EP3521518A1 - Dispositif de fonctionnement pour un appareil de travail et appareil de travail pourvu de dispositif de fonctionnement correspondant - Google Patents

Dispositif de fonctionnement pour un appareil de travail et appareil de travail pourvu de dispositif de fonctionnement correspondant Download PDF

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Publication number
EP3521518A1
EP3521518A1 EP18211333.2A EP18211333A EP3521518A1 EP 3521518 A1 EP3521518 A1 EP 3521518A1 EP 18211333 A EP18211333 A EP 18211333A EP 3521518 A1 EP3521518 A1 EP 3521518A1
Authority
EP
European Patent Office
Prior art keywords
control
attachment tool
movement
operating device
manual control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18211333.2A
Other languages
German (de)
English (en)
Other versions
EP3521518B1 (fr
Inventor
Gerhard Bolz
Dieter Ansorge
Florian Mang
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.)
Liebherr Hydraulikbagger GmbH
Original Assignee
Liebherr Hydraulikbagger GmbH
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 Liebherr Hydraulikbagger GmbH filed Critical Liebherr Hydraulikbagger GmbH
Publication of EP3521518A1 publication Critical patent/EP3521518A1/fr
Application granted granted Critical
Publication of EP3521518B1 publication Critical patent/EP3521518B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • B66C13/54—Operator's stands or cabins
    • B66C13/56—Arrangements of handles or pedals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • 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

