EP3614228A1 - Levier de commande pourvu d'unité de rétroaction active - Google Patents

Levier de commande pourvu d'unité de rétroaction active Download PDF

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Publication number
EP3614228A1
EP3614228A1 EP19000407.7A EP19000407A EP3614228A1 EP 3614228 A1 EP3614228 A1 EP 3614228A1 EP 19000407 A EP19000407 A EP 19000407A EP 3614228 A1 EP3614228 A1 EP 3614228A1
Authority
EP
European Patent Office
Prior art keywords
control lever
tracking device
control
machine
angle
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
EP19000407.7A
Other languages
German (de)
English (en)
Other versions
EP3614228B1 (fr
Inventor
Thomas Neumann
Volker Jahn
Marcus Schinkel
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
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.)
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Publication date
Application filed by Fernsteuergeraete Kurt Oelsch GmbH filed Critical Fernsteuergeraete Kurt Oelsch GmbH
Priority to PL19000407T priority Critical patent/PL3614228T3/pl
Publication of EP3614228A1 publication Critical patent/EP3614228A1/fr
Application granted granted Critical
Publication of EP3614228B1 publication Critical patent/EP3614228B1/fr
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • 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

Definitions

  • Such manual control transmitters are often used to control heavy machinery. For example, they are used to control cranes, wheel loaders, excavators, forklifts or as speed controllers for rail vehicles and ships. They can be operated like a joystick. Basically, many types of machines that are operated manually can be controlled with a manual control transmitter. Modular design supports the use of a manual control transmitter in many arrangements for machine controls.
  • the control takes place via the respective angular position of the control shaft, which is connected to the control lever.
  • the angular position can be detected contactlessly or with contact. It is known to determine the angular position optically, for example, using a coded disk.
  • the angular position can e.g. but also determine electronically using a potentiometer.
  • the multi-axis manual control transmitter accordingly has at least two non-parallel control shafts that are driven by a suitable gear.
  • a remote control for controlling vehicles with a maneuvering device is known, the remote control having an input device and the degrees of freedom of the mobility of the vehicle to be controlled are shown in the degrees of freedom of the mobility of the input device.
  • the EP 0 671 604 A1 describes a joystick which has two potentiometers which are coupled to a control lever via a cardanic deflection. A corresponding position of the potentiometer wipers is assigned to each position of the control lever, so that the voltage values picked up at the potentiometer terminals can be fed to an evaluation circuit.
  • a device for converting an at least one-dimensional mechanical deflection into an electrical variable corresponding to this deflection is proposed, in which one end of a sliding contact pair is controlled with electrical control signals via at least two contact surfaces. The other end of the sliding contact pair is moved over a number of conductor tracks that are guided in parallel for a certain resolution. By shifting the pair of sliding contacts, the control signals are forwarded via the contacted conductor tracks at their end as evaluation signals.
  • the steering system consists of at least one hydraulic steering cylinder for adjusting the steerable wheels, at least one sensor for determining the actual wheel lock angle values, at least one electrically actuable hydraulic control valve that controls the application of hydraulic fluid to the steering cylinder and at least one automatic steering signal generator for generating an electrical steering signal Setpoints for the steering angle.
  • the automatically generated steering signal setpoints and the actual steering angle values are each fed to an electronic control and evaluation device.
  • the control and evaluation device determines an electrical control signal for the hydraulic control valve from the actual wheel lock angle value and the automatically generated steering signal setpoint.
  • steering signal transmitter which consists of a manual Adjustment movement also generates a corresponding electrical steering signal setpoint, which is also supplied to the control and evaluation device.
  • the control and evaluation device evaluates the manual or the automatic steering signal setpoints.
