EP3748459A1 - Dispositif de commande manuel - Google Patents

Dispositif de commande manuel Download PDF

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Publication number
EP3748459A1
EP3748459A1 EP20177594.7A EP20177594A EP3748459A1 EP 3748459 A1 EP3748459 A1 EP 3748459A1 EP 20177594 A EP20177594 A EP 20177594A EP 3748459 A1 EP3748459 A1 EP 3748459A1
Authority
EP
European Patent Office
Prior art keywords
axis
control lever
lever element
control device
manually operated
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.)
Pending
Application number
EP20177594.7A
Other languages
German (de)
English (en)
Inventor
Konstantin Krivenkov
Andreas Nutz
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.)
Grammer AG
Original Assignee
Grammer 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 Grammer AG filed Critical Grammer AG
Publication of EP3748459A1 publication Critical patent/EP3748459A1/fr
Pending legal-status Critical Current

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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
    • 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
    • E02F9/202—Mechanical transmission, e.g. clutches, gears
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2037—Coordinating the movements of the implement and of the frame
    • 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
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • 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
    • 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
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/12—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in an indefinite number of positions, e.g. by a toothed quadrant
    • G05G5/14—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in an indefinite number of positions, e.g. by a toothed quadrant by locking a member with respect to a fixed quadrant, rod, or the like
    • G05G5/16—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in an indefinite number of positions, e.g. by a toothed quadrant by locking a member with respect to a fixed quadrant, rod, or the like by friction
    • 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
    • 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
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04714—Mounting of controlling member with orthogonal axes
    • G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type joint
    • 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
    • G05G2009/0474—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 characterised by means converting mechanical movement into electric signals
    • G05G2009/04748—Position sensor for rotary movement, e.g. potentiometer
    • 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
    • G05G2505/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member

Definitions

  • the invention relates to a manually operable control device for operating at least one actuator of a vehicle, according to the preamble of claim 1.
  • Vehicles that are equipped with several actuators or actuator elements conventionally have a control system and control elements for controlling these actuator elements.
  • Examples of such vehicles are a forklift, a tractor or an excavator.
  • Examples of such actuator elements are drives which are designed, for example, hydraulically, pneumatically, electronically and / or electromechanically and are provided for moving excavator shovels or also controllable valves.
  • Part of the control system is usually an electronic control device that receives signals from sensors and forwards control signals to the actuator elements.
  • Control elements for the active control of actuator elements are known from the prior art as so-called joysticks, control sticks or control lever elements, which are similar to a gearshift lever from a car and are arranged within the vehicle cabin so that they can be operated manually by the user of the vehicle (vehicle driver). These control lever elements can be displaced (pivoted and / or displaced) from an initial position (basic position / position, neutral position) to the left, right, front and / or rear, for example by the muscular strength of the driver.
  • a control device is now to be developed which has several advantages.
  • the shifting of the control lever element from the basic position should be considered the direction and the extent be detectable.
  • a control system is to be developed which is able to give the driver feedback about any events and actively support him in operating the control lever element.
  • all of these properties should be implemented in a control device with a comparatively small size.
  • a manually operable control device for operating at least one actuator of a vehicle, comprising a manually operable control lever element which, starting from a basic position, can be deflected by rotating about a first axis and / or about a second axis, one degree and / or a direction of a related deflection of the control lever element can be detected by means of a sensor.
  • the manually operable control device comprises at least one first actuator device with a first drive unit and a first output unit, the first axis being able to be acted upon by a first torque by means of the first actuator device, and a second actuator device with a second drive unit and a second output unit, whereby the second actuator device, the second axis can be acted upon with a second torque, wherein the first output unit is rotatably mounted about the first axis and the second output unit is rotatably mounted about the second axis.
  • a longitudinal extension of the control lever element is arranged at least in the basic position of the control lever element perpendicular to the first and second axes.
  • the first and second axes are preferably always arranged perpendicular to one another.