Definitions

  • the invention relates to an operating device for operating a working device with at least one attachment tool, comprising at least one manual control device and at least one control / regulation.
  • operating devices for operating equipment such as excavators can usually include two joysticks, which can be pivotable about two axes. These joysticks can be used to operate the main working movements of the equipment or implement and, for example, an attachment provided on the implement.
  • the joysticks are moved or along which axes the joysticks are swiveled, for example, via a control / regulation the implement cylinder or actuators of the implement for corresponding adjustments of the implement and / or an attachment tool driven.
  • the disadvantage here is that the operator must perform cumbersome control movements by means of the joystick or to perform such superimposed movements and this must have a corresponding experience or skills.
  • an operating device for operating a working device is provided with at least one attachment tool, comprising at least one manual control device and at least one control, wherein the control / is set to the attachment tool based on a single control movement of the manual control device by means of a single on the hand control unit provided detecting means to control to execute a linear movement.
  • a single control movement of the manual control device is defined here by a single movement or deflection of the manual control device, which can be detected by means of a single detection means provided on the manual control device.
  • the detection means detects only a single linear or rotary control movement.
  • the manual control unit can be designed so that it detects more than a single control movement at a deflection at the same time, but in turn according to the invention cause a corresponding number superimposed linear movements of the attachment tool.
  • a first hand control device is adapted to move the attachment tool along a first and a second axis perpendicular to each other and to rotate about a third axis parallel to the first or second axis and is spaced therefrom.
  • the first hand control device can be designed, for example, as a joystick or joystick, wherein it can be set up to carry out an at least partially spherical movement along two pivot axes.
  • the movement along the two pivot axes can be converted via the control / regulation into control signals which control the attachment tool for movement along the mutually perpendicular axes.
  • the first manual control device is moved or pivoted forward relative to a working or viewing direction of the working device, then this deflection of the manual control device can be converted into signals which move the attachment tool linearly forward.
  • this deflection of the manual control device can be converted into signals which move the attachment tool linearly forward. The same applies to a pivoting of the manual control device to the rear.
  • this movement of the manual control unit can be used by means of the control / control to generate control signals, the attachment tool to a linear movement to the left or right with respect to a viewing or working direction of the implement.
  • superimposed movements of the manual control unit superimposed linear movements of the attachment tool can be displayed.
  • the viewing or working direction of the working device can be a main direction of the working device, in which, for example, a working arm and / or a superstructure of the working device are arranged.
  • attachment tool can be controlled to rotate by means of a proportional operating element.
  • the at least one manual control device comprises the proportional control element.
  • the proportional control element can be provided.
  • the proportional control element may be, for example, a slider which can be operated with a finger or the thumb of a hand to rotate the attachment tool.
  • the proportional operating element may further comprise a restoring device, which sets the operating element in a neutral position when the operating element is not actuated by an operator.
  • the neutral position of the control can be defined by the fact that no control signals are output to the implement or that while a position and / or orientation of the implement and / or the attachment tool is not changed.
  • a second manual control device is adapted to rotate the attachment tool about at least one axis.
  • the attachment tool is, for example, an excavator bucket of an excavator
  • the bucket for picking up and depositing material relative to the excavator arm can be swiveled by means of the second hand control device.
  • the second manual control device is adapted to rotate the attachment tool about at least two, in particular mutually perpendicularly arranged axes.
  • an attachable tool rotatable in this way it may be, for example, a correspondingly pivotable by means of a tilt rotator attachment tool.
  • the second hand control device can accordingly generate control signals for controlling the tilt rotator.
  • the at least one manual control device is mounted partially or exclusively linearly displaceable. This also detects that a grip portion of the manual control device is mounted relative to the further structure of the manual control device.
  • Such at least partially linear mounting of the manual control device better gives the actual linear displacement of the attachment tool, i. coincident again as usual predominantly or exclusively pivoted mounted hand control devices.
  • the at least one manual control device and the control / regulation are set up in a single direction more than in a single control movement of the manual control device to control an actuator of the implement and / or the attachment tool at the same time.
  • the term of the individual control movement of the manual control device here, as explained above, means that a single detection device of the manual control device detects a corresponding linear or rotational movement alone.
  • more than one detection device may be provided on hand control devices, so that also superimposed movements of the manual control device can be transferred to corresponding superimposed, but linear movements of the implement and / or the attachment tool by means of the control / regulation.
  • the implement is an excavator.
  • the invention is further directed to a working device, in particular an excavator, with at least one operating device according to one of claims 1 to 8.
  • FIG. 1 shows a manual control device of an operating device according to the invention and its direction of movement indicated by arrows.
  • the hand control device shown may be the left hand of, for example, two hand control devices of an operating device.
  • the hand control unit can as in FIG. 1 can be shown shifted along two mutually perpendicular axes or pivoted and may further comprise a control element which can be pivoted by means of a finger or the thumb of a hand in two directions.
  • the pivoting of the control element can control the turning of the upper carriage of a working device, while the movement of the manual control device along the mutually perpendicular axes for controlling linear and possibly superimposable movements of an attachment tool such as a bucket of the implement can be used.
  • a linear movement of the tool can also be triggered by, for example, a linear hand movement.
  • the left hand control unit can determine the boom and implement movements.
  • FIG. 1 the main directions are shown.
  • a rotary control element is provided in addition to the two, in particular, linear and intersecting directions of movement.
  • the assignment of the excavator movements to the movements of the control is off FIG. 2 seen.
  • the joints are no longer moved individually or the actuators are individually controlled, but the attachment tool is controlled directly (for example, cutting edge on the bucket).
  • the upper carriage rotation can be done via a finger-operated proportional control.
  • FIG. 3 illustrated right hand control unit can operate the attachment tool.
  • the right control element be designed for rotational movements.
  • the degrees of freedom of the operating element correspond to the kinematics of the most common attachment tools, such as a spoon and / or a tilt rotator.
  • the operation of the interrupted axes off FIG. 3 can be done via a voltage control and not via a deflection of the control. This type of operation allows a better ergonomics of the operating element in the case of rotational movements.
  • the assignment of the movements of the right hand control device can the FIG. 4 be removed.
  • the necessary controls can be arranged swinging on the driver's seat on a spring assembly and be adjustable in relation to the driver.
  • the arrangement and design of the controls can be done according to ergonomic design principles.
  • a display can be arranged on the seating system.
  • the operating philosophy of the invention corresponds to the simplified and logical operation of the device for beginners and casual operators.
  • the euro control and the conventional design of the transmitter units are replaced. While in the conventional device control, the hand moves on a circular path and each axis a movement or an actuator is controlled, should the movement described here carried out on linear paths.
  • the control is inverse.
  • the bucket tilt movement can be controlled via the right hand control.
  • a tilt rotator one approach would be to control the rotation and tilt movement voltage-controlled.
  • the voltage directions are as dashed circular arcs in FIG. 3 shown.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Control Devices (AREA)
  • Operation Control Of Excavators (AREA)
EP18211333.2A 2018-02-02 2018-12-10 Dispositif de fonctionnement pour un appareil de travail comportant un outil de travail Active EP3521518B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202018100592.8U DE202018100592U1 (de) 2018-02-02 2018-02-02 Bedieneinrichtung für ein Arbeitsgerät und Arbeitsgerät mit entsprechender Bedieneinrichtung