  • a steering lever (“joystick”) can also be used as a manual steering signal transmitter.
  • the object of the invention is to avoid disadvantages of the prior art and to provide a manual control transmitter for controlling a machine in which the user immediately receives feedback based on the manual control transmitter, e.g. in which direction the machine or parts of the machine steer.
  • the object is achieved in that in the case of a manual control transmitter for controlling a machine of the type mentioned at the beginning g) a control device is provided which adjusts the tracking device by an assigned position with a drive, the assigned position of the tracking device being determined by the machine controlled with the deflection ⁇ .
  • the invention is based on the principle that the control lever of the hand control transmitter assumes the deflected position which is also assigned to the machine. For this purpose, the control lever is always returned to a relative starting position within the tracking device according to a control instruction. The deflected position of the control lever is finally achieved by the tracking device in which the control lever is mounted. This starting position of the control lever is therefore deflected separately. For this purpose, the effect of the tax instruction is determined and assigned to a position of the control lever.
  • the speed can be determined, for example, by operating the manual control transmitter. This defines a setpoint. If the rail vehicle is now speed has reached, the control device adjusts the control lever by a corresponding angle which is assigned to this speed. With the present invention, the user immediately sees which setpoint has been set.
  • An advantageous embodiment of the manual control transmitter according to the invention results from the fact that the drive has a rotor which tracks the tracking device by an angle ⁇ , which is determined by the position assigned to the machine controlled with the deflection ⁇ . This measure causes the tracking device to rotate with the control lever by an assigned angle with the rotor. This saves space and the position of the control lever is easy for the user to grasp.
  • the drive of the tracking device has a gear.
  • the drives often turn too quickly so that the speed can be reduced by a gear.
  • the transmission of the drive of the tracking device is provided in a self-locking manner. This measure serves that the deflection of the control lever is better adapted to the deflection actually carried out.
  • a further expedient embodiment of the invention consists in the return mechanism having a damping unit which generates damping when the control lever is deflected.
  • the deflection is damped by means of the damping unit. This is achieved, for example, via an engine brake.
  • An additional damping motor acts on the lever if necessary.
  • the damping motor can also be loaded with braking resistors.
  • the damping motor is connected to the control lever via a non-self-locking gear.
  • the damping unit therefore preferably has a spring, a magnet, a motor brake and / or an active motor brake which generates the damping.
  • a hydraulic and / or pneumatic damping element can also be advantageously contained in the damping unit.
  • a special variant of the manual control transmitter according to the invention is that the control lever is designed to be pivotable in the joint about at least two mutually perpendicular axes, with each axis being assigned at least one damping unit.
  • This advantageous measure has the effect that the control lever of the manual control transmitter has more degrees of freedom.
  • This plurality of degrees of freedom enables a machine to be controlled in a more complex manner. For example, one deflection can be used for the speed and the other deflection for the steering of a vehicle.
  • a further advantageous embodiment of the manual control transmitter according to the invention is that the machine is designed as a mobile machine, in particular as a rail vehicle, a wheel loader or a crane.
  • These hand control transmitters are particularly useful for such vehicles. When working with these vehicles, users can quickly determine which steering position the wheels have, for example.
  • Fig. 1 10 shows the basic diagram of a manual control transmitter 12 according to the invention.
  • the manual control transmitter 12 is used to control a machine, such as a wheel loader.
  • the hand control transmitter 12 has a mounting platform 14.