  • control device is designed to be compact overall. In particular, little space is required for the arrangement of actuator elements on the side of the control device which is arranged facing away from the control lever element; for example, this is the underside of the control device.
  • the control lever element is preferably deflectable in all directions starting from the basic position.
  • the control lever element can thus preferably experience a deflection about the first axis and / or a deflection about the second axis, both with regard to a positive (corresponds to a rotation to the front) and a negative rotation (corresponds to a rotation to the rear) about the respective Axis. It is also preferred a superposition of the deflections described is possible. It is further preferred that all of the aforementioned displacement movements are continuously possible.
  • the degree and / or the direction of the deflection of the control lever element can preferably be detected by means of a sensor such as a magnetic sensor or a Hall sensor.
  • this sensor is located on the side of the control device that is remote from the control lever element. For example, from the driver's point of view, this is the underside of the control device.
  • the drive unit of the first and / or the second actuator device preferably also rotates about the same axis as the associated output unit.
  • the drive unit and the output unit therefore preferably do not form an angular gear with one another.
  • a motor is preferably provided in each case which comprises the drive unit.
  • the first actuator device and the second actuator device each form a motor-transmission combination which each include the first or second output unit configured as a planetary gear and the first or second drive unit configured as an electric motor.
  • This electric motor is preferably a torque motor in each case, that is to say preferably has a comparatively high torque at comparatively low speeds.
  • the electric motor includes a stator and a rotor.
  • a nominal torque of this motor has a value from a range from 0.2 Nm to 0.5 Nm, preferably 0.3 Nm. This nominal torque corresponds to the drive torque.
  • the planetary gear has a gear ratio from a range from 5 to 10, preferably 7.
  • the output torque can be calculated as the product of the input torque and the gear ratio. With the preferred values for the drive torque and for the translation, an output torque of 7 x 0.3 Nm, i.e. 2.1 Nm, can be achieved. This output torque can therefore be applied to the first and second axes.
  • the driver can be given feedback about any events, for example when a collision of one of the actuator elements (excavator shovel) with a hard object is detected by means of a further sensor.
  • a force and / or a moment can be transmitted to the control lever element, which acts, for example, as a vibration and / or displacement of the control lever element.
  • a vibration is a temporal sequence of small displacements.
  • a programmable and / or predefined sequence of forces and / or moments can be transmitted to the control lever element, which, for example, acts as a movement sequence of the control lever element.
  • the at least one actuator device can support the control lever element in returning it to its home position.
  • the control device preferably comprises an electronic control device (also referred to as “CU” or “Control Unit” in English), by means of which signals can be transmitted to both electric motors; these are preferably control signals.
  • the electronic control device can preferably be used to receive signals from sensors which record various vehicle parameters (acceleration, temperature, force, pressure, force / load, position / height / path, angular position and / or speed, etc., each related to different components) .
  • the driver can also be warned of a possible danger he is not currently aware of by executing a vibration of the control lever element and / or blocking a movement of the control lever element in at least one direction by at least one of the actuator devices by applying a force and / or a moment .
  • this is also referred to as “event-related torque specification”.
  • An application example for the "event-dependent torque specification” relates to the case that the driver with the excavator shovel, which is moved by the control lever element, hits a solid obstacle, whereupon the displacement / movement of the excavator shovel is stopped. If the excavator driver continues to press the control lever element in the same direction, the electronic control device detects, for example, that the force for executing this movement by means of the associated actuator element is increasing until it finally exceeds a predeterminable upper limit.
  • the control system then sends, for example, a command to at least one of the actuator devices to apply a force and / or a moment to the associated axis in order to counteract the muscular strength of the excavator operator with an active force and, for example, the movement in the direction that is harmful to the excavator shovel To block obstacle.
  • a simple or additional vibration movement of the control lever element as a warning to the excavator operator would also be conceivable here.
  • control lever element which, at least in sections, are associated with a high expenditure of force for the driver.
  • actuator devices can support the driver by providing additional forces and / or moments.
