EP3539820A1 - Dispositif de commande - Google Patents

Dispositif de commande Download PDF

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Publication number
EP3539820A1
EP3539820A1 EP18161299.5A EP18161299A EP3539820A1 EP 3539820 A1 EP3539820 A1 EP 3539820A1 EP 18161299 A EP18161299 A EP 18161299A EP 3539820 A1 EP3539820 A1 EP 3539820A1
Authority
EP
European Patent Office
Prior art keywords
bottom plate
force
movement
operating device
sensor
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
EP18161299.5A
Other languages
German (de)
English (en)
Other versions
EP3539820B1 (fr
Inventor
Boris Zils
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.)
MOBA Mobile Automation AG
Original Assignee
MOBA Mobile Automation AG
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 MOBA Mobile Automation AG filed Critical MOBA Mobile Automation AG
Priority to EP18161299.5A priority Critical patent/EP3539820B1/fr
Priority to PCT/EP2019/056026 priority patent/WO2019175107A1/fr
Publication of EP3539820A1 publication Critical patent/EP3539820A1/fr
Application granted granted Critical
Publication of EP3539820B1 publication Critical patent/EP3539820B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • 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
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B66F11/046—Working platforms suspended from booms of the telescoping type
    • 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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms

Definitions

  • Embodiments of the present invention relate to an operating device for a construction machine and to a corresponding method and to a construction machine, such.
  • B a working platform with a corresponding operating device.
  • embodiments of the present invention relate to the field of joysticks (hand control transmitters) in control units for controlling aerial work platforms.
  • joysticks or hand control generally serve to a construction machine, such.
  • these hand control transmitters are located on the platform so that the operator can control the aerial work platform on which he is standing.
  • a danger is that the operator is trapped in the control or in the movement of the aerial work platform of selbiger and so the controller may not operate correctly if necessary.
  • the problem is addressed here.
  • the DE 20 2010 004 128 U1 describes a manual control with a separate operation and evaluation, which consists essentially of a mechanical part and an electrical part. Between the mechanical part and the electrical part is provided as a separating layer and as a fixing layer for the mechanical parts, a magnetically permeable plate, such as a printed circuit board.
  • the electrical or electronic part of the manual control transmitter is formed by one or more sensors arranged on the underside of the plate, for example magnetic field sensors.
  • the mechanical part is formed on the top of the support plate releasably arranged lever mechanism with a magnet disposed thereon, which can be replaced as a unit in case of repair.
  • the EP 3 086 094 A1 a manual control transmitter for a control and operating unit of a working platform, work machine or construction machine.
  • the manual control transmitter comprises at least one actuating unit, which comprises an actuating element which has at least one magnetic position element, and an evaluation unit, which comprises at least one magnetic field sensor unit.
  • the evaluation unit is designed to detect a position and / or movement of the actuating element in a plane of motion based on a sensor signal from the magnetic field sensor unit.
  • the actuating element is movable relative to the sensor unit along a further movement direction perpendicular to the movement plane, and the evaluation unit is designed to detect a movement of the actuating element along the further movement direction based on a sensor signal from the magnetic field sensor unit.
  • an operating element with an elastically deformable actuating part and a force sensor matrix.
  • An operating element has an actuating part that is elastically deformable at least in certain areas when actuated under force to return to an unactuated position, and a matrix of force sensors for measuring a force application matrix that is assigned to the action of force on the actuating part; and an evaluation unit for comparing the measured force application matrix with a predetermined force application matrix, in order to assign an electrical switching function to the operating element at a minimum match of the measured force application matrix with the predetermined force application matrix.
  • the object of the present invention is to provide a concept for an operating unit, which offers an improved compromise of operability, safety and safe installation.
  • Embodiments of the present invention provide an operating device for a construction machine having a bottom plate, a hand controller, a motion sensor (e.g., a Hall sensor), and at least one force sensor.
  • the hand control transmitter or else called a joystick is arranged at an angle to the bottom plate and at least one-dimensional or two-dimensionally movable relative to the bottom plate.
  • the position and / or movement of the joystick / manual control transmitter can be determined with the motion sensor, which outputs a so-called motion signal as a function of the determined position and / or the specific movement.
