EP3652605A1 - Levier de commande muni d'un guide à coulisse - Google Patents

Levier de commande muni d'un guide à coulisse

Info

Publication number
EP3652605A1
EP3652605A1 EP18743388.3A EP18743388A EP3652605A1 EP 3652605 A1 EP3652605 A1 EP 3652605A1 EP 18743388 A EP18743388 A EP 18743388A EP 3652605 A1 EP3652605 A1 EP 3652605A1
Authority
EP
European Patent Office
Prior art keywords
control lever
manual control
deflection
controlling
control transmitter
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.)
Withdrawn
Application number
EP18743388.3A
Other languages
German (de)
English (en)
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.)
Filing date
Publication date
Application filed by Fernsteuergeraete Kurt Oelsch GmbH filed Critical Fernsteuergeraete Kurt Oelsch GmbH
Publication of EP3652605A1 publication Critical patent/EP3652605A1/fr
Withdrawn legal-status Critical Current

Links

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
    • G05G1/015—Arrangements for indicating the position of a controlling member
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • 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
    • G05G2700/00—Control mechanisms or elements therefor applying a mechanical movement
    • G05G2700/02—Means for regulating or adjusting control mechanisms, e.g. devices for automatic adjustment
    • 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 a manual control transmitter for controlling a machine, comprising a) an assembly platform, b) a control lever, which is pivotally mounted in a hinge on the mounting platform about an axis, c) a guide transmitter, which detects the deflection of the control lever and one of the deflection generates an associated signal, d) an evaluation and processing unit, which processes the signal from the master encoder and controls the machine according to the deflection, e) a return mechanism, which returns the control lever to a starting position.
  • Such hand control transmitters are often used to control heavy machinery. For example, they are used to control cranes, wheel loaders, excavators, forklifts or as a travel controller for rail vehicles and ships. They can be operated like a joystick. Basically, many types of machines that are manually operated can be controlled with a hand control transmitter. Modular design supports the use of a manual control transmitter 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.
  • the angular position can be detected without contact or touch. It is known to determine the angular position, for example, electro-optically by means of a coded disc. The angular position can also be determined electronically, for example via a potentiometer.
  • multi-axis manual control transmitters have at least two non-parallel control shafts, which are driven by a suitable gear.
  • PRIOR ART DE 20 2010 000 176 discloses a remote control for controlling vehicles with a maneuvering device, wherein the remote control has an input device and in the degrees of freedom of the mobility of the input device the degrees of freedom of the mobility of the vehicle to be controlled are mapped.
  • EP 0 671 604 A1 describes a joystick which has two potentiometers which are coupled via a gimbal deflection with a control lever.
  • everyone Position of the control lever is associated with a corresponding position of the potentiometer, so that the tapped at the Potentiometerklemmen voltage values 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 in which one end of a sliding contact pair with electrical activation signals is actuated via at least two contact surfaces. The other end of the sliding contact pair is moved over a required resolution for a certain number of parallel conductor tracks. As a result of the displacement of the sliding contact pair, the control signals are forwarded via the contacted printed conductors at the end thereof as evaluation signals.
  • EP 0 856 453 A2 describes an electrohydraulic steering system for vehicles which has manual steering and automatic steering (autopilot) which can be activated via a switch.
  • the steering system consists of at least one hydraulic steering cylinder for adjusting the steerable wheels, at least one sensor for determining the Radeinschlagwinkel actual values, at least one electrically actuated hydraulic control valve which controls the loading of the steering cylinder with hydraulic fluid, and at least one automatic steering signal generator for generating electrical Steering signal setpoints for the wheel steering angle.
  • the automatically generated steering signal command values and the wheel steering angle actual values are fed to an electronic control and evaluation device.
  • the control and evaluation device determines from the wheel steering angle actual value and the automatically generated steering signal target value in each case an electrical drive signal for the hydraulic control valve.
  • Steering signal generator is provided for the manual steering, which likewise generates a corresponding electrical steering signal setpoint from a manual adjusting movement, which is also supplied to the control and evaluation device. Depending on which steering is active, the control and evaluation device evaluates the manual or the automatic steering signal setpoints.
  • a manual steering signal transmitter a steering lever ("joystick") can be used.