  • a system with 4-quadrant operation is thus configured by means of the control device described.
  • This is generally understood to mean a system which for Control of speed and torque in positive and negative directions is capable.
  • Operation in quadrants 1 and 3 is called “motor” operation because speed and torque have the same sign (they are both positive or both negative). This is the case when a drive is driving a load and energy is being consumed by the motor.
  • Operation in quadrants 2 and 4 is called “regenerative”, which means that speed and torque are in opposite directions (one negative and the other positive). This is the case when the motor brakes the load and generates electrical energy in the process.
  • control lever element can be blocked at least with regard to rotation about one axis or about both axes.
  • Both actuator devices, both drive units and / or both output units are preferably configured identically, at least with regard to the hardware used. Using the same components increases their lot size in the calculation, which generally has a positive effect on the price.
  • the planetary gear configured by means of the first and / or second output unit has a rotatably mounted sun gear, a ring gear radially surrounding the sun gear, and several, preferably three, arranged and thus toothed radially between the sun gear and the ring gear Include planet gears.
  • the sun gear is preferably arranged in alignment with one of the first axis or the second axis and is mounted rotatably about this.
  • the module of the sun gear, the ring gear and the planetary gears i.e. the ratio of the values of the respective pitch circle diameter and the respective number of teeth, each have an identical value from a range of 0.3 mm to 0.7 mm, preferably 0.5 mm, on.
  • the ring gear is preferably mounted in a stationary manner; the output therefore preferably does not take place via the ring gear.
  • the ring gear has a rotation lock, by means of which its radial position can be fixed with respect to the rest of the control device.
  • this anti-rotation device is on the one hand by means of a special first geometry of the Ring gear formed on its outer diameter.
  • this first geometry is designed as at least one, preferably four, flat areas of the outer radius of the ring gear.
  • this anti-rotation device is preferably configured as a second geometry configured to be complementary to the first geometry on the rest of the control device;
  • flattened areas are also formed on an inner radius on the remainder of the control device, the number and arrangement of which is preferably identical to the number of flattened areas of the ring gear.
  • the drive is preferably carried out via a shaft of the motor (motor shaft) and via the sun gear, a center axis of the shaft of the motor preferably being aligned with a center axis of the sun gear.
  • the shaft of the motor is in mechanical engagement with the sun gear, so that a torque of the motor can be transmitted to the sun gear; the shaft and the sun gear are preferably rigidly connected to one another.
  • a rotation of the motor axis can be transferred into a rectified rotation of the sun gear which is identical in terms of speed.
  • a connection between the motor shaft and the sun gear includes a keyway connection.
  • the motor shaft and the sun gear are preferably designed in one piece;
  • the motor shaft and the sun gear are made from a single part and / or a single semi-finished product and are preferably machined (“milled”).
  • the motor shaft is thus mounted as a drive shaft on a side facing the control lever element via the mounting of the sun gear and ultimately via the mounting between the ring gear and the housing.
  • the motor shaft On a side facing away from the control lever element, the motor shaft is mounted in contact with the inner ring of a roller bearing, the outer ring of which is mounted, for example, by means of the housing.
  • At least one or more, preferably all, gears are made of plastic.
  • Possible plastics here are, for example, polyacetal (POM) and / or polyketone (PK).
  • the control lever element is preferably mounted by means of a cardan joint.
  • a first guide element is arranged at a lower end of the control lever element, which is mounted rotatably about the second axis and forms a first guide slot, by means of which the rotation of the control lever element about the first axis to a certain first angular range is limited.
  • the first guide element forms a bearing point for a rotary bearing of the lower end of the control lever element.
  • the first guide element has a bore extending through the guide slot.
  • the lower end of the control lever element also has a bore. Both bores are preferably arranged in alignment with one another, a rod being arranged within the two bores, around which the control lever element is arranged rotatably and which is preferably rigidly connected to the first guide element.
  • a rotary bearing of the control lever element is formed by means of the first guide element and the rod, which further reduces the space requirement of the control device.