  • the at least one force sensor is designed to determine a force acting on the hand control element or a force transmitted from the hand control transmitter to the bottom plate and to output a force signal as a function of the determined force.
  • Embodiments of the present invention are based on the finding that in the collision scenarios described above (corresponding to which the operator can be trapped or squeezed between the basket or, in particular, the joystick and a part of the building during extension of the telescopic arm of the aerial work platform), the joystick frequently occurs jamming or timely zeroing to stop movement of the machine's telescopic arm.
  • the body of the operator is often clamped in the area of the control element, so that the body of the operator presses against the joystick, whereby the movement of the telescopic arm of the machine would be continued and the operator would be further squeezed and trapped.
  • the operating device (manual control / joystick) equipped with an additional protection function by which an overload of the joystick itself can be detected.
  • the overload is relevant if the manual control transmitter is actuated beyond the maximum range of motion since such overloads frequently occur in the above-described collision scenarios.
  • the manual control transmitter is at least one force sensor, for. B. expanded in the form of a strain gauge (DMS).
  • DMS strain gauge
  • the protective function on the circuit board of the joystick module additionally at least one strain gauge (DMS sensors) as force sensor (s) in the field of motion sensor (Hall sensor) may be applied, e.g. Measure or detect a deformation of the printed circuit board when force is applied to the joystick.
  • An optional evaluation unit evaluates the signals of the Hall sensors as well as the strain gage sensors and can detect an overload of the joystick on the basis of the signals of the strain gage sensors and thus a possible danger situation of the operator.
  • the force sensors / strain gauges considered here are inexpensive elements and can, for. B. by simply sticking on a joystick component such.
  • the operating unit comprises an evaluation unit, which receives above all the force signal of the at least one force sensor to detect an overload.
  • This evaluation functionality can be integrated into the existing transmitter of the joystick.
  • the evaluation is designed, for example, to stop at the specific overload movement of the construction machine or a speed of movement of components of the construction machine, such as an extension of the telescopic arm.
  • a countermovement is triggered by which the operator can later escape from the jammed situation.
  • a countermovement is a movement in a preferred manner opposite direction of movement, in general case but different directions of movement relative to the current movement.
  • a movement speed of the construction machine or a movement speed of components of the construction machine, such as an extension of the telescopic arm can be reduced at a low overload once only.
  • various functions can be realized. For example, a speed of movement of the telescopic arm of the machine can be halved from a first threshold and then set to zero when a second threshold is exceeded, d. H. stopping the machine or the telescopic arm, in order then also to trigger a counter-movement in a further step.
  • These thresholds are adjustable according to embodiments.
  • an alarm signal is output at a certain overload.
  • a warning for example, on the operator's display
  • a countermovement as mentioned above can be initiated, because then it can be assumed that the machine operator can no longer operate the joystick (for example, because the operator is trapped).
  • the "threshold" for a warning signal in case of overload is also adjustable, for example by input element of the operating unit. It would also be conceivable here that the temporal component, that is to say a specific period of non-reaction to the alarm signal, is taken into account in the evaluation.
  • an alarm signal may also be issued when, for example, the joystick is in a locked / locked state and yet is attempting to move in either direction.
  • This force can be detected by the transmitter with the aid of the at least one force sensor, so that the operator then a corresponding message, the joystick to unlock / unlock, is displayed on the screen or can be generally output.
  • the evaluation is designed to store the force signal or the force signals (for multiple force sensors) and / or to store a maximum value for the force signal or the force signals.
  • This has the meaning that a so-called "overload control" is achieved.
  • the joystick is designed for a maximum force of 300 N (30 kg). Higher forces can permanently damage the joystick or the joystick mechanism.
  • the evaluation unit in the joystick module constantly measures the loads acting on the joystick and saves the highest values. The manufacturer of the machine can interrogate these values in the event of service or repair and replace the joystick mechanism if necessary preventively. In this case, it would be possible in a preferred manner that the mechanics and electronics of the joystick are separated, so that a separate exchange is possible. Regarding this separation of mechanics and electronics is also generally noted that according to preferred embodiments, the transmitter is integrated, for example, on a printed circuit board or arranged on a printed circuit board.