  • the object is achieved in that in a manual control transmitter for controlling a machine of the type mentioned f) on the control lever a guide slot is provided, wherein a sliding block, which is tracked along a Auslenkkurve the guide slot, the force profile in the deflection of the control lever pretending ,
  • the invention is based on the principle that the return mechanism of the control lever of a manual control transmitter over many previously used systems combines many benefits.
  • This is a curve segment that is rigidly connected to the handle of the manual control transmitter, but if necessary designed interchangeable by means of screw and / or suitable connectors.
  • the Auslenkkurve or the contour of the curve segment significantly determines the force curve of the restoring forces.
  • An advantageous embodiment of the hand control transmitter according to the invention finally results from the fact that the sliding block or the guide slot is resiliently biased.
  • a concave contour on the curve segment for example, a lever on the formed as a thrust ball bearing sliding block is moved away from the suspension point of an elastic element on the curve segment and the distance of the suspension points increases.
  • restoring forces can be realized which act between the guide slot and the sliding block.
  • the rotatably mounted on the lever thrust ball bearing, which forms the sliding block pulled by means of elastic element on the formed as a cam guide slot.
  • the curve stone follows the curve contour when the control lever is deflected. This leads to a non-linear increase or a progressive course of the restoring force. Especially in a so-called steering joystick such a force curve is desired.
  • the sliding block or the guide slot has a spring for elastic bias.
  • Springs are commercially available components that are available in various sizes.
  • the construction of the manual control transmitter with guide slot can be easily established.
  • the restoring force is preferably realized via two tension springs. The resulting redundancy thus fulfills requirements for many safety-relevant applications.
  • the manual control unit can be built very compact. Also, despite the compactness relatively large restoring moments can be generated. Another big advantage is the low wear of the return mechanism due to the design.
  • a further preferred variant of the manual control transmitter according to the invention is achieved in that the deflection curve is designed to be variable and adaptable by an adjusting element.
  • This measure serves to adapt the deflection curve to the needs of the user.
  • the deflection curve can be exchanged completely or in segments.
  • embodiments are also conceivable in which the deflection curve itself is e.g. by shifting in parts or completely can be changed.
  • the Auslenkkurve could also change in shape or form.
  • An advantageous embodiment of the hand control transmitter according to the invention also results from the fact that at least one locking point and / or shoulder is provided for the sliding block in the Auslenkkurve.
  • About the shape of the curve segment can not be so only affect the progressiveness of the force curve. Rather, by latching and paragraphs, for example, center rastung and force jumps can be realized.
  • a tracking device is provided with a frame and / or a housing.
  • the tracking device is arranged on the mounting platform.
  • the hinge is provided in the frame and / or the housing of the tracking device.
  • the manual control transmitter according to the invention then has a control device, which adjusts a drive of the tracking device by an assigned position, wherein the assigned position is determined by the driven with the deflection machine.
  • the effect of the control instruction is determined and assigned a position of the control lever.
  • the speed can be set by actuating the manual control transmitter, whereby a desired value is defined.
  • the control device regulates the control lever by a corresponding angle, which is assigned to this speed. Due to the present innovation, the user immediately sees which setpoint has been set.
  • the drive has a rotor, which nach DIN the tracking device by an angle ß, which is determined by the driven with the deflection ⁇ machine associated position. This action causes the tracking device to rotate with the control lever at an associated angle with the rotor. This saves space and the respective position of the control lever is easy for the user to capture.
  • the drive of the tracking device has a transmission. Often the drives turn too fast, so the speed can be reduced by a gearbox. Preferably, the transmission of the drive of the tracking device is then provided self-locking.
  • the return mechanism has a resilient element. With the resilient element of the control lever is returned to a deflection of the control lever against the spring force of the resilient member to a starting position.
  • damping means may be provided here.
  • a suspension of the control lever between two resilient elements not only has damping effects, but also brings a redundancy, which makes the manual control transmitter fail-safe.
  • FIG. 1 shows, in a schematic schematic diagram, the basic principle of a manual control transmitter according to the invention with a tracking device in a front view.
  • Fig. 2 shows a schematic diagram of an inventive