  • a second guide element is arranged between the lower end of the control lever element and an upper end of the control lever element, which is rotatably mounted about the first axis and forms a second guide slot, by means of which the rotation of the control lever element about the second axis on a certain second angular range is limited.
  • the second guide element is preferably arranged such that it at least partially overlaps the first guide element in the height direction of the control device.
  • the second guide element forms an arc shape at least in sections, a virtual central axis of the associated arc being arranged in an intersecting manner parallel to the second axis and / or the first guide element. This arrangement also reduces the space required.
  • Both guide elements are preferably mounted in the housing by means of a first and a second bearing point.
  • the first and / or the second bearing point comprises a roller bearing connection.
  • the first output unit and the first guide element and / or the second output unit and the second guide element are each connected by means of a web element.
  • this bar element is made of plastic.
  • the web element is preferably formed by means of a first end of the respective guide element and / or has a rigid connection to the rest of the web element.
  • the first end of the respective guide element is preferably arranged facing the output unit.
  • the web element prefferably designed as an independent component.
  • the web element comprises a plurality of cylindrical projections, the number of which corresponds to a number of the planet gears of the planetary gear.
  • One of these projections is preferably in engagement with a respective bore.
  • Each of the planet gears preferably comprises one of these bores, which are preferably arranged centrally and / or in an axial direction of the planet gears through the respective planet gears.
  • the projections and the planetary gears are preferably not rigidly connected to one another, so that in particular the projections can still rotate within the bores of the planetary gears.
  • a circumferential force can be transmitted from an edge of the bores of the planetary gears to the projections; thus, in particular, a rotation of the planet gears about the respective first or second axis can be transferred into a rotation of the associated web element.
  • a multi-part housing is preferably provided, within which the first actuator device, the second actuator device, the first guide element and / or the second guide element are arranged.
  • the multi-part housing comprises one or more parts made from die-cast, for example from zinc die-cast. It is also possible that the housing is formed by means of one or more parts manufactured by machining and / or by means of one or more sheet metal parts.
  • the geometry configured complementary to the geometry of the anti-twist device of the ring gear is preferably configured at least partially by means of the housing.
  • the housing comprises a first housing part which forms the underside of the control device and / or represents a first bearing element for the first actuator device, the second actuator device, the first guide element and / or the second guide element.
  • a second housing part in the vertical direction of the control device is preferred arranged adjacent to the first housing part, the second housing part preferably not overlapping the first housing part in the vertical direction.
  • the first and / or the second housing part are designed essentially in the shape of a shell and / or are connected to one another by means of screw connections.
  • a third and / or fourth housing part is preferably provided as a further bearing element for the actuator devices and as protection against dust, which is arranged to cover one of the actuator devices on a side facing away from the guide elements.
  • the third and / or the fourth housing part are designed essentially in the form of a plate and / or are connected to the first and / or the second housing part by means of screw connections.
  • a fifth housing part is designed as a plastic part and / or is arranged adjacent to the second housing part in the height direction of the control device, the fifth housing part preferably not overlapping the second housing part in the height direction.
  • the fifth housing part is designed essentially in the shape of a frame and / or is connected to the second housing part by means of screw connections.
  • the control lever element is preferably arranged continuously through a recess in the fifth housing part.
  • At least one passive restoring device is provided for the first axis and / or the second axis, which can be acted upon by a force when the control lever element is deflected, the control lever element being able to be returned to the basic position by means of the force.
  • the passive restoring device comprises a torsion spring element arranged around the first and / or the second axis and connected to the first guide element and / or the second guide element; for example, this is a leg spring element.
  • the passive restoring device comprises a flat membrane element, which is preferably arranged at least in the basic position of the control lever element perpendicular to a longitudinal extension of the control lever element and is preferably connected to the housing and the lower end of the control lever element in a prestressed manner .
  • a latching device is arranged which can be brought into engagement with the control lever element and by means of which a deflection of the control lever element about at least one of the axes can be mechanically limited.