  • the evaluation can be designed to calibrate the force / strain gauge sensors by the Hall sensor in zero position of the joystick, since the strain gage sensors usually have a temperature and aging-related drift and it can be assumed that in the Zeroing the joystick should have no force acting on the force sensors.
  • These force / strain gauge sensors can be monitored by the evaluation unit such that a defect in the protective function or the protective elements is displayed. In this case, a corresponding warning signal can then be output to the machine operator.
  • a type of emergency operation can be implemented by the additional force sensors, even if the motion sensor (eg hall sensor) is defective, since by means of the force sensors (strain gage sensors) and an operating force evaluated as an operating signal can be.
  • the transmitter could then interpret the force signal of the force sensor as a motion signal.
  • the joystick can be operated until the replacement of the defective module during the next maintenance or repair.
  • the transmitter can be designed to a position of the joystick / manual control transmitter with the motion sensor and to determine a movement of the joystick / hand control transmitter with the force sensor, although the motion sensor has no defect.
  • the motion signal output by the force sensor could be continuously compared with the motion signal of the motion sensor by the evaluation electronics and thus checked for plausibility.
  • the evaluation electronics and the sensors are preferably implemented on a printed circuit board.
  • the strain gauge sensor elements are glued to the circuit board.
  • it can also be provided according to another layout, a printed circuit board layout, in which the strain gauge sensors are integrated directly into the circuit board.
  • a deformation of the bottom plate or the printed circuit board or the component is determined, for example, and a force signal is output on the basis of the determined deformation.
  • the motion sensor is arranged in the foot base of the joystick or in the area of the foot of the foot, while the one or more force sensors may be provided around this foot.
  • Another embodiment relates to a construction machine, such.
  • Fig. 1 shows a control unit 150 with a manual control transmitter 300, which can also be referred to as a joystick.
  • This manual control transmitter 300 is arranged angled relative to a base plate or printed circuit board 430 and designed to be movable.
  • the manual control transmitter 300 perpendicular to the bottom plate 430 and at least uniaxial (eg front-rear, see arrow X) or biaxial (plus left-right, see arrow Y) or even three-axis (plus push-pull, see arrow Z) movable ,
  • the movement is by means of a part of the circumference of the operating device 150 associated movement sensor 400, such.
  • B a Hall sensor, monitored in the X, Y and / or Z direction.
  • This movement sensor 400 detects one, two or three axes, the movement of the joystick 300 relative to the bottom plate 430 or the printed circuit board 430 and emits a so-called movement signal 401 on the basis thereof.
  • This movement signal is received and evaluated by the optional evaluation unit 500.
  • the operating device 150 still has a force sensor 410, such. B. on a strain gauge. This can z. B. be arranged on the joystick 300. Alternatively, an arrangement of the force sensor in the bottom plate or printed circuit board 430 would be conceivable, as illustrated here by the component marked with the reference numeral 410 '.
  • the force sensor 410 (410 ') outputs a force signal 411, which is also received by the evaluation device 500, for example.
  • the force signal 411 depends, for example, on the deformation of the joystick 300 or on the deformation of the bottom plate or printed circuit board 430. If the force signal 411 has a predetermined value, such as, for example, B. exceeds 300 Newton accordingly, the evaluation device 500 can detect a so-called overload. These 300 Newton are only examples and may vary depending on the application, eg. B. in the range between 10 Newton and 1000 Newton.
  • Fig. 2a shows an aerial work platform 10, which consists essentially of a chassis 11 and a crane mechanism 12 arranged thereon.
  • the crane mechanism 12 is rotatably arranged relative to the chassis 11 and changeable by the lifting cylinder 16 in its angle of attack.
  • the crane mechanism 12 includes a retractable telescopic boom 13, at the end of a basket 14 is arranged. In the basket 14, a person 1 as shown, or even work materials can be transported.
  • an operating unit 15 is arranged in the basket 14.
  • This operating unit 15 essentially comprises operating lever / manual control transmitter (or so-called joysticks 30) and optionally also keyboard elements 21, as in FIG Fig. 3 shown closer.
  • a working position could be a stem 6 mounted on a building wall 5, such as in FIG Fig. 2a presented a balcony. It is common that an operating unit 15 is arranged in the basket 14 in the direction of the working platform 10 and thus the operator 1 looks in the basket 14 in the direction of view of the machine 10.
