EP2924535B1 - Joystick à retour d'effort intrinsèquement sûr - Google Patents

Joystick à retour d'effort intrinsèquement sûr Download PDF

Info

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
Authority
EP
European Patent Office
Prior art keywords
operating
actuator
operating element
actuator unit
restoring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15160304.0A
Other languages
German (de)
English (en)
Other versions
EP2924535A2 (fr
EP2924535A3 (fr
Inventor
Ulrich Schaub
Ingmar Stöhr
Roland Waldner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Elobau GmbH and Co KG
Original Assignee
Elobau GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Elobau GmbH and Co KG filed Critical Elobau GmbH and Co KG
Publication of EP2924535A2 publication Critical patent/EP2924535A2/fr
Publication of EP2924535A3 publication Critical patent/EP2924535A3/fr
Application granted granted Critical
Publication of EP2924535B1 publication Critical patent/EP2924535B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—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.

Landscapes

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

Claims (11)

  1. Elément de commande, comprenant un boîtier, un levier de manoeuvre (1) logé dans le boîtier pouvant pivoter autour d'un point de rotation (2) et une unité de rappel pour fournir un couple de rappel (MR) pour remettre le levier de manoeuvre (1) d'un état dévié dans un état neutre, l'élément de commande comprenant une unité d'actionneur (3) en liaison fonctionnelle avec l'unité de rappel, l'unité d'actionneur (3) étant constituée pour la modulation limitée du couple de rappel (MR), le couple de rappel (MR) étant à une limite de modulation inférieure, supérieur à zéro à l'état dévié, l'unité de rappel comportant une coulisse (5) et un élément de palpage palpant la coulisse (5), l'unité d'actionneur (3) étant constituée pour moduler une force de pression de l'élément de palpage contre la coulisse (5) selon la valeur et/ou la direction, caractérisé en ce que la coulisse (5) comporte des sections de coulisse différentes dans une direction z et/ou la coulisse (5) est constituée pouvant être déformée et/ou différentes coulisses (5) pouvant être appelées par rotation d'un rouleau de coulisse (14).
  2. Elément de commande selon la revendication 1, caractérisé en ce qu'à une limite de modulation supérieure, le couple de rappel MR est plus petit qu'un couple de déviation pouvant être appliqué par un opérateur pour dévier le levier de manoeuvre (1).
  3. Elément de commande selon la revendication 1 ou 2, caractérisé en ce que l'unité de rappel comporte un élément d'élasticité (4), l'unité d'actionneur (3) étant constituée pour moduler une caractéristique de rappel de l'élément d'élasticité (4).
  4. Elément de commande selon la revendication 3, caractérisé en ce que l'élément d'élasticité (4), comporte un ressort de pression ou un ressort de traction ou un piston à gaz ou un aimant.
  5. Elément de commande selon la revendication 1, caractérisé en ce qu'l'élément de palpage comporte une sphère ou un rouleau ou une came.
  6. Elément de commande selon la revendication 3 ou 4, caractérisé en ce que l'unité de rappel comporte une chaîne linéaire, dont une extrémité est fixée au boîtier et l'autre extrémité au levier de manoeuvre (1) et qui comprend l'élément d'élasticité (4), l'unité d'actionneur (3) étant constituée pour moduler une tension préalable de l'élément d'élasticité (4).
  7. Elément de commande selon l'une quelconque des revendications précédentes, caractérisé en ce que l'unité d'actionneur (3) est constituée pour fournir une course de réglage limitée intrinsèque.
  8. Elément de commande selon l'une quelconque des revendications précédentes, caractérisé en ce que l'élément de commande comporte des butées pour limiter une course de réglage de l'unité d'actionneur (3).
  9. Elément de commande selon l'une quelconque des revendications précédentes, caractérisé en ce que l'unité d'actionneur (3) comporte un actionneur, l'actionneur étant constitué sous la forme d'un moteur électrique ou d'un système d'entraînement linéaire électrodynamique ou d'un système d'entraînement piézoélectrique ou d'un électroaimant ou d'un système d'entraînement pneumatique ou d'un système d'entraînement hydraulique.
  10. Elément de commande selon l'une quelconque des revendications précédentes, caractérisé en ce que le point de rotation (2) est constitué sous la forme d'un axe de manoeuvre ou sous la forme de deux axes de manoeuvre orientés de façon orthogonale l'un par rapport à l'autre ou sous la forme de trois axes de manoeuvre orthogonaux l'un par rapport
  11. Elément de commande selon l'une quelconque des revendications précédentes, caractérisé en ce que le couple de rappel à l'état dévié est de 0,001 Nm à 10,0 Nm.
EP15160304.0A 2014-03-24 2015-03-23 Joystick à retour d'effort intrinsèquement sûr Active EP2924535B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014103988.2A DE102014103988A1 (de) 2014-03-24 2014-03-24 Joystick mit intrinsisch sicherem Force-Feedback