  • a position of the latching device is preferably designed to be adjustable.
  • the locking device forms an adjustment link for the displacement of the control lever element, which is preferably arranged in a plane parallel to the first and second axes.
  • the latching device is displaceable within this plane, preferably displaceable along the first and / or the second axis.
  • the locking device can be brought into engagement, for example, with a first locking element for the first axis and / or with a second locking element for the second axis.
  • the first and / or the second latching element is designed as a latching lug, that is to say with a projection, the projection being able to be brought into engagement with the latching device, in particular with the adjusting link of the latching device.
  • the first and / or the second latching element is arranged at a second end of the respective guide element, the second end being arranged facing away from the output unit.
  • the latching device is arranged above the first and / or the second guide element.
  • the adjustment link is designed in the form of a square.
  • the basic position of the control lever element is designed to be adjustable.
  • the basic position of the control lever element can also be adjusted by means of a torque specification of one or both actuator devices by forcing the control lever element to be returned to a basic position that has been changed from the original basic position. Starting from this changed basic position, the control lever element can then be displaced as described above.
  • FIG. 11 shows an example of a vehicle V which comprises a manually operated control device 1 for operating at least one actuator 200 of the vehicle V, which control device 1 is arranged within a driver's cab.
  • the vehicle V is a tractor and the actuator 200 is the drive, not shown in detail, for pivoting a front loader shovel that can be seen in the figure.
  • FIGS. 2a and 2c each show a side view of the control device 1 according to the invention with control lever element 10 and the first axis X and the second axis Y.
  • a housing 90 and electrical connections 230, 240 for supplying power to the actuator devices 30, 40 are also marked.
  • the Figure 2c shows the control device 1 from above. Also shows the Fig. 2d the control device 1 from above; For a better overview, however, the control lever element 10, the second housing part 92 and the fifth housing part 95 are hidden here.
  • a longitudinal extension of the control lever element 10 is presently arranged at least in the basic position P0 of the control lever element 10 perpendicular to the first X and the second Y axis.
  • the first X and the second Y axis are also arranged perpendicular to one another in the present case.
  • Fig. 3a a perspective view of the control device 1 is shown.
  • FIG. 3b now shows a perspective view in which parts of the housing 90 have been hidden.
  • the manually operable control device 1 for operating at least one actuator 200 of a vehicle V which comprises a manually operable control lever element 10, can be seen.
  • this control lever element 10 can be deflected by rotating about a first axis X and about a second axis Y.
  • these axes X, Y are virtual axes.
  • a degree and a direction of a related deflection of the control lever element 10 can be detected by means of a sensor 50.
  • this sensor 50 is designed by means of a Hall sensor and is located on the side of the control device 1 that faces away from the control lever element 10, i.e. in the present case on an underside of the control device 1 from the driver's point of view (see schematic illustration according to FIG Figure 3b ).
  • the control device 1 also comprises a first actuator device 30 with a first drive unit 34 and a first output unit 32, wherein the first axis X can be acted upon by a first torque by means of the first actuator device 30, as well as a second actuator device 40 with a second drive unit 44 and a second output unit 42, the second axis Y being able to be acted upon by a second torque by means of the second actuator device 40.
  • the first output unit 32 is rotatably mounted about the first axis X and the second output unit 42 is rotatably mounted about the second axis Y.
  • the axis about which one of the output units 30, 40 rotates is thus aligned with one of the first X or second Y axes.
  • the drive unit 34 or 44 also rotates about the same axis as the associated output unit 32 or 42.
  • the drive unit 34 or 44 and the output unit 32 or 42 therefore do not form an angular gear with one another.
  • both actuator devices 30, 40, both drive units 34, 44 and both output units 32, 42 are each configured identically.
  • first actuator device 30 and the second actuator device 40 in the present case each form a motor-transmission combination which each include the first 32 or second output unit 42 configured as a planetary gear 60 and the first 34 or second drive unit 44 configured as an electric motor 150 .