  • Manual control transmitter with tracking device in a neutral deflection in side view is a manual control transmitter with tracking device in a neutral deflection in side view.
  • FIG. 3 shows in a schematic schematic diagram according to FIG. 2 a hand control transmitter according to the invention with a tracking device with a deflection in side view.
  • Fig. 4 shows a schematic schematic diagram of the invention
  • FIG. 5 shows a schematic diagram of a device according to the invention
  • FIG. 6 shows, in a schematic schematic diagram according to FIG. 5, a hand control transmitter according to the invention with a tracking device with a deflection in side view.
  • Fig. 7a-7d show schematically different variants of the guide slot and in each case the curve of the restoring forces with respect to the deflection.
  • Fig. 1 the basic scheme of a manual control transmitter 12 according to the invention with a tracking device 14 is shown at 10.
  • the hand control transmitter 12 is for controlling a machine such as a wheel loader.
  • the manual control transmitter 12 is arranged on a mounting platform 16.
  • the manual control transmitter 12 comprises a control lever 18, which is attached to a control shaft 20.
  • the control shaft 20 is in the mounting platform 16 rotatably mounted and forms a joint 22.
  • the control lever 18 is provided so as to be deflectable about a pivot axis 24.
  • a master encoder 26 detects each deflection ⁇ of the control lever 18 and generates an angle signal associated with the respective deflection.
  • the angle ⁇ of the deflection is also referred to below as the guide angle ⁇ .
  • An evaluation and processing unit 28 processes the signal of the master encoder 26.
  • a machine is thus driven in accordance with the deflection by the guide angle ⁇ .
  • a return mechanism 30 always returns the control lever 18 to its original position 32 without applying force.
  • the control lever 18 is located in a housing 34 of the tracking device 14 of the manual control transmitter 12th
  • a tracking device 14 acts with an actuator 36 active on the control shaft 20.
  • the master encoder 26 generates for this purpose the angle signal which corresponds to the respective deflection of the control lever 20 about the pivot axis 24.
  • the position may, however, change relative to the mounting platform 16, provided that the tracking device 14 changes its position.
  • the tracking device 14 further includes a motor drive 38, which drives a rotor 42 with a gear 40.
  • the motor drive 38 is preferably designed as a DC motor.
  • the evaluation and processing unit 28 controls the motor drive 38 such that the rotor 42 rotates relative to the housing 34 by an angle ß.
  • the rotor 42 changes its relative angular position to the housing 34th
  • the rotor 42 is controlled via a control unit 44.
  • the actuator 36 has a self-locking property, so that the position of the rotor 42 can not be changed by the force of the control lever 18.
  • the control lever 18 is connected to a guide slot 46.
  • the guide slot 46 is formed in this illustration downwards with a Auslenkkurve 47.
  • the curve shape of Auslenkkurve 47 as shown for example in Figures 7a to 7d, has significant influence on the restoring forces of the control lever 18.
  • the thrust ball bearing 48 forms a sliding block 50 for the guide link 46.
  • the sliding block 50 is attached to a lever 52. Spring elements 54 push or pull the sliding block 50 against the guide slot 46. In this case, the sliding block moves the Auslenkkurve 47 when operating the control lever 18 from (see also Fig. 2).
  • FIG. 2 shows the manual control transmitter 12 according to FIG. 1 in a schematic side view.
  • the manual control transmitter 12 includes the housing 34 and the mounting platform 16.
  • the control lever 18 is provided with the hinge 22 in the mounting platform 16 deflectable. Deflections of the control lever 18 are indicated by dashed lines 56 of the control lever 18.
  • the guide slot 46 is provided.
  • the thrust ball bearing 48 is disposed at one end 58 of the lever 52. With the other end 60, the lever 52 is hinged to the mounting platform 16.
  • the spring element 54 biases the lever 52. In this way, the sliding block 50 presses against the guide slot 46.
  • the control lever 18 in the starting position 32.
  • the spring element 54 holds the control lever 18 in this starting position 32 under a voltage.
  • the spring element 54 When deflecting the control lever 18, the spring element 54 is compressed according to the guide slot 46 or pulled apart or relaxed. In this way can be determined based on the waveform, which forces are to act on the control lever 18 at a deflection.
  • the spring forces of the spring element 54 can also be designed depending on the degree of hardness so that they influence the forces during the deflection of the control lever 18.
  • the master encoder 26 detects each deflection ⁇ of the control lever 18 and generates an angle signal associated with the guide angle.
  • the evaluation and processing unit 28 processes the signal of the master encoder 26. A machine is thus driven in accordance with the deflection by the guide angle ⁇ .
  • the return mechanism 30, which consists in particular of the spring element 54 in cooperation with the sliding block 50 and the guide slot 46, the control lever 18 always returns to its initial position 32 without force.