  • Tracking device 16 with a housing 18 is provided on this mounting platform 14.
  • the housing 18 can, for example, be tubular or spherical.
  • the tracking device 16 is movably provided on the mounting platform 17. In the present exemplary embodiment, a rotational movement of the tracking device 16 is provided.
  • a control unit 19 is provided in the housing 18 of the tracking device 16.
  • the control unit 19 has a control shaft 20 which is pivotally mounted about an axis 22.
  • the rotatable or pivotable control shaft 20 forms a joint 23 for a control lever 24.
  • the control lever 24 is provided on the control shaft 20 of the control unit 19 with a control knob 26.
  • the control lever 24 projects with its control knob 26 out of an opening 27 in the housing 18.
  • the opening 27 is configured in the housing 18 such that the control lever 24 can be deflected relative to the housing 18.
  • the deflection ⁇ or the respective position which the control lever 24 experiences by a user for operating or controlling the machine is recorded by a guide transmitter 28.
  • the angle ⁇ of the deflection is also referred to below as the guide angle ⁇ .
  • the guide transmitter 28 generates an angle signal which corresponds to a respective deflection ⁇ of the control lever 24 about the axis 22.
  • a return mechanism 30 always returns the control lever 24 to its starting position 32 in the housing 18 of the tracking device 16 without the application of force. However, the position can change relative to the assembly platform 14 if the tracking device 16 changes its position.
  • the tracking device 16 is formed with an actuator 34.
  • the tracking device 16 further includes a motor drive 36 which controls a rotor 40 with a gear 38.
  • the motor drive 36 is preferably designed as a DC motor.
  • An angle encoder 42 controls the motor drive such that the rotor 40 rotates by an angle ⁇ with respect to the assembly platform 14.
  • the rotor 40 changes its relative angular position to the assembly platform 14.
  • the control unit 19 is integrated in the rotor 40.
  • the feedback angle is the angle ⁇ of the rotor 40, which is measured in relation to the mounting platform.
  • the actuator 34 has a self-locking property, so that the position of the rotor 40 cannot be changed by the force of the control lever 24.
  • Fig. 2 the hand control transmitter 12 is shown in a neutral deflection. So much for this Fig. 2 the Fig. 1 the same reference numerals are used accordingly.
  • the hand control transmitter 12 is in this embodiment for a wheel loader 44 Machine trained.
  • the wheel loader 44 is shown schematically via its drive axles 46. Its steering axis 48 is located in the center of the wheel loader 44.
  • Both the guide angle ⁇ of the deflection of the control lever 24 with the control shaft 20 about the axis 22 and the feedback angle ⁇ of the rotor 40 of the tracking device 16 are in a neutral steering position. Therefore, all of the wheels, front wheels 50 and rear wheels 52 are aligned. However, two possible deflections of the control lever 24 are shown in dashed form.
  • the wheel loader 44 As soon as the control lever 24 is deflected by a guide angle ⁇ (dashed position), the wheel loader 44, as in FIG Fig. 3 can be seen to steer the steering axis 48 by a steering angle ⁇ .
  • a control device 57 tracks the tracking device 16 of the manual control transmitter 12 accordingly by this feedback angle ⁇ , so that the feedback angle ⁇ again corresponds to the steering angle ⁇ .
  • the tracking device 16 is rotated by an assigned position, which is determined by the steering angle ⁇ or feedback angle ⁇ .
  • the deflection of the control lever 24 by the guide angle ⁇ is detected by the guide transmitter 28.
  • the guide transmitter 28 now generates a signal associated with this guide angle ⁇ .
  • This signal receives an evaluation and processing unit 53, which controls a steering hydraulic system, not shown, for controlling the wheel loader 44.
  • This steering movement of the wheel loader 44 is measured by an angle transmitter 59.
  • the measured steering angle ⁇ is used as a measurement signal for controlling the motor drive 36.
  • the motor drive 36 then namely guides the rotor 40 by the corresponding feedback angle ⁇ .
  • the control lever 24 is then returned dampened to its relative starting position 32 in the housing 18.
  • the return mechanism 30 for the control lever 24 is provided in the housing 18 of the tracking device 16.
  • Resilient elements 54 return the control lever 24 in the housing 18 of the tracking device 16 to the starting position 32.