  • this electric motor 150 is a torque motor with a nominal torque of 0.3 Nm.
  • the planetary gear has a ratio of 7 in the present case.
  • an output torque of 2.1 Nm is realized.
  • control device 1 comprises an electronic control device CU (see the schematic representation according to FIG Fig. 2a ), by means of which output signals 300 (control signals) can be transmitted to both electric motors 150 and by means of which input signals 400 of a sensor 51 (see example according to FIG Fig. 2a ) are receivable.
  • the sensor 51 is an acceleration sensor which is designed to measure the acceleration of the actuator 200.
  • the planetary gear 60 configured by means of the first 32 and / or second output unit 42 is a rotatably mounted sun gear 61 (shown in FIG Fig. 3d ), a ring gear 63 radially surrounding the sun gear 61 and three planet gears 62 arranged radially between the sun gear 61 and the ring gear 63 and thus toothed.
  • the sun gear 61 is in each case arranged in alignment with one of the first axis X or second axis Y and is rotatably mounted about them.
  • Fig. 3d and 4b a second embodiment of the present control device 1, according to which a separate web element 64 'is arranged for connection between the planetary gears 62 and the guide elements 70, 80.
  • both guide elements 70, 80 are mounted in the housing 90 by means of a first 761, 861 and a second bearing point 762, 862 by means of a roller bearing connection (see in particular Figure 3c and 4a ).
  • a module of the sun gear 61, the ring gear 63 and the planet gears 62 each has an identical value of 0.5 mm.
  • the ring gear 63 is fixedly mounted; the output therefore does not take place via the ring gear 63.
  • the ring gear 63 has an anti-twist device, by means of which its radial position relative to the rest of the control device 1 can be fixed.
  • this anti-rotation device is formed on the one hand by means of a special geometry of the ring gear 63 on its outer diameter; This special geometry is designed as four flat areas 631 of the outer radius of the ring gear 63.
  • this anti-rotation device is configured, on the other hand, as a geometry on the housing 90 which is configured to be complementary to the geometry of the ring gear 63 in the present case can also be seen as one of four flat areas 901 of an inner radius' of the housing 90.
  • the housing 90 in the present case comprises a first housing part 91, which forms the underside of the control device 1 and represents a first bearing element for the first actuator device 30, the second actuator device 40, the first guide element 70 and the second guide element 80.
  • a second housing part 92 is also arranged adjacent to the first housing part 91 in the height direction 1z of the control device 1, the second housing part 92 preferably not overlapping the first housing part 91 in the height direction 1z. It can be seen that the first 91 and the second housing part 92 are essentially shell-shaped and are connected to one another by means of screw connections 99.
  • a third 93 and a fourth housing part 94 are provided, each of which is arranged to cover one of the actuator devices 30 or 40 on a side facing away from the respective guide elements 70 or 80.
  • the third 93 and fourth housing part 94 are designed essentially in the form of a plate and are connected to the first 91 and second housing part 92 by means of screw connections 99.
  • a fifth housing part 95 is designed as a plastic part and is arranged adjacent to the second housing part 92 in the height direction 1z of the control device 1, the fifth housing part 95 not overlapping the second housing part 92 in the height direction 1z.
  • the fifth housing part 95 is designed essentially in the shape of a frame and is connected to the second housing part 92 by means of screw connections 99.
  • the control lever element 1 is arranged continuously through a recess 951 in the fifth housing part 95.
  • the drive takes place via a shaft 151 of the motor 150 and via the sun gear 61, a central axis 152 of the shaft 151 being aligned with a central axis 611 of the sun gear 61.
  • the shaft 151 is also rigidly connected to the sun gear 61 in the present case.
  • the shaft 151 is mounted as a drive shaft on a side facing the control lever element 10 via the mounting of the sun gear 61 and ultimately via the mounting between the ring gear 63 and the housing 90.