  • the operator 1 moves during extension of the telescopic boom 13 with his back to the appropriate working position.
  • the arrangement of the operating unit 15 in the basket 14 allows the operator 1 to work easier and better at the working position, since no work-related parts such as the operating unit 15 are then in the way.
  • a disadvantage of the arrangement of the operating unit 15 in the basket 14 is that when approaching the working position an obstacle, such as a building porch 6, the operator 1 can be easily overlooked and it may possibly lead to a collision of the operator 1 with the building porch 6. Since the telescopic boom 13 extends in a collision of the operator 1 with the building porch 6 further in a direction of movement B, the operator 1 is pressed with his upper body 2 directly to the control unit 15. The operator 1 is then no longer able to bring the operating lever or joystick 30 in a zero position and thus to stop further extension of the telescopic boom 13. Such a collision situation is in the Fig. 2b and 2c shown.
  • FIG. 3 shows an example of an operating unit 15 for controlling the construction machine or in Fig. 2a-2c illustrated system 10 comprising crane mechanism 12 and / or telescopic boom 13 and / or basket 14 of the platform 10 (or a component of the system).
  • the individual movements of the basket 14 can be changed, for example, the telescopic boom 13 and extend or change the angle of attack of the crane mechanism 12 by the lifting cylinder 16.
  • These joysticks 30 are each arranged on a module 20a and 20b, which can be easily replaced, for example in the event of a defect, without the entire operating unit 15 having to be replaced.
  • a keyboard module 21 and a display 22 for displaying machine-relevant data and parameters are arranged for further functionalities.
  • Fig. 4 shows how the operator 1 in a collision with a building porch 6 (see Fig. 2c ) is pressed with his upper body 2 directly on the knob 31 of the operating lever or joystick 30 of the control unit 15 and a force F, FOL on the knob 31 exerts.
  • the operator 1 would no longer be able to bring the operating lever or joystick 30 into a zero position and thus to stop further extension of the telescopic jib 13.
  • the Fig. 5a and 5b show a joystick module 20a / b in a side view.
  • the mechanical components of the joystick 30 are arranged on a printed circuit board 43, preferably screwed thereto.
  • the joystick lever 30 consists essentially of a knob 31, which serves the operator 1 to operate the joystick 30 in different directions. Directly below the knob 31 is a latch 33, which must be pulled up before each actuation of the joystick. This prevents an unconscious or unwanted operation of the joystick 30 and thus an unconscious or unwanted movement of the crane mechanism 12, the telescopic boom 13 and / or the basket 14 of the platform 10. This can happen when the operator 1, for example, in the basket 14 turn around must and with the elbow accidentally comes against the joystick lever 30.
  • a so-called bellows 32 is arranged in the lower part, which consists of a movable material.
  • the bellows 32 In a lateral movement of the joystick 30, as in Fig. 5b shown, the bellows 32 is compressed on one side and on the pulled apart on the other side.
  • the required electronics for detecting and evaluating the joystick movements are ideally located below the printed circuit board 43 and essentially consists of a Hall sensor 40.
  • Joystick movements are detected by a magnet attached to the mechanism, not shown here.
  • the joystick module 20a / b is preferably releasably secured in the outer edge regions of the printed circuit board 43 to holders 35a / b by means of fastening means 36.
  • a force F acting on the knob 31 of the operating lever or joystick 30 of the operating unit 15 a force is thus also exerted on the printed circuit board 43, which leads to mechanical tension or mechanical deformations of the printed circuit board 43.
  • Such mechanical stresses can be measured with the present invention by means of at least one DMS sensor 41 and / or 42 arranged on the printed circuit board 43.
  • An overloading ie a force acting on the joystick lever 30 beyond the maximum permissible load limit, can also be as schematically shown in FIGS Fig. 6a and 6b represented, with the at least one arranged on the circuit board 43 DMS sensor 41 and / or 42 are detected.
  • the overloading of the joystick lever 30 is indicated schematically by the dashed line 44, which shows that the joystick 30 is in comparison to the illustration in FIG Fig. 5b with a stronger force FOL was pressed.
  • the circuit board 43 lowers in an overload or lifts.
  • Fig. 7a to 7b illustrate, indicated by hatching, the voltage conditions in the bottom plate / circuit board 43 when the joystick 30 is deflected out of the dotted line rest position.
  • the rest position is indicated by dashed lines, wherein the deflection or the force leading to the deflection is marked F.
  • the z. B. can protrude vertically from the bottom plate / circuit board, it should be noted at this point that it is also another movable element, the z. B. is angled at a different angle, can act.
  • the operating device is suitable not only for the above-explained embodiments working platforms, but also for other construction machines.
  • the motion sensor can be realized for example by an inductive element or a capacitive element.
