EP3561185B1 - Appareil à commande manuelle pourvu d'un commutateur de fonctions - Google Patents

Appareil à commande manuelle pourvu d'un commutateur de fonctions Download PDF

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Publication number
EP3561185B1
EP3561185B1 EP19000172.7A EP19000172A EP3561185B1 EP 3561185 B1 EP3561185 B1 EP 3561185B1 EP 19000172 A EP19000172 A EP 19000172A EP 3561185 B1 EP3561185 B1 EP 3561185B1
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EP
European Patent Office
Prior art keywords
handle
control device
function
display
held 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.)
Active
Application number
EP19000172.7A
Other languages
German (de)
English (en)
Other versions
EP3561185C0 (fr
EP3561185A1 (fr
Inventor
Christian Schulz
Matthias Schneider
Jasper Boès
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.)
Fernsteuergeraete Kurt Oelsch GmbH
Original Assignee
Fernsteuergeraete Kurt Oelsch GmbH
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Publication date
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Publication of EP3561185A1 publication Critical patent/EP3561185A1/fr
Application granted granted Critical
Publication of EP3561185B1 publication Critical patent/EP3561185B1/fr
Publication of EP3561185C0 publication Critical patent/EP3561185C0/fr
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Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • 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
    • 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
    • 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
    • G05G2009/04774—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 with additional switches or sensors on the handle