  • Damping module 62 consists in the present embodiment of two damping elements 64.
  • the control lever 18 is disposed between these damping elements 64.
  • the shape of the curve of the guide slot 46 supported by their shape the return operation, since the spring elements 54 can be performed in accordance with a tensioned in a relaxed state.
  • the tracking device 14 actively acts with the actuator 36 on the control shaft 20, as described for Fig. 1.
  • a user immediately receives feedback about the status of the actual activation state of the machine.
  • the deflection of the control lever 18 is directed to the evaluation and processing unit 28.
  • the machine is driven in accordance with the deflection via the evaluation and processing unit 28.
  • the machine in turn gives a control signal to the tracking device 14, which tracks the control lever 18 with the tracking device 14 accordingly. The user thus always knows how the state of his machine to be operated with the manual control transmitter 10 is.
  • Fig. 3 the manual control transmitter 12 is shown in accordance with FIG. 2.
  • the control lever 18 is shown deflected.
  • the spring element 54 is highly tensioned due to the guide slot 46 and the sliding block 50. Whether the tension is generated due to tensile or compressive forces of the spring elements 54 is irrelevant to the technical circumstance itself.
  • the spring forces of the spring element 54 act particularly strong in this deflection position on the control lever 18, which with the guide slot 46 is firmly connected.
  • the user of the manual control transmitter 12 learns how far he is deflected, solely by the forces acting on the control lever 18. 4, another embodiment of the hand control transmitter 12 is shown.
  • the manual control transmitter 12 is shown schematically without the tracking device 14. In this Fig.
  • the basic scheme of the manual control transmitter 12 is shown in a front view.
  • This type of manual control transmitter 12 is also used to control a machine.
  • the manual control transmitter 12 is arranged on the mounting platform 16 and comprises the housing 34.
  • the control lever 18 is fixed to the control shaft 20, wherein the control shaft 20 is rotatably mounted in the mounting platform 16 and thus forms the joint 22.
  • the master encoder 26 detects each deflection ⁇ of the control lever 18 and generates an angle signal associated with the respective deflection.
  • the evaluation and processing unit 28 processes the signal of the master encoder 26. A machine is thus driven in accordance with the deflection by the guide angle ⁇ .
  • the return mechanism 30 always returns the control lever 18 to its original position 32 without the application of force.
  • the control lever 18 is, as described previously in the embodiment, firmly connected to the guide slot 46.
  • FIGS. 5 and 6 show the embodiment of FIG. 4 in a side view.
  • 5 shows the manual control transmitter 12, in which the control lever 18 is in the starting position 32 or in a rest position.
  • the control lever 18 of the manual control transmitter 12 is shown deflected by the guide angle ⁇ .
  • the guide slot 46 has a downward open waveform.
  • a downwardly opened parabola could also be provided here.
  • any curve shape is conceivable that is technically feasible.
  • Various curve shapes are therefore shown by way of example in FIGS. 7a to 7d.
  • This curve shape runs when pressing the control lever 18, the thrust ball bearing 48 as a sliding block 50 for the guide slot 46.
  • the sliding block 50 is attached to the lever 52.
  • the spring elements 54 press or pull the sliding block 50 against the guide slot 46.
  • the spring forces depending on the position of the guide slot 46 relative to the sliding block 50 are larger or smaller.
  • the control lever 18 is disposed between the two damping elements 64 of the damping module 62. This helps to reduce overshoot of the control lever 18 to the home position 32.
  • the guide slot 46 When re-dividing into the starting position 32 of the control lever 18, the guide slot 46 may be configured such that it helps to avoid overshooting of the control lever 18. Further damping means may additionally support this function to avoid the overshoot of the control lever 18.
  • the damping means may e.g. magnetic, pneumatic, hydraulic or be designed as a friction element.
  • guide slots 46 are shown with different cam profiles 65.
  • the curve profiles 65 have, in particular, different elevations. While the curve profile 65 of FIG. 7a is configured symmetrically, the curve profiles 65 of FIGS. 7b to 7d are configured asymmetrically.
  • the restoring forces are plotted against the guide angle ⁇ of the control lever 18.
  • the guide slots 46 of FIGS. 7b to 7d have notches 66 or shoulders 68.
  • the notches 66 serve as detent points 70 for the control lever 18.
  • the paragraphs 68 allow the most uniform possible force distribution with respect to the restoring forces.
  • the sliding block 50 snaps into the notches 66 of the curved profiles 65.
  • These locking points 70 can be directly on the adjacent force curve read off. In this case, a higher threshold force must be used to move d control lever 18 out of the notch 66.
  • the force distribution d restoring forces of the control lever 18 can thus be influenced with the curve profile 65 d guide slots and adapted to a desired feel.

