EP3992749A1 - Element de contrôle pour opérer des systèmes de valves hydrauliques - Google Patents

Element de contrôle pour opérer des systèmes de valves hydrauliques Download PDF

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Publication number
EP3992749A1
EP3992749A1 EP21201698.4A EP21201698A EP3992749A1 EP 3992749 A1 EP3992749 A1 EP 3992749A1 EP 21201698 A EP21201698 A EP 21201698A EP 3992749 A1 EP3992749 A1 EP 3992749A1
Authority
EP
European Patent Office
Prior art keywords
control
section
control apparatus
rod
movement
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
EP21201698.4A
Other languages
German (de)
English (en)
Inventor
Alessandro Beneventi
Alessandro CERVI
Matteo GIBELLINI
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.)
Walvoil SpA
Original Assignee
Walvoil SpA
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
Priority claimed from IT102020000023773A external-priority patent/IT202000023773A1/it
Priority claimed from IT102020000023860A external-priority patent/IT202000023860A1/it
Application filed by Walvoil SpA filed Critical Walvoil SpA
Publication of EP3992749A1 publication Critical patent/EP3992749A1/fr
Pending legal-status Critical Current

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Classifications

    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—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
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks

Definitions

  • the present invention relates to a control apparatus for actuating hydraulic valve systems, of the type comprising an oscillating control element controlling a plurality of control rods whose movement is detected by means of corresponding sensors.
  • joystick-shaped control systems are commonly used, i.e., where a handle tiltable in different directions is used for the corresponding directional actuation of a hydraulically actuated component.
  • An example of such use is an operating machine, in which the joystick control is used to move the relative arm.
  • JP 2000 276244 describes a joystick provided with a variable resistance damper.
  • the damper is obtained by means of a cylinder in which there is an electroviscous fluid in which a piston can slide. By applying an electric field to the electroviscous fluid, it is possible to vary the damping effect obtained by the damper.
  • a haptic interface may be required to provide tactile sensations in response to the movement of the joystick lever.
  • the technical problem underlying the present invention is that of providing a control apparatus which allows to improve the known solutions and can at least partially overcome one or more of the identifiable disadvantages in relation to the prior art.
  • a further object of the present invention is to provide a control apparatus which is more versatile and adaptable to specific needs.
  • a further object of the present invention is to provide a control apparatus in which the haptic perception function is present while adopting a structure which is on the whole analogous or at least similar to that of the apparatuses not having such a function.
  • a control unit for actuating hydraulic valve systems comprising:
  • the winding is configured so that, following the passage of a current therethrough, the two ferromagnetic elements are subjected to a magnetic field of such intensity as to generate a resisting force capable of producing the required feedback during the movement of the oscillating control element. This allows the user to receive the feedback signal while operating the control apparatus.
  • the force generated will be such that the user will feel a resistance to the movement of the control rod.
  • the haptic device is advantageously configured to generate a resisting force which opposes the movement of the control rod towards an insertion direction, by virtue of the force of attraction generated between the two elements.
  • the present invention allows to keep the magnetic elements in a remote position with respect to the sensor elements, thus preventing them from being disturbed by the presence of the electromagnet, ensuring maximum efficiency for both the sensor section and the auxiliary section.
  • the auxiliary section comprises a first and second connection interface through which it can be connected to the actuation section and the sensor section, respectively.
  • the actuation section comprises a third connection interface through which it can be alternatively connected to the auxiliary section or to the sensor section so that the sensor section can be directly connected to the actuation section, detecting the longitudinal movement of the rods even if the auxiliary section is not present.
  • the actuation section, auxiliary section and sensor section comprise a respective casing.
  • the three sections are formed as separate bodies, so that the haptic section can be physically removed from the control apparatus, or simply not inserted during the assembly of the control apparatus, when there is no interest in using the auxiliary section.
  • the first connection interface, the second connection interface and the third connection interface are configured so that a mechanical coupling is made between the actuation section, the auxiliary section and the sensor section.
  • the second connection interface i.e., the one by which the auxiliary section connects to the actuation section
  • the third connection interface i.e., the one by which the actuation section can alternatively be connected to the auxiliary section or to the sensor section.
  • the auxiliary section comprises auxiliary rods integral or integratable with the control rods, the auxiliary rods comprising ends suitable for being detected by the sensor section.
  • the auxiliary section comprises recesses in which the control rods can be received and the haptic device is placed at the recesses.
  • the auxiliary section allows the auxiliary section to be made in a compact manner, making even greater use of the longitudinal extension of the control rods to appropriately position the haptic device.
  • control rods and/or auxiliary rods comprise a coupling element configured to engage the control rod to a corresponding auxiliary rod, making them integral in the longitudinal direction.
  • a coupling element is located at opposite ends of the control rod and auxiliary rod, so that they can directly engage with each other as a result of the union between the actuation section and the auxiliary section.