Definitions

  • Such hand control devices or hand control transmitters are often used to control heavy machines. For example, they are used to control cranes, excavators, forklifts or as speed controllers for rail vehicles and ships used. They can be operated like a joystick. In principle, many types of machines that are operated manually can be controlled with a manual controller. Modular design supports the use of a manual controller in many machine control arrangements.
  • the control takes place via the respective angular position of the control shaft, which is connected to the control lever. It is known to detect the angular position optically, for example using a coded disk. The angular position can also be determined electronically, for example using a potentiometer.
  • the two-dimensional hand control transmitters therefore have two non-parallel control shafts that are driven via a suitable gear.
  • the sensitivity of a manual control transmitter can be achieved with a suitable gear between the control lever and the control shaft.
  • Function switches are often provided on the handle, which assign additional functions to the hand control device. Due to the size of the handle, the number of function switches is limited. Although the function switches could be made smaller to accommodate more functions, this would not eliminate malfunctions as the operator could accidentally press the wrong function switch or several function switches at the same time.
  • the manual control transmitter contains a control lever which is operated for steering. Furthermore, it has at least one control shaft, which is rotatably mounted in a mounting device and which is directly and/or via a Gearbox is connected to the control lever.
  • An inductively operating rotary angle sensor detects the rotation angle, which is set with the control lever and transmitted to the control shaft, and outputs a corresponding signal.
  • the US 5,619,195 describes a joystick or position controller, which is used in particular to control machines.
  • the position controller has a control lever that is mounted in two directions of rotation via a cardan joint.
  • the rotation angles are recorded using Hall effect sensors and a magnetic rod.
  • the respective Hall effect sensor By operating the control lever, the respective Hall effect sensor generates an electrical signal that corresponds to the respective angle of rotation of the control lever about the corresponding axis in the universal joint.
  • the disadvantage of the position controllers mentioned in this prior art is that the angle of rotation recording is very sensitive to moisture and therefore susceptible to corrosion. Dirt or dust can also impair function.
  • control handle that can be swiveled on all sides is known, which, for example, with the one in the DE 42 27 353 C2 Control handle arrangement described can be used.
  • the control handle has a lower portion which is connected to the control handle assembly and an upper portion which is intended for grasping by the operator.
  • the upper area of the control handle contains several buttons through which function switches can be operated. These function switches are not intended to control the movement of the machine, but are used, for example, to trigger a horn signal.
  • the machines include traction devices, a work device and a hydraulic system that is configured to drive the traction devices and the work device.
  • the control system includes a controller in communication with an operator interface and the hydraulic system. The controller may be configured to receive a signal from the operator interface to operate the machine according to a first predetermined control pattern.
  • Signals are sent to the hydraulic system to control the machine. These signals correspond to the first predetermined control pattern.
  • a signal may also be received from the operator interface to operate the machine according to a second predetermined control pattern. These signals are also sent to the hydraulic system to control the machine according to the second predetermined control pattern.
  • a selection switch sets the first or second control pattern.
  • the JP 2012 234 278A describes a hand control device for controlling machines.
  • the hand control device has a handle which is designed to be pivotable about at least one axis.
  • Signal generation means are also provided for generating control signals for a signal processing unit, the control signals being generated in relation to the respective deflection of the handle. Additional functions for controlling the machine can be switched using a function switch.
  • the hand control device also has a display for the selected control functions. With this hand control device, additional functions are only assigned to the deflection of the handle.
  • the device includes several switches for generating an on/off signal and a controller for receiving a switch signal and for outputting a control signal for controlling the work devices.
  • the object of the invention is therefore to avoid the disadvantages of the prior art and to create a hand control device with which the user can control as many functions as possible on a machine.
  • the object is achieved in that in a hand control device for controlling machines of the type mentioned at the outset, the display is integrated into the handle.
  • the required or desired assignment of the function switches is made using the selection switch. Several functions can be stored for each function switch. The selection switch can then call up each individual function of the assigned function switch. In this way, not as many function switches are required as was previously necessary in the known prior art. In principle, the function for deflection of the control lever can also be reassigned using the selection switch.
  • the hand control device can therefore be used in a variety of ways.
  • the programming of the function switches can be adapted to the respective machine.
  • the hand control device has a processor-controlled control unit for processing the signals from the function switches and generating control signals for the machine or system.
  • An advantageous embodiment of the hand control device according to the invention for controlling machines is that a display is provided which shows the selection of the selection switch. So that the user does not have to memorize all the function assignments of the function switches, the assignments of the function switches are shown on a display. In addition to the representation of these assignments, other information relating to the hand control device or the machine can also be shown on the display.
  • the display is then integrated into the handle. This means that the display is always visible and present for the user. Information regarding the assignment of the function switches can be recorded very quickly.
  • the display is designed as a touch-sensitive display.
  • the user can not only see functions and information, but also carry out certain measures directly.
  • the selection switch is part of the touch-sensitive display.