Landscapes

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

Abstract

L'invention concerne un transmetteur de contrôle à main (12) pour la commande d'une machine. Le transmetteur de contrôle à main (12) contient une plateforme de montage (16) et un levier de commande (18). Le levier de commande (18) est logé dans une articulation (22) sur la plateforme de montage (16) de façon à pouvoir pivoter autour d'un axe. Un transmetteur de guidage (26) détecte la déviation (ω) du levier de commande (18) et produit un signal attribué à la déviation (ω). Une unité d'évaluation et de transformation (28) traite le signal du transmetteur de guidage (26) et commande la machine en fonction de la déviation (ω). Un mécanisme de retour (30) ramène le levier de commande (18) dans la position de départ (32).
EP18743388.3A 2017-07-14 2018-06-29 Levier de commande muni d'un guide à coulisse Withdrawn EP3652605A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017115863.4A DE102017115863A1 (de) 2017-07-14 2017-07-14 Bedienhebel mit Kulissenführung
PCT/DE2018/100600 WO2019011373A1 (fr) 2017-07-14 2018-06-29 Levier de commande muni d'un guide à coulisse

Publications (1)

Publication Number Publication Date
EP3652605A1 true EP3652605A1 (fr) 2020-05-20

Family

ID=62980978

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18743388.3A Withdrawn EP3652605A1 (fr) 2017-07-14 2018-06-29 Levier de commande muni d'un guide à coulisse

Country Status (5)

Country Link
US (1) US11327519B2 (fr)
EP (1) EP3652605A1 (fr)
JP (1) JP2020527815A (fr)
DE (1) DE102017115863A1 (fr)
WO (1) WO2019011373A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017115863A1 (de) * 2017-07-14 2019-01-17 Fernsteuergeräte Kurt Oelsch GmbH Bedienhebel mit Kulissenführung
DE102019213958A1 (de) * 2019-09-12 2021-03-18 Zf Friedrichshafen Ag Drehsteuereinrichtung zum Lenken

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3095754A (en) * 1960-06-30 1963-07-02 Burroughs Corp Control apparatus
JPH0751625Y2 (ja) * 1990-06-18 1995-11-22 京セラ株式会社 ジョイスティック
DE4408050A1 (de) 1994-03-10 1995-09-14 Thomson Brandt Gmbh Vorrichtung zur Umwandlung einer mechanischen in eine elektrische Größe
DE19703846A1 (de) 1997-02-01 1998-08-06 Claas Ohg Elektrohydraulisches Lenksystem für Fahrzeuge
DE102006037727A1 (de) 2006-08-11 2008-02-21 Rheinmetall Defence Electronics Gmbh Joystick für ein Frachtladesystem
US7759894B2 (en) * 2006-10-26 2010-07-20 Honeywell International Inc. Cogless motor driven active user interface haptic feedback system
JP2008181478A (ja) 2006-12-27 2008-08-07 Tokai Rika Co Ltd ジョイスティック
JP2009301097A (ja) 2008-06-10 2009-12-24 Tokai Rika Co Ltd 節度装置
JP2011100333A (ja) 2009-11-06 2011-05-19 Tokai Rika Co Ltd 操作装置
DE202010000176U1 (de) 2010-02-12 2011-06-30 AL-KO Kober AG, 89359 Fernbedienung
US9051045B2 (en) 2010-07-28 2015-06-09 Woodward Mpc, Inc. Indirect drive active control column
JP5039188B2 (ja) * 2010-08-20 2012-10-03 アイシン・エーアイ株式会社 自動車用手動変速機のシフト装置
DE102014103988A1 (de) 2014-03-24 2015-09-24 Elobau Gmbh & Co. Kg Joystick mit intrinsisch sicherem Force-Feedback
DE102017115863A1 (de) * 2017-07-14 2019-01-17 Fernsteuergeräte Kurt Oelsch GmbH Bedienhebel mit Kulissenführung

Also Published As

Publication number Publication date
WO2019011373A1 (fr) 2019-01-17
US11327519B2 (en) 2022-05-10
JP2020527815A (ja) 2020-09-10
DE102017115863A1 (de) 2019-01-17
US20200201376A1 (en) 2020-06-25

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