  • control rods protrude from said actuation section and are shaped so that they can be inserted into respective holes defined in the sensor section, within which the sensors act to detect the movement in the longitudinal direction of the control rods.
  • the coupling element comprises a groove and a corresponding ring, made on one and the other of the control and auxiliary rods, respectively.
  • there is a cavity at one end which is suitable to retain the end of the other.
  • the auxiliary rods protrude from said auxiliary section and are shaped so as to be insertable inside the holes defined in said sensor section within which the control rods may also be inserted.
  • the connecting interfaces comprise a shaped portion.
  • the casings can be configured so as to define the shaped portion.
  • 100 is used as a whole to denote a control apparatus according to the present invention.
  • control apparatus finds preferred application in the construction of joysticks of the heavy duty type, therefore of the type typically intended for actuations in operating machines.
  • control apparatus 100 essentially consists of several sections which, in a preferred embodiment, can be assembled and stacked together in a package.
  • the apparatus 100 comprises an actuation section 1 comprising an oscillating control element 10 around a hinging point O.
  • control element 10 is supported by means of a universal type joint, i.e., a joint formed by two perpendicular hinge axes which therefore allows the oscillation movement around a point described above.
  • a universal type joint i.e., a joint formed by two perpendicular hinge axes which therefore allows the oscillation movement around a point described above.
  • a lever 5 shaped so that it can be grasped by a user, is connected to the control element 10, for example made in the form of a rigid shell, the features of which will be further explained below. Thereby, the lever 5 can be easily moved in order to oscillate the control element 10 into the required position.
  • the actuation section 1 further comprises a plurality of control rods 11 arranged around the hinging point O.
  • the rods 11 are provided with a pusher 12 capable of interacting with the control element 10 so as to make them translate in the longitudinal direction X.
  • control element 10 comprises coupling elements 10A which allow the rods 11 to be constrained to the control element 10, causing them to translate in the longitudinal direction X as a result of the oscillation of the control element 10 itself.
  • control element 10 The connection between the control element 10 and the pushers 12 is illustrated in an exemplary version in figures 2 and 2A .
  • the pushers 12 comprise heads 12B which form an enlargement with respect to the rod portion 12C on which they are mounted.
  • the heads 12B are housed in respective housings, forming the coupling element 10A, through which the portion 12C can pass but not the head 12B as a whole. Thereby, a coupling can be made between the head 12B and a respective abutment surface 10B formed on the control element 10.
  • control element 10 can further comprise a locking body 10C.
  • the locking body 10C can couple with a base portion of the control element 10, for example by snap fitting means, so as to pack the heads 12B between the abutment surface 10B and the locking body 10C.
  • the pushers 12, and consequently the rods 11, can follow the movement of the control element 10 in both directions along the longitudinal direction X in two opposite directions, i.e., both in extraction and in insertion with respect to the actuation section 1.
  • a bidirectional constraint between the rods 11 and the control element 10 can be envisaged in order to obtain a redundancy in the signal generated following the movement of the rods 11, as will be better illustrated below.
  • the actuation section 1 can comprise a main elastic element which stresses the rod 11.
  • the iteration between the pusher 12 of the rods 11 and the control element 10 can occur by simple contact, following contact with an abutment surface of the control element 10.
  • the coupling element 10A can be omitted, by virtue of the presence of the main spring element.
  • the spring element keeps the pusher in contact with the control element even when the rod 11 is being extracted.
  • the redundancy can be obtained, in various embodiments, by envisaging the pushers 12 coupled to the control element 10 so that a movement in a first direction of a rod 11 results in a corresponding movement of the diametrically opposite rod with respect to the hinging point O in the opposite direction along the longitudinal direction X.
  • control rods 11 comprise a respective end section 11A protruding from the actuation section 1.
  • the end 11A or more generally the rod, is shaped so as to be insertable inside a respective hole 31 defined in a sensor section 3.
  • Sensor elements 30 are present inside the sensor section 3 which are capable of detecting movement in the longitudinal direction of the control rods 11.
  • sensors 30 can be of the hall effect type, but it is understood that other types of sensors, whether mechanical or electromechanical, can also be envisaged.
  • the movement detected by the sensor elements 30 is then transmitted to the hydraulic system, in a manner known per se, to appropriately control the desired valve actuations.
  • the apparatus according to the present invention can further optionally comprise an auxiliary section 2 capable of providing feedback to the user of the control apparatus 100 as a function of the movement the oscillating control element.
  • the auxiliary section 2 comprises a special haptic device 20 which will be explained in more detail below.
  • the auxiliary device is optional in the sense that it may or may not be included in the apparatus of the present invention based on specific needs.
  • the auxiliary section 2 is advantageously configured as an autonomous section which can be inserted between the actuation section 1 and the sensor section 3 according to specific requirements.
  • sections 2 and 3 are configured so that they do not impede the relative movement of the diametrically opposite rods 11.
  • the auxiliary section 2 preferably comprises a first connection interface 41 and a second connection interface 42 through which it can be connected to the actuation section 1 and the sensor section 3, respectively.