  • the force sensor does not necessarily have to be realized as a strain gauge, but can also be designed differently.
  • Further embodiments relate to a method for operating the aerial work platform.
  • the method includes the steps of monitoring the motion / position of the joystick and outputting a corresponding motion signal, monitoring a force applied to the joystick, and outputting a corresponding force signal, as well as controlling the construction machine in response to the two monitored quantities.
  • aspects have been described in the context of a device, it will be understood that these aspects also constitute a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block or detail or feature of a corresponding device.
  • Some or all of the method steps may be performed by a hardware device (or using a hardware apparatus), such as a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, some or more of the most important method steps may be performed by such an apparatus.
  • embodiments of the invention may be implemented in hardware or in software.
  • the implementation may be performed using a digital storage medium, such as a floppy disk, a DVD, a Blu-ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or FLASH memory, a hard disk, or other magnetic disk or optical memory are stored on the electronically readable control signals that can cooperate with a programmable computer system or cooperate such that the respective method is performed. Therefore, the digital storage medium can be computer readable.
  • some embodiments according to the invention include a data carrier having electronically readable control signals capable of interacting with a programmable computer system such that one of the methods described herein is performed.
  • embodiments of the present invention may be implemented as a computer program product having a program code, wherein the program code is operative to perform one of the methods when the computer program product runs on a computer.
  • the program code can also be stored, for example, on a machine-readable carrier.
  • inventions include the computer program for performing any of the methods described herein, wherein the computer program is stored on a machine-readable medium.
  • an embodiment of the method according to the invention is thus a computer program which has a program code for performing one of the methods described herein when the computer program runs on a computer.
  • a further embodiment of the inventive method is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program is recorded for carrying out one of the methods described herein.
  • the data carrier, the digital storage medium or the computer-readable medium are typically representational and / or non-transitory.
  • a further embodiment of the method according to the invention is thus a data stream or a sequence of signals, which represent the computer program for performing one of the methods described herein.
  • the data stream or the sequence of signals may be configured, for example, to be transferred via a data communication connection, for example via the Internet.
  • Another embodiment includes a processing device, such as a computer or a programmable logic device, that is configured or adapted to perform one of the methods described herein.
  • a processing device such as a computer or a programmable logic device, that is configured or adapted to perform one of the methods described herein.
  • Another embodiment includes a computer on which the computer program is installed to perform one of the methods described herein.
  • Another embodiment according to the invention comprises a device or system adapted to transmit a computer program for performing at least one of the methods described herein to a receiver.
  • the transmission can be done for example electronically or optically.
  • the receiver may be, for example, a computer, a mobile device, a storage device or a similar device.
  • the device or system may include a file server for transmitting the computer program to the recipient.
  • a programmable logic device eg, a field programmable gate array, an FPGA
  • a field programmable gate array may cooperate with a microprocessor to perform one of the methods described herein.
  • the methods are performed by a any hardware device performed. This may be a universal hardware such as a computer processor (CPU) or hardware specific to the process, such as an ASIC.
  • the devices described herein may be implemented, for example, using a hardware device, or using a computer, or using a combination of a hardware device and a computer.
  • the devices described herein, or any components of the devices described herein, may be implemented at least in part in hardware and / or software (computer program).
  • the methods described herein may be implemented using a hardware device, or using a computer, or using a combination of a hardware device and a computer.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Control Devices (AREA)
  • Position Input By Displaying (AREA)
EP18161299.5A 2018-03-12 2018-03-12 Dispositif de commande Active EP3539820B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP18161299.5A EP3539820B1 (fr) 2018-03-12 2018-03-12 Dispositif de commande
PCT/EP2019/056026 WO2019175107A1 (fr) 2018-03-12 2019-03-11 Dispositif de commande