Publications (2)

Publication Number Publication Date
EP3521518A1 true EP3521518A1 (fr) 2019-08-07
EP3521518B1 EP3521518B1 (fr) 2021-10-13

Family

ID=64664156

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18211333.2A Active EP3521518B1 (fr) 2018-02-02 2018-12-10 Dispositif de fonctionnement pour un appareil de travail comportant un outil de travail

Country Status (4)

Country Link
US (1) US11261580B2 (fr)
EP (1) EP3521518B1 (fr)
CN (1) CN110144990B (fr)
DE (1) DE202018100592U1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210238021A1 (en) * 2020-02-04 2021-08-05 Xtreme Manufacturing, Llc Aerial work vehicle auxiliary wireless control device
US11919756B2 (en) * 2020-02-04 2024-03-05 Xtreme Manufacturing, Llc Aerial work vehicle boom auxiliary control panel

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0378903A1 (fr) * 1988-12-20 1990-07-25 Kabushiki Kaisha Kobe Seiko Sho Levier de commande pour un engin de terrassement
WO1994026988A1 (fr) * 1993-05-13 1994-11-24 Caterpillar Inc. Commande coordonnee d'un outil de travail
US6000563A (en) * 1997-09-08 1999-12-14 Greenberg; Alan Sideboom assembly
US20130180744A1 (en) * 2012-01-12 2013-07-18 Caterpillar, Inc. Operator Interface for an Implement Control System
US20170292247A1 (en) * 2016-04-08 2017-10-12 Komatsu Ltd. Control system for work vehicle, control method and work vehicle

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4685678A (en) * 1982-08-13 1987-08-11 Bally Manufacturing Corporation Position transducer system for a joystick
US4553448A (en) * 1983-06-02 1985-11-19 J. I. Case Company Dual-rate control assembly
DE102008034602B3 (de) * 2008-07-25 2009-12-31 Preh Gmbh Translatorisch betätigter Joystick
US8230757B2 (en) * 2008-07-29 2012-07-31 Deere & Company Lever lockout assembly
EP2860315B1 (fr) * 2012-06-08 2024-07-31 Sumitomo Heavy Industries, Ltd. Dispositif de commande et procédé de commande d'excavateur
GB2514346B (en) * 2013-05-20 2017-02-08 Jc Bamford Excavators Ltd Working machine and control system
GB2527334A (en) * 2014-06-18 2015-12-23 Bamford Excavators Ltd Working machine joystick assembly
DE102015106386B4 (de) * 2014-11-21 2018-06-21 Grammer Aktiengesellschaft Armlehnenanordnung für einen Sitz, insbesondere für einen Fahrzeugsitz und Fahrzeugsitz

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0378903A1 (fr) * 1988-12-20 1990-07-25 Kabushiki Kaisha Kobe Seiko Sho Levier de commande pour un engin de terrassement
WO1994026988A1 (fr) * 1993-05-13 1994-11-24 Caterpillar Inc. Commande coordonnee d'un outil de travail
US6000563A (en) * 1997-09-08 1999-12-14 Greenberg; Alan Sideboom assembly
US20130180744A1 (en) * 2012-01-12 2013-07-18 Caterpillar, Inc. Operator Interface for an Implement Control System
US20170292247A1 (en) * 2016-04-08 2017-10-12 Komatsu Ltd. Control system for work vehicle, control method and work vehicle

Also Published As

Publication number Publication date
EP3521518B1 (fr) 2021-10-13
CN110144990B (zh) 2022-07-26
CN110144990A (zh) 2019-08-20
US20190242094A1 (en) 2019-08-08
RU2019102819A (ru) 2020-08-03
US11261580B2 (en) 2022-03-01
RU2019102819A3 (fr) 2022-03-05
DE202018100592U1 (de) 2019-05-03

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