  • the actuation section 1 preferably comprises a third connection interface 43 through which it can alternatively be connected to the auxiliary section 2 or the sensor section 3.
  • the sensor section can in turn comprise a connection interface 44 which can alternatively be connected to the second or third interface, i.e. the actuation section or the auxiliary section.
  • the sensor section 3 can be directly connected to the actuation section 1, detecting the longitudinal movement of the control rods 11 even if the auxiliary section 2 is not present.
  • the second connection interface 42 is identical to the third connection interface 43.
  • the actuation 1, auxiliary 2 and sensor 3 sections comprise a respective casing 1A, 2A, 3A, as shown in figure 3B .
  • connection interfaces 41, 42, 43 can comprise a shaped portion of the casing.
  • the shaped portion can be defined by a shaped edge 2B of the section casing, which can be engaged in a counter-shaped groove 3B, as for example can be seen in figure 3B , at the connection interface between auxiliary section 2 and sensor section 3.
  • a shaped edge 2B of the section casing which can be engaged in a counter-shaped groove 3B, as for example can be seen in figure 3B , at the connection interface between auxiliary section 2 and sensor section 3.
  • different embodiments of the shaped portion can also be envisaged, which can be formed by holes or seats in which to engage screws or pins or simply by a specific arrangement of the casing in order to allow assembly between the different sections, also through the use of further connection elements.
  • the auxiliary section 2 can comprise auxiliary rods 21 which can be connected to the control rods 11 so as to make them integral along said longitudinal direction X.
  • the auxiliary rods 21 also comprise ends 21A, preferably also provided with a further magnetic element, suitable to be detected by the sensor elements 30, by insertion thereof into the same holes used for the control rods 11.
  • ends 21A preferably also provided with a further magnetic element, suitable to be detected by the sensor elements 30, by insertion thereof into the same holes used for the control rods 11.
  • the ends 21A will be inserted into the holes 31 for the detection of the position thereof while, if this is not used, the ends 11A of the control rods 11 will be inserted into the holes 31.
  • the auxiliary section 2 comprises recesses 22 in which the control rods 11 can be received.
  • the haptic device 20 is preferably located at the recesses 22 is configured to generate a resisting force opposing the movement of the control rod 11 and/or the auxiliary rods 21 towards an insertion extraction direction.
  • the haptic device 20 comprises at least one pair of ferromagnetic material elements 23A and 23B associated with a respective control rod 11.
  • the two elements 23A, 23B preferably made from two blocks of ferromagnetic material, can be combined with an electrical winding 25 so that following the passage of a current I in the winding the two elements 23A and 23B are subject to the magnetic field generated thereby.
  • the two blocks are shaped so that they can be moved away from each other following the movement of the control element 10 and are separated by a non-magnetic washer 26.
  • the elements 23A and 23B can be shaped so that they can penetrate each other.
  • one element 23A is integral with the casing 2A of the auxiliary section 2 and the other element 23B engages on the rod 11 in the insertion direction thereof while it is disengaged in the extraction direction as visible in Fig.3B .
  • the rod 11 is slidingly constrained to said second ferromagnetic element 23B.
  • an elastic element 13 coaxial to the rod 11 which connects the rod to the second ferromagnetic element 23B.
  • a first end of the elastic element 13 can abut against an abutment element 14 made in said rod 11, while a second end abuts against an abutment surface of the second ferromagnetic element 23B.
  • the elastic element 13 is configured to be compressed as a result of an extraction movement of the rod 11.
  • the abutment element 14 is rigidly connected to the rod 11 and configured so that it can engage from one side thereof on a plate 24 rigidly connected to the element 23B in order to drag it in translation together with the rod 11 in the insertion direction thereof. Conversely, when moving the rod 11 in the opposite direction, the abutment element 14 is not abutted by the plate 24, instead dragging the second ferromagnetic element 23B by means of the spring element 13 as illustrated above.
  • the locking element 11A of the rod 11 engages on the opposite side on an elastic element 24A of moderate stiffness.
  • Such an elastic element 24A compresses when the rod 11 is in translation in the extraction direction thereof, thus releasing the motion thereof from the element 23B, which thus remains in the rest position.
  • the intensity of the force generated is proportional to the intensity of the current I flowing in the winding 25 but is also a function of the distance between the ferromagnetic elements 23A and 23B.
  • the invention thus solves the proposed problem, while at the same time achieving a number of advantages, including the possibility of obtaining a modular control apparatus capable of operating with the same mechanical and electronic components both when it is necessary to include a haptic function and when this is not required.
  • the overall structure of the apparatus can also be easily adapted to different configurations as the connection interfaces make the sections easily interchangeable.
  • the configuration of the device makes it possible to keep the magnetic elements in a remote position from the sensor elements, thus preventing the latter from being disturbed by the presence thereof.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • User Interface Of Digital Computer (AREA)
EP21201698.4A 2020-10-08 2021-10-08 Element de contrôle pour opérer des systèmes de valves hydrauliques Pending EP3992749A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102020000023773A IT202000023773A1 (it) 2020-10-08 2020-10-08 Apparecchiatura di comando per l’azionamento di sistemi idraulici valvolari
IT102020000023860A IT202000023860A1 (it) 2020-10-09 2020-10-09 Apparecchiatura di comando per l’azionamento di sistemi idraulici valvolari