  • Function switches can be assigned functions via the touch-sensitive display. If the touch-sensitive display is disruptive while operating the machine with the handle, the touch sensitivity of the display can be deactivated using a switch and reactivated accordingly if necessary.
  • a further preferred embodiment of the hand control device is that a status of the machine and/or the functional assignments of the function switches can be represented on the display symbolically, in color and/or alphanumeric. This allows you to display the status of the machine in a space-saving manner. This can be particularly useful in combination with the functions of the function switches, for example if the machine enters a critical area when accelerating or if, for example, a crane boom comes into a critical position.
  • a vibration mechanism is provided in the handle, with which the status of the machine and/or the function of the function switches can be signaled to a user.
  • This measure serves to support the user with additional aids in operating a machine.
  • the vibration mechanism ensures that the user is aware of the condition of the machine and/or the functions of the hand control device are signaled in this way as further useful information. A user cannot always pay attention to the display on the hand control device because, for example, he has to observe the work of the machine.
  • a further advantageous aspect for the hand control device results from the fact that a return mechanism is provided for the deflection of the handle, which returns the handle to a starting position after a deflection. So that the handle does not remain in its deflected position, it is often desirable for the handle to be returned to an original starting position. For example, the handle is returned to its starting position using the return mechanism as soon as the handle is released. This will then stop the machine.
  • a latching mechanism and/or a locking device is provided for the deflection of the handle. This measure serves to leave the handle in a defined deflected position so that the machine works constantly with the handle in this position.
  • a further advantageous embodiment of the hand control device according to the invention is achieved in that the handle has a function switch, which is designed to be actuable via the longitudinal axis of the handle.
  • a function switch is provided in this exemplary embodiment, which is activated via the longitudinal axis of the handle. To do this, press or push the entire handle down or up along the longitudinal axis.
  • a function switch can be continuously regulated. Switches can usually only be switched on or off. This also applies to the function switches that are usually used come. With the stepless function switch, functions such as accelerating can be implemented quite easily.
  • FIG. 1 An exemplary embodiment of a hand control device 10 according to the invention for controlling a machine is shown in perspective.
  • the hand control device 10 includes an ergonomic handle 12, which is mounted with a threaded hollow screw 14 on an austeric mechanism for the handle 12, not shown here.
  • the deflection of the handle 12 is controlled by a position sensor, not shown here recorded.
  • the position sensor then generates control signals which correspond to the deflection of the handle 12, whereby the machine is controlled in a suitable manner.
  • the deflection mechanism for the handle 12 usually also includes a return mechanism or a locking device, which returns the deflected handle 12 back to a starting position.
  • the handle can also be locked in a specific deflected position using a locking mechanism.
  • the deflection and locking mechanism as well as the generation of signals using position sensors are well known to those skilled in the art and are therefore not shown for reasons of clarity.
  • the handle 12 has finger separators 16 in order to achieve optimal access to the function switches 18 for ease of use.
  • the function switches 18 are assigned various functions to control the machine.
  • the function switches 18 are designed as electronic pressure switches 20, which are covered with an elastic plastic cap 22 for protection.
  • switches that can be operated via the longitudinal axis of the handle 12 are also conceivable here.
  • one or more function switches 18 can be designed in such a way that they not only know two states "on/off", but are also infinitely variable.
  • a selection switch 24 is provided on the handle 12. With the help of the selection switch 24, the functions of the function switches 18 can be changed. The respective selection and assignment of the switches is shown on a display 26.
  • the display 26 is provided in the upper area 40 of the handle 12 so that it is always visible to a user in order to record the functions set in each case.
  • the LED strip 30 is protected by a plastic cover 32.
  • Fig. 2 the handle 12 is adjusted accordingly Fig. 1 shown from above.
  • Display 26 is shown here.
  • the respective set functions of the function switches 18 can be shown on the display 26.
  • the display 26 is preferably designed as an OLED in order to obtain a design that is as flat and space-saving as possible. It also shows which functions are currently assigned to the function switch 18 by the selection switch 24. If necessary, the display 26 can be designed as a touch-sensitive display. Then the selection switch 24 for the function switches 18 can be integrated into this touch-sensitive display 26. This also allows each function switch 18 to be individually assigned a function.
  • the Fig. 3 shows the handle 12 according to the Fig. 1 in an exploded view.
  • the handle 12 consists of two handle shells 34, 36.
  • the front handle shell 34 and the rear handle shell 36 are assembled together with fastening screws 38.
  • the display 26 is in the upper part 40 of the handle 12 used.
  • recesses 42 are provided in the handle shells 34, 36.
  • Below the display 26 are the electronic components 44, which are required for the hand control device 10.
  • the control unit 46 as a signal processing unit 48 of the hand control device 10, processes the signals from the function switches 18 and a position sensor (not shown) for the deflection of the handle 12 and finally delivers corresponding control signals or control data to the machine or its machine control.
  • the function switches 18 and the selection switch 24 have connections 50 for this purpose, which are connected to the control unit 46.
  • the handle 12 there is also a vibration mechanism 51 with a vibrator holder 52 and a vibrator holder attached thereto Vibrator 54 provided. If necessary, the vibrator 54 signals the user, for example, certain functions or states of the machine by vibrating the handle 12. This could also be supported by acoustic signals or instructions or hints.
  • the threaded hollow screw 14 is guided through an opening 56 of a clamping disk 58 for a bellows, not shown.
  • a fastening foot 60 for the two handle shells 34 and 36 is also provided on the threaded hollow screw 14.
  • the handle shells 34, 36 are preferably made of plastic.

