the actuator unit (3) is configured in a manner providing an intrinsically restricted travel path.
- Operating element according to any one of the preceding claims characterised in that the operating element has stops to restrict the travel path of the actuator unit (3).
- Operating element according to any one of the preceding claims characterised in that the actuator unit (3) comprises an actuator, wherein the actuator is designed as an electric motor or an electrodynamic linear drive or a piezoelectric drive or an electro- magnet or a pneumatic drive or a hydraulic drive.
- Operating element according to any one of the preceding claims characterised in that the point of rotation (2) is configured as an operating axis or two operating axes orthogonally oriented in relation to each other, or as three orthogonal operating axes.
- Operating element according to any one of the preceding claims, characterised in that the restoring moment in the deflected state is 0.001 Nm to 10.0 Nm.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014103988.2A DE102014103988A1 (en) | 2014-03-24 | 2014-03-24 | Joystick with intrinsically safe force feedback |
Publications (3)
Publication Number | Publication Date |
---|---|
EP2924535A2 EP2924535A2 (en) | 2015-09-30 |
EP2924535A3 EP2924535A3 (en) | 2017-01-18 |
EP2924535B1 true EP2924535B1 (en) | 2019-02-20 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15160304.0A Active EP2924535B1 (en) | 2014-03-24 | 2015-03-23 | Joystick with intrinsically secure force feedback |
Country Status (4)
Country | Link |
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US (1) | US10345848B2 (en) |
EP (1) | EP2924535B1 (en) |
CN (1) | CN104965561B (en) |
DE (1) | DE102014103988A1 (en) |
Families Citing this family (17)
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US9447866B2 (en) * | 2013-03-14 | 2016-09-20 | Steering Solutions Ip Holding Corporation | Shift control device for an automatic transmission |
GB2533857B (en) * | 2013-08-22 | 2020-06-03 | Halliburton Energy Services Inc | Magnetic pressure pulse attenuation |
KR101511561B1 (en) * | 2013-12-18 | 2015-04-13 | 현대자동차주식회사 | Smart Touch Type Electronic Auto Shift Lever |
DE102016015155A1 (en) * | 2016-05-13 | 2017-11-16 | Liebherr-Werk Bischofshofen Gmbh | Arrangement for controlling a work machine |
FR3056315B1 (en) * | 2016-09-21 | 2018-09-28 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | HAPTIC INTERFACE WITH AT LEAST TWO DEGREES OF FREEDOM HAVING IMPROVED HAPTIC RESOURCE |
DE102016118457A1 (en) | 2016-09-29 | 2018-03-29 | Jungheinrich Aktiengesellschaft | Method for operating an industrial truck with a control element and an industrial truck |
DE102016118460A1 (en) * | 2016-09-29 | 2018-03-29 | Jungheinrich Aktiengesellschaft | Truck with a control lever and method for operating such a truck |
DE102016118459A1 (en) | 2016-09-29 | 2018-03-29 | Jungheinrich Aktiengesellschaft | Industrial truck with an operating lever having an operating means and method for operating such a truck |
DE102016118458A1 (en) | 2016-09-29 | 2018-03-29 | Jungheinrich Aktiengesellschaft | Method for operating an industrial truck with a control element |
US9898033B1 (en) * | 2016-12-08 | 2018-02-20 | Kitty Hawk Corporation | Magnetic spring inceptor |
DE102016225309B4 (en) | 2016-12-16 | 2021-12-23 | Gebrüder Frei GmbH & Co. KG | One-axis control unit for safety-relevant applications |
DE102017115863A1 (en) | 2017-07-14 | 2019-01-17 | Fernsteuergeräte Kurt Oelsch GmbH | Control lever with slide guide |
DE102017215999A1 (en) * | 2017-09-11 | 2019-03-14 | Continental Automotive Gmbh | Operating device with a tiltable in several directions handle with haptic feedback |
DE102020123843A1 (en) * | 2020-09-14 | 2022-03-17 | elobau GmbH & Co.KG | Control lever with link system |
DE102022110703A1 (en) | 2022-05-02 | 2023-11-02 | elobau GmbH & Co.KG | Mesostructural recovery unit |
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DE102023119430B3 (en) | 2023-07-23 | 2024-09-26 | Gaimx Gmbh | Resistance element for a handheld controller for controlling computer games |
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2015
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- 2015-03-23 CN CN201510128788.9A patent/CN104965561B/en active Active
- 2015-03-23 EP EP15160304.0A patent/EP2924535B1/en active Active
Non-Patent Citations (1)
Title |
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None * |
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DE102014103988A1 (en) | 2015-09-24 |
US20150268691A1 (en) | 2015-09-24 |
US10345848B2 (en) | 2019-07-09 |
CN104965561A (en) | 2015-10-07 |
EP2924535A3 (en) | 2017-01-18 |
EP2924535A2 (en) | 2015-09-30 |
CN104965561B (en) | 2018-06-15 |
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