Publications (3)

Publication Number Publication Date
EP2924535A2 EP2924535A2 (fr) 2015-09-30
EP2924535A3 EP2924535A3 (fr) 2017-01-18
EP2924535B1 true EP2924535B1 (fr) 2019-02-20

Family

ID=52784936

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15160304.0A Active EP2924535B1 (fr) 2014-03-24 2015-03-23 Joystick à retour d'effort intrinsèquement sûr

Country Status (4)

Country Link
US (1) US10345848B2 (fr)
EP (1) EP2924535B1 (fr)
CN (1) CN104965561B (fr)
DE (1) DE102014103988A1 (fr)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9447866B2 (en) * 2013-03-14 2016-09-20 Steering Solutions Ip Holding Corporation Shift control device for an automatic transmission
CA2917751A1 (fr) * 2013-08-22 2015-02-26 Halliburton Energy Services, Inc. Attenuation d'impulsions de pression magnetique
KR101511561B1 (ko) * 2013-12-18 2015-04-13 현대자동차주식회사 슬라이드 조작 방식 전자식 자동변속레버
DE102016015155A1 (de) * 2016-05-13 2017-11-16 Liebherr-Werk Bischofshofen Gmbh Anordnung zum Steuern einer Arbeitsmaschine
FR3056315B1 (fr) * 2016-09-21 2018-09-28 Commissariat A L'energie Atomique Et Aux Energies Alternatives Interface haptique a au moins deux degres de liberte presentant un ressenti haptique ameliore
DE102016118459A1 (de) 2016-09-29 2018-03-29 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem einen Bedienhebel aufweisenden Bedienmittel sowie Verfahren zur Bedienung eines solchen Flurförderzeugs
DE102016118458A1 (de) 2016-09-29 2018-03-29 Jungheinrich Aktiengesellschaft Verfahren zur Bedienung eines Flurförderzeugs mit einem Bedienelement
DE102016118460A1 (de) * 2016-09-29 2018-03-29 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Bedienhebel sowie Verfahren zur Bedienung eines solchen Flurförderzeugs
DE102016118457A1 (de) 2016-09-29 2018-03-29 Jungheinrich Aktiengesellschaft Verfahren zur Bedienung eines Flurförderzeugs mit einem Bedienelement sowie ein Flurförderzeug
US9898033B1 (en) * 2016-12-08 2018-02-20 Kitty Hawk Corporation Magnetic spring inceptor
DE102016225309B4 (de) 2016-12-16 2021-12-23 Gebrüder Frei GmbH & Co. KG Ein-Achs-Bedieneinheit für sicherheitsrelevante Anwendungen
DE102017115863A1 (de) * 2017-07-14 2019-01-17 Fernsteuergeräte Kurt Oelsch GmbH Bedienhebel mit Kulissenführung
DE102017215999A1 (de) * 2017-09-11 2019-03-14 Continental Automotive Gmbh Bedienvorrichtung mit einer in mehrere Richtungen verkippbaren Handhabe mit haptischer Rückmeldung
DE102020123843A1 (de) * 2020-09-14 2022-03-17 elobau GmbH & Co.KG Bedienhebel mit Kulissensystem
DE102022110704A1 (de) 2022-05-02 2023-11-02 elobau GmbH & Co.KG Mesostrukturelle Rückstelleinheit
DE102022110703A1 (de) 2022-05-02 2023-11-02 elobau GmbH & Co.KG Mesostrukturelle Rückstelleinheit

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT252599B (de) * 1963-12-20 1967-02-27 Bofors Ab Steuergerät mit zwei Freiheitsgraden
DE3302558A1 (de) * 1983-01-26 1984-07-26 Kaltenbach & Voigt Gmbh & Co, 7950 Biberach Fusssteuervorrichtung, insbesondere fuer zahnaerztliche geraete
US5228356A (en) * 1991-11-25 1993-07-20 Chuang Keh Shih K Variable effort joystick
CN2174731Y (zh) * 1993-08-22 1994-08-17 周亚民 手动控制器的操作手柄自复零位装置
WO1998033136A1 (fr) * 1997-01-27 1998-07-30 Immersion Human Interface Corporation Procede et appareil incluant un actionneur perfectionne procurant un retour d'effort bande large et realiste
EP1444108B1 (fr) * 2001-11-05 2010-12-29 Continental Teves AG & Co. oHG Dispositif a force de rappel supplementaire au niveau de l'accelerateur en fonction de l'ecart par rapport a une valeur theorique d'un parametre de vehicule
JP2004326163A (ja) 2003-04-21 2004-11-18 Alps Electric Co Ltd ストークスイッチ
WO2005043269A1 (fr) * 2003-11-03 2005-05-12 T.E.R. Tecno Elettrica Ravasi S.R.L. Dispositif de commande actionne manuellement
WO2005124500A1 (fr) * 2004-06-21 2005-12-29 Hitachi, Ltd. Dispositif d'entr)e d'op)rations
JP2006193012A (ja) * 2005-01-12 2006-07-27 Toyota Motor Corp ペダル反力制御装置
US7884565B2 (en) * 2008-01-10 2011-02-08 Honeywell International Inc. Human-machine interface with passive soft stops
JP2011154447A (ja) * 2010-01-26 2011-08-11 Tokai Rika Co Ltd レバー操作装置
US9051045B2 (en) 2010-07-28 2015-06-09 Woodward Mpc, Inc. Indirect drive active control column
DE102011101123B4 (de) * 2011-05-11 2018-03-22 Audi Ag Schaltvorrichtung
JP2013252778A (ja) * 2012-06-06 2013-12-19 Tokai Rika Co Ltd 操作装置及びシフトレバー装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP2924535A2 (fr) 2015-09-30
US10345848B2 (en) 2019-07-09
EP2924535A3 (fr) 2017-01-18
CN104965561B (zh) 2018-06-15
US20150268691A1 (en) 2015-09-24
DE102014103988A1 (de) 2015-09-24
CN104965561A (zh) 2015-10-07