  • the shaft 150 is mounted in contact with the inner ring of a roller bearing 153, the outer ring of which is mounted, for example, by means of the housing 90.
  • all gears 61, 62, 63 are made of plastic.
  • control lever element 1 is supported by means of a universal joint 70, 80, which is constructed as described below.
  • a first guide element 70 is arranged at a lower end 11 of the control lever element 10, which is mounted rotatably about the second axis Y and forms a first guide slot 71 by means of which the rotation of the control lever element 10 about the first axis X to a specific first Angular range is limited.
  • the first guide element 70 in the present case forms a bearing point 73 for a rotary bearing of the lower end 11 of the control lever element 10.
  • the first guide element 70 has a bore 72 extending through the guide slot 71.
  • the lower end 11 of the control lever element also has a bore 13, the two bores 13, 71 being arranged in alignment with one another.
  • a rod 52 is arranged within the two bores 13, 71, around which the control lever element 10 is rotatably arranged and which is rigidly connected to the first guide element 70.
  • a second guide element 80 is arranged, which is rotatably mounted about the first axis X and forms a second guide slot 81, by means of which the rotation of the control lever element 10 about the second axis Y can be limited to a certain second angular range.
  • the second guide element 80 is arranged such that it partially overlaps the first guide element 70 in the height direction 1z of the control device 1.
  • the second guide element 80 forms, at least in sections, an arc shape 88, a virtual central axis of the associated arc being arranged parallel to the second axis Y and the first guide element 70 being arranged in an intersecting manner.
  • the first output unit 32 and the first guide element 70 as well as the second output unit 42 and the second guide element 80 are each provided by means of a web element 64; 64 '(as mentioned above).
  • this web element 64 is made of plastic.
  • the web element 64 (see in particular Figures 3c and 4a ) is formed by means of a first end 74 or 84 of the respective guide element 70 or 80 and has a rigid connection to the rest of the respective guide element 70 or 80.
  • the web element 64 '(see Figure 4b and 6th ), on the other hand, is designed as an independent component.
  • Both web elements 64, 64 'thus comprise several cylindrical projections 79, 89; 641, the number of which is three and thus corresponds to the number of planet gears 62 of the respective planetary gear 60.
  • One of these projections 79, 89; 641 is in engagement with a respective bore 621, the bores 621 being arranged centrally and continuously in an axial direction of the planet gears 62 through the respective planet gear 62.
  • a multi-part housing 90 is provided, within which the first actuator device 30, the second actuator device 40, the first guide element 70 and / or the second guide element 80 are arranged.
  • a passive restoring device 110, 120, 130 is provided for the first axis X and the second axis Y, which can be acted upon by a force when the control lever element 10 is deflected, the control lever element 10 being moved into the basic position P0 by means of the force is traceable.
  • the passive restoring device 110, 120 comprises a torsion spring element (not visible in the figures) arranged about the first X or the second axis Y and connected to the first guide element 70 or the second guide element 80.
  • the passive restoring device 130 comprises a flat membrane element 131, which is arranged at least in the basic position P0 of the control lever element 10 perpendicular to a longitudinal extension 10z of the control lever element 10 and connected in a pretensioned manner to the housing 90 and the lower end 11 of the control lever element 10 (see FIG Figures 5a and 5b ).
  • a latching device 140 is arranged which can be brought into engagement with the control lever element 10 and by means of which a deflection of the control lever element 10 about at least one of the axes X, Y can be mechanically limited, a position of the latching device 140 being configured to be adjustable in the present case.
  • the locking device 140 thus forms an adjustment link for the displacement of the control lever element 10, which is arranged in a plane parallel to the first axis X and the second axis Y, the locking device 140 being arranged displaceably within this plane.
  • the latching device 140 can be brought into engagement with a first latching element 87 for the first axis X and with a second latching element 77 for the second axis Y.
  • the first 87 and the second latching element 77 are designed as latching lugs, that is to say with a projection, wherein the projection can be brought into engagement with the latching device 140, in particular with the adjusting link of the latching device 140.