  • the starting position 32 is centered if possible.
  • At 58 becomes a damping unit referred to, which reduces a possible overshoot after actuation of the control lever 24.
  • the return of the control lever 24 to its starting position 32 is therefore damped by the damping unit 58.
  • Such a damping effect to prevent the control lever 24 from overshooting can also be achieved, for example, via damping elements 56, such as magnets. Alternatively, this damping can also take place via active motor damping, which is not shown in this exemplary embodiment.
  • the hand control transmitter 12 is shown in the deflected position. So far the Fig. 3 The same reference numerals are used to correspond to the previous figures.
  • the manual control transmitter 12 is likewise designed as a machine for the wheel loader 44.
  • the wheel loader 44 is analogous to Fig. 2 again represented stylistically on its drive axles 46.
  • the steering axle 48 is located in the center of the wheel loader 44.
  • the control lever 24 is in its starting position 32 Fig. 2 is the feedback angle ⁇ of the rotor 40 of the tracking device 16 is adjusted by an angle ⁇ . Therefore, the front wheels 50 are directed to this angle ⁇ as previously described.
  • the control device 57 has controlled the tracking device 16 into the desired position, which corresponds to the steering position of the wheel loader.
  • the return mechanism 30 for the control lever 24 is provided in the housing 18 of the tracking device 16.
  • the resilient elements 54 return the control lever 24 in the housing 18 of the tracking device 16 to the starting position 32.
  • the starting position 32 is centered if possible.
  • the return of the control lever 24 to its starting position 32 is damped by the damping unit 58 in order to largely reduce any possible overshoot of the control lever 24.
  • the damping can also take place via active motor damping, which is not shown in this exemplary embodiment.
  • the operator Based on Fig. 4 the mode of operation will be described.
  • the operator generates a corresponding one by deflecting the control lever 24 by the guide angle ⁇ Control signal.
  • the guide angle ⁇ is detected by the guide transmitter 28.
  • the guide transmitter 28 now generates a signal associated with this guide angle ⁇ .
  • This signal receives an evaluation and processing unit 53, which controls a steering hydraulic system 60, not shown, for controlling the wheel loader 44.
  • This steering movement or the steering angle ⁇ of an articulated joint of the wheel loader 44 is detected by the angle transmitter 59.
  • the measured steering angle ⁇ is used as a measurement signal for controlling the motor drive 36.
  • the actual value for the feedback angle ⁇ and the target value, which is formed by the steering angle ⁇ of the wheel loader, are included in the control.
  • the motor drive 36 then tracks the rotor 40 by the corresponding feedback angle ⁇ .
  • the control lever 24 is then returned dampened to its relative starting position 32 in the housing 18.
  • the operator can use the spring-centered control lever 24 to control the steering hydraulics in both directions at any time and independently of the steering angle ⁇ and the feedback angle ⁇ .
  • the guide angle ⁇ is recorded and serves to set the steering speed and direction.
  • the deflection is damped by means of the damping unit 58. This is achieved, for example, via an engine brake.
  • An additional damping motor (not shown here) then acts on the lever.
  • the damping motor can be loaded with braking resistors.
  • damping motor is connected to the control lever 24 via a non-self-locking gear. This ensures that if the damping motor fails, the control lever 24 is returned to its relative central position by means of spring return. In this case The haptic changes, but the functionality of detecting the lead angle ⁇ is still there.
  • the tracking device 16 guides the entire control unit 19 with the control lever 24 to the actual steering angle ⁇ .
  • the motorized actuator 34 with a self-locking property receives a signal proportional to the steering angle ⁇ , compares it with its own feedback angle ⁇ and tracks the control unit 19 until the feedback angle ⁇ is equal to the steering angle ⁇ .
  • the joystick lever shows the operator the actual steering angle ⁇ of the wheel loader via the feedback angle ⁇ .
  • the control lever 24 In a de-energized state, the control lever 24 remains in its state and thus shows the last recorded steering angle ⁇ .