Similar Documents

Publication Publication Date Title
EP2924535B1 (fr) Joystick à retour d'effort intrinsèquement sûr
EP1182485B1 (fr) Dispositif de réglage de la position relative de deux éléments
DE102012221107B3 (de) Bedienvorrichtung für eine Fahrzeugkomponente
DE102019115329B4 (de) Manuell bedienbare Steuervorrichtung
WO2016012277A1 (fr) Unité de commande d'appareil électrique
DE102008001805A1 (de) Betätigungseinrichtung mit Force Feedback
EP2469373B1 (fr) Commande manuelle à plusieurs axes
EP3343311B1 (fr) Levier de commande pourvu d'unité de rétroaction active
DE602005003233T2 (de) Vorrichtung für entgegenwirkende künstliche steuerkraft für ein flugzeugsteuerflächenfernsteuergerät
WO2013014129A1 (fr) Dispositif de commande
EP3096197A2 (fr) Systeme de commande pour vehicules
DE112020004035T5 (de) Betätigungsvorrichtung
EP3452360B1 (fr) Système de commande d'un engin de travail
WO2019011373A1 (fr) Levier de commande muni d'un guide à coulisse
DE102008028365B4 (de) Rotorfluggerät mit einer Steuereinrichtung zum Generieren von Steuerbefehlen
EP2920553B1 (fr) Capteur capacitif permettant de détecter un mouvement relatif de deux corps adjacents
WO2019063516A1 (fr) Équipement commutateur
DE102018126384B4 (de) Schalthebel für ein Fahrzeug, insbesondere für ein Kraftfahrzeug
EP3365745A1 (fr) Unité de commande d'un composant d'un véhicule, en particulier d'un système de chauffage, ventilation et/ou climatisation
WO2009021514A1 (fr) Chapeau pour soupape
DE102016108472A1 (de) Steuersystem für Fahrzeuge
DE4228390C2 (de) Zentriereinheit für ein Flugzeugruder
EP4273415A1 (fr) Unité de rappel mésostructurel
DE102022108353A1 (de) Steuerhebel mit aktivem Handgriff für haptisches Feedback
DE202011103482U1 (de) Servomodul zur Ventilansteuerung

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20150323

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RIC1 Information provided on ipc code assigned before grant

Ipc: G05G 5/03 20080401ALN20161215BHEP

Ipc: G05G 9/047 20060101AFI20161215BHEP

Ipc: G05G 5/05 20060101ALI20161215BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20170127

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

RIC1 Information provided on ipc code assigned before grant

Ipc: G05G 5/03 20080401ALN20180629BHEP

Ipc: G05G 9/047 20060101AFI20180629BHEP

Ipc: G05G 5/05 20060101ALI20180629BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: G05G 9/047 20060101AFI20180926BHEP

Ipc: G05G 5/05 20060101ALI20180926BHEP

Ipc: G05G 5/03 20080401ALN20180926BHEP

INTG Intention to grant announced

Effective date: 20181010

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

RIC1 Information provided on ipc code assigned before grant

Ipc: G05G 9/047 20060101AFI20180926BHEP

Ipc: G05G 5/05 20060101ALI20180926BHEP

Ipc: G05G 5/03 20080401ALN20180926BHEP

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502015007985

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1099045

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190315

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20190220

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190520

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190620

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190520

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190620

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190521

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502015007985

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190323

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20190331

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

26N No opposition filed

Effective date: 20191121

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190331

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190323

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190331

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190331

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1099045

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200323

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20150323

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200323

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190220

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230427

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240321

Year of fee payment: 10

Ref country code: GB

Payment date: 20240322

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20240320

Year of fee payment: 10