  • the first latching element 87 is thus arranged at a second end 85 of the second guide element 80.
  • the second latching element 77 is arranged at a second end 75 of the first guide element 70 (see also Figure 2c ). In the present case, the second end 75 or 85 is arranged facing away from the respective output unit 32.
  • Fig. 7 shows a possible course of the torque T '("Torque") as a function of the adjustment path x ("Travel") or the displacement path of the control lever element on the basis of a diagram with the axes T for torque and x for adjustment path. In the present case, for the sake of simplicity, the latter is to be equated with a pivoting angle of the control lever element.
  • the torque limits T * min, T * max of the present arrangement are shown, namely a minimum torque T * min to be applied (“minimum application torque”) and a maximum torque T * max to be applied (“maximum application torque”).
  • minimum application torque a minimum torque T * min to be applied
  • maximum application torque a maximum torque T * max to be applied
  • the latter corresponds to at least twice the breakaway torque Tbo ("break-out torque"), ie the maximum torque required to separate an existing adhesive connection.
  • break-out torque breakaway torque
  • a value known from practice for this breakaway torque is typically 1.5 Nm.
  • the torque T increases with a high slope m2 up to a maximum value Tmax, and then drops with a negative slope m3, which is also high in terms of its magnitude, down to a torque Tmin, which in the present case is the lowest value within the example curve T ' having.
  • the torque then increases again with a steep slope m4.
  • control device is programmed in such a way that, depending on the distance covered x or depending on the current section of the path, it either actively opposes the driver with force (see passages with inclines m2, m4) or actively supports the driver (see passages with inclines m3).
  • this serves to warn the driver of a danger (as described above); however, it can also be a kind of information for him to indicate by means of the abrupt change in torque that a first work level is now left when a first travel range is left and a second work level is started when a second travel range is entered. For him, for example, this means that additional damping devices are or must be switched on on the excavator.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Mechanical Control Devices (AREA)
EP20177594.7A 2019-06-06 2020-05-29 Dispositif de commande manuel Pending EP3748459A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102019115329.8A DE102019115329B4 (de) 2019-06-06 2019-06-06 Manuell bedienbare Steuervorrichtung

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EP (1) EP3748459A1 (fr)
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EP4134779A1 (fr) * 2021-08-09 2023-02-15 Grammer Ag Dispositif de commande

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EP3701216A4 (fr) 2017-10-27 2021-09-22 Fluidity Technologies, Inc. Monture à cardan à axes multiples pour dispositif de commande fournissant une rétroaction tactile pour la commande nulle
US11599107B2 (en) 2019-12-09 2023-03-07 Fluidity Technologies Inc. Apparatus, methods and systems for remote or onboard control of flights
US20220269300A1 (en) * 2021-02-25 2022-08-25 Fluidity Technologies Inc. Multi-axis gimbal and controller comprising same
DE102021115884A1 (de) 2021-06-18 2022-12-22 elobau GmbH & Co.KG Adaptives Bedienmodul
US11662835B1 (en) 2022-04-26 2023-05-30 Fluidity Technologies Inc. System and methods for controlling motion of a target object and providing discrete, directional tactile feedback
US11696633B1 (en) 2022-04-26 2023-07-11 Fluidity Technologies Inc. System and methods for controlling motion of a target object and providing discrete, directional tactile feedback

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US5680797A (en) * 1993-03-03 1997-10-28 Nbb Machrichtentechnik Gmbh & Co. Kg Manual control appliance with a control lever
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EP1146530A1 (fr) * 1999-09-14 2001-10-17 Hosiden Corporation Dispositif d'entree multidirectionnel
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Also Published As

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DE102019115329B4 (de) 2021-03-25
CN112049179A (zh) 2020-12-08
DE102019115329A1 (de) 2020-12-10
US11634886B2 (en) 2023-04-25
US20200385956A1 (en) 2020-12-10
CN112049179B (zh) 2022-05-24

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