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18161299.5A EP3539820B1 (fr) 2018-03-12 2018-03-12 Dispositif de commande

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EP3539820A1 true EP3539820A1 (fr) 2019-09-18
EP3539820B1 EP3539820B1 (fr) 2023-06-07

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JPH09295799A (ja) * 1996-04-30 1997-11-18 Shin Meiwa Ind Co Ltd 作業車における操作レバーの安全装置
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DE202010004128U1 (de) 2010-03-24 2010-06-10 Moba Ag Handsteuergeber mit getrennter Betätigung und Auswertung
US20100302017A1 (en) * 2009-06-01 2010-12-02 Econtrols, Inc. Tactile Feedback for Joystick Position/Speed Controls
EP2462048A1 (fr) 2009-08-07 2012-06-13 Niftylift Limited Cabine d opérateur à sécurité renforcée
EP2462049A1 (fr) 2009-08-07 2012-06-13 Niftylift Limited Système de commande à sécurité améliorée pour cabine d opérateur
EP2794460A1 (fr) 2011-12-19 2014-10-29 Haulotte Group Nacelle élévatrice pourvue d'un pupitre de commande
DE102014105177A1 (de) 2014-03-18 2015-10-08 Preh Gmbh Bedienelement mit elastisch verformbarem Betätigungsteil und Kraftsensorenmatrix
EP3086094A1 (fr) 2015-04-20 2016-10-26 MOBA Mobile Automation AG Émetteur de commande manuelle, unité de commande doté d'un émetteur de commande manuelle et machine de travail ou engin

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Publication number Priority date Publication date Assignee Title
DE102012022404A1 (de) * 2012-11-16 2014-05-22 Kramer-Werke Gmbh Maschine mit Ladeanlage

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0453800U (fr) * 1990-09-14 1992-05-08
JPH0465299U (fr) * 1990-10-18 1992-06-05
JPH0592298U (ja) * 1992-05-18 1993-12-17 株式会社アイチコーポレーション 高所作業車の安全装置
JPH09295799A (ja) * 1996-04-30 1997-11-18 Shin Meiwa Ind Co Ltd 作業車における操作レバーの安全装置
JP2002114500A (ja) * 2000-10-06 2002-04-16 Tadano Ltd 高所作業装置または高所作業車の安全装置
JP2002318628A (ja) * 2001-04-19 2002-10-31 Aichi Corp 操作レバー装置
US20100302017A1 (en) * 2009-06-01 2010-12-02 Econtrols, Inc. Tactile Feedback for Joystick Position/Speed Controls
EP2462049A1 (fr) 2009-08-07 2012-06-13 Niftylift Limited Système de commande à sécurité améliorée pour cabine d opérateur
EP2462048A1 (fr) 2009-08-07 2012-06-13 Niftylift Limited Cabine d opérateur à sécurité renforcée
US20120152653A1 (en) * 2009-08-07 2012-06-21 Roger Bowden Operator cage with enhanced operator safety
DE202010004128U1 (de) 2010-03-24 2010-06-10 Moba Ag Handsteuergeber mit getrennter Betätigung und Auswertung
EP2794460A1 (fr) 2011-12-19 2014-10-29 Haulotte Group Nacelle élévatrice pourvue d'un pupitre de commande
DE102014105177A1 (de) 2014-03-18 2015-10-08 Preh Gmbh Bedienelement mit elastisch verformbarem Betätigungsteil und Kraftsensorenmatrix
EP3086094A1 (fr) 2015-04-20 2016-10-26 MOBA Mobile Automation AG Émetteur de commande manuelle, unité de commande doté d'un émetteur de commande manuelle et machine de travail ou engin

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EP3539820B1 (fr) 2023-06-07

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