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Operation Control Of Excavators (AREA)
  • Mechanical Control Devices (AREA)
EP19000407.7A 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active Active EP3614228B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL19000407T PL3614228T3 (pl) 2016-12-13 2017-12-13 Zgłoszenie patentowe dźwignia obsługowa z aktywną jednostką komunikatu wstecznego

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202016106916 2016-12-13
EP17002025.9A EP3343311B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP17002025.9A Division-Into EP3343311B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active
EP17002025.9A Division EP3343311B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active

Publications (2)

Publication Number Publication Date
EP3614228A1 true EP3614228A1 (fr) 2020-02-26
EP3614228B1 EP3614228B1 (fr) 2022-03-30

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EP19000407.7A Active EP3614228B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active
EP17002025.9A Active EP3343311B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active

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Application Number Title Priority Date Filing Date
EP17002025.9A Active EP3343311B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active

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EP (2) EP3614228B1 (fr)
DE (1) DE102017105008A1 (fr)
ES (2) ES2914804T3 (fr)
PL (2) PL3614228T3 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202017105886U1 (de) * 2017-09-27 2017-11-29 Spohn & Burkhardt GmbH & Co. KG Schalteinrichtung
DE102018117162B4 (de) 2018-07-16 2020-03-26 Bombardier Transportation Gmbh Fahrschalteranordnung für ein Schienenfahrzeug, Schienenfahrzeug mit einer Fahrschalteranordnung und Verwendung eines Gelenklagers in einer Fahrschalteranordnung
DE102018130092B4 (de) * 2018-11-28 2020-11-12 Jenoptik Advanced Systems Gmbh Bedienvorrichtung und Verfahren zum Einstellen einer Geschwindigkeit zum Auf- und/oder Abrollen eines Seils für eine Winde und Bediensystem mit einer Bedienvorrichtung und einer Winde
DE102020120323A1 (de) * 2020-07-31 2022-02-03 Torqeedo Gmbh Vorrichtung zum Vorgeben der Fahrstufe eines Boots

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0671604A1 (fr) 1994-03-10 1995-09-13 Deutsche Thomson-Brandt Gmbh Dispositif pour la transformation d'une grandeur mécanique en grandeur électrique
EP0856453A2 (fr) 1997-02-01 1998-08-05 CLAAS KGaA Système de direction électrohydraulique pour véhicules
JP2000318587A (ja) * 1999-05-06 2000-11-21 Nissan Motor Co Ltd 自動車用運転操作装置
EP1316491A2 (fr) * 2001-11-29 2003-06-04 Toyota Jidosha Kabushiki Kaisha Dispositif et procédé d'utilization d'un véhicule
GB2463555A (en) * 2008-09-15 2010-03-24 Deutsch Zentr Luft & Raumfahrt Train control device.
DE202010000176U1 (de) 2010-02-12 2011-06-30 AL-KO Kober AG, 89359 Fernbedienung

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19625500C2 (de) * 1996-06-26 1999-10-14 Daimler Chrysler Ag Bedienelementanordnung zur Steuerung der Längs- und der Querbewegung eines Kraftfahrzeuges

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0671604A1 (fr) 1994-03-10 1995-09-13 Deutsche Thomson-Brandt Gmbh Dispositif pour la transformation d'une grandeur mécanique en grandeur électrique
EP0856453A2 (fr) 1997-02-01 1998-08-05 CLAAS KGaA Système de direction électrohydraulique pour véhicules
JP2000318587A (ja) * 1999-05-06 2000-11-21 Nissan Motor Co Ltd 自動車用運転操作装置
EP1316491A2 (fr) * 2001-11-29 2003-06-04 Toyota Jidosha Kabushiki Kaisha Dispositif et procédé d'utilization d'un véhicule
GB2463555A (en) * 2008-09-15 2010-03-24 Deutsch Zentr Luft & Raumfahrt Train control device.
DE202010000176U1 (de) 2010-02-12 2011-06-30 AL-KO Kober AG, 89359 Fernbedienung

Also Published As

Publication number Publication date
ES2837251T3 (es) 2021-06-29
ES2914804T3 (es) 2022-06-16
EP3343311A1 (fr) 2018-07-04
DE102017105008A1 (de) 2018-06-14
EP3343311B1 (fr) 2020-09-30
PL3614228T3 (pl) 2022-06-13
PL3343311T3 (pl) 2021-03-08
EP3614228B1 (fr) 2022-03-30

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