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

Claims (8)

  1. Appareil à commande manuelle (10) destiné à commander des machines, comprenant
    (a) une poignée (12) qui est configurée de sorte à pouvoir pivoter autour d'un axe ou plus,
    (b) des moyens de génération de signaux destinés à générer des signaux de commande pour une unité de traitement de signaux (48), les signaux de commande étant générés par rapport à l'orientation respective de la poignée (12),
    (c) des commutateurs de fonctions (18) permettant de commuter à chaque fois sur une fonction supplémentaire afin de commander la machine,
    (d) un dispositif d'affichage (26) étant prévu,
    (e) un commutateur de sélection (24) permettant, une fois actionné, une affectation de manière différente des fonctions des commutateurs de fonctions (18) de la poignée (12),
    (f) le dispositif d'affichage (26) représentant la sélection du commutateur de sélection (24),
    caractérisé en ce que
    (g) le dispositif d'affichage (26) est intégré dans la poignée (12).
  2. Appareil à commande manuelle (10) destiné à commander des machines selon la revendication 1, caractérisé en ce que le dispositif d'affichage (26) est configuré sous forme de dispositif d'affichage tactile.
  3. Appareil à commande manuelle (10) destiné à commander des machines selon l'une quelconque des revendications 1 à 2,
    caractérisé en ce qu'un statut de la machine peut être représenté sur le dispositif d'affichage (26) par un symbole, une couleur et/ou de manière alphanumérique.
  4. Appareil à commande manuelle (10) destiné à commander des machines selon l'une quelconque des revendications 1 à 3,
    caractérisé en ce qu'il est prévu dans la poignée (12) un mécanisme à vibrations (51) permettant de signaler à l'utilisateur un état de la machine ou soit un état soit une fonction des commutateurs de fonctions (18).
  5. Appareil à commande manuelle (10) destiné à commander des machines selon l'une quelconque des revendications 1 à 4,
    caractérisé en ce que, pour l'orientation de la poignée (12), il est prévu un mécanisme de rappel qui, une fois orientée, ramène la poignée (12) en position de départ.
  6. Appareil à commande manuelle (10) destiné à commander des machines selon l'une quelconque des revendications 1 à 5,
    caractérisé en ce qu'un mécanisme à crans et/ou un dispositif de blocage est prévu pour l'orientation de la poignée (12).
  7. Appareil à commande manuelle (10) destiné à commander des machines selon l'une quelconque des revendications 1 à 6,
    caractérisé en ce que la poignée (12) présente un commutateur de fonctions qui est configuré de sorte à pouvoir être actionné le long de l'axe longitudinal de la poignée.
  8. Appareil à commande manuelle (10) destiné à commander des machines selon l'une quelconque des revendications 1 à 7,
    caractérisé en ce qu'un commutateur de fonctions peut être réglé en continu.
EP19000172.7A 2018-04-23 2019-04-08 Appareil à commande manuelle pourvu d'un commutateur de fonctions Active EP3561185B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202018102255.5U DE202018102255U1 (de) 2018-04-23 2018-04-23 Handsteuergerät mit Funktionsschalter

Publications (3)

Publication Number Publication Date
EP3561185A1 EP3561185A1 (fr) 2019-10-30
EP3561185B1 true EP3561185B1 (fr) 2024-01-24
EP3561185C0 EP3561185C0 (fr) 2024-01-24

Family

ID=62983049

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19000172.7A Active EP3561185B1 (fr) 2018-04-23 2019-04-08 Appareil à commande manuelle pourvu d'un commutateur de fonctions

Country Status (2)

Country Link
EP (1) EP3561185B1 (fr)
DE (1) DE202018102255U1 (fr)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1586712A2 (fr) * 2004-04-13 2005-10-19 Volvo Construction Equipment Holding Sweden AB Dispositif pour fixer la fonction de commutateurs d'une machine de construction.

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4227353C2 (de) 1992-08-14 1994-05-26 Oelsch Fernsteuergeraete Steuergriffanordnung, insbesondere zur Verwendung mit einer druckmittelbetriebenen Steuergeberanordnung
DE29509029U1 (de) 1995-05-29 1995-08-17 Fernsteuergeräte Kurt Oelsch GmbH, 12347 Berlin Steuergriff mit Totmannschalter
US5619195A (en) 1995-12-29 1997-04-08 Charles D. Hayes Multi-axial position sensing apparatus
CA2256172A1 (fr) * 1998-12-15 2000-06-15 Bombardier Inc. Manette multifonctions
DE102008022850A1 (de) 2007-11-27 2009-05-28 Fernsteuergeräte Kurt Oelsch GmbH Induktiver Handsteuergeber
JP5363527B2 (ja) * 2011-04-28 2013-12-11 栄通信工業株式会社 位置入力制御装置
US20160032564A1 (en) * 2014-07-30 2016-02-04 Caterpillar Inc. Multiple Control Patterns for Machines with Hand and Foot Controls
DE102016124493B3 (de) * 2016-12-15 2017-12-28 Elobau Gmbh & Co. Kg Joystick mit Zustandsanzeige und Verfahren

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1586712A2 (fr) * 2004-04-13 2005-10-19 Volvo Construction Equipment Holding Sweden AB Dispositif pour fixer la fonction de commutateurs d'une machine de construction.

Also Published As

Publication number Publication date
DE202018102255U1 (de) 2018-07-06
EP3561185C0 (fr) 2024-01-24
EP3561185A1 (fr) 2019-10-30

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