Publications (1)

Publication Number Publication Date
EP3992749A1 true EP3992749A1 (fr) 2022-05-04

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP21201698.4A Pending EP3992749A1 (fr) 2020-10-08 2021-10-08 Element de contrôle pour opérer des systèmes de valves hydrauliques

Country Status (1)

Country Link
EP (1) EP3992749A1 (fr)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5576704A (en) 1994-12-01 1996-11-19 Caterpillar Inc. Capacitive joystick apparatus
US6002184A (en) 1997-09-17 1999-12-14 Coactive Drive Corporation Actuator with opposing repulsive magnetic forces
JP2000276244A (ja) 1999-03-24 2000-10-06 Hitachi Constr Mach Co Ltd 操作レバー装置
US20060169498A1 (en) 2003-07-11 2006-08-03 Bosch Rexroth D.S.I. Remote controller for heavy construction machines with follower pushrod
WO2008130870A1 (fr) 2007-04-19 2008-10-30 Husco International, Inc. Levier de commande hydraulique hybride pour soupapes fonctionnant électriquement
US20130276925A1 (en) 2011-01-07 2013-10-24 Bosch Rexroth D.S.I. Pressure regulating device with detection of the neutral position
WO2015005695A1 (fr) 2013-07-10 2015-01-15 An Sang Jeong Dispositif photovoltaïque
WO2015056595A1 (fr) * 2013-10-18 2015-04-23 株式会社小松製作所 Dispositif de détection de course, procédé de détection de course, système de détection de course, unité de levier d'actionnement et système de détection de course pour levier d'actionnement
EP3096197A2 (fr) 2015-05-11 2016-11-23 Grammer Ag Systeme de commande pour vehicules
WO2018159330A1 (fr) 2017-02-28 2018-09-07 株式会社小松製作所 Levier d'actionnement

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5576704A (en) 1994-12-01 1996-11-19 Caterpillar Inc. Capacitive joystick apparatus
US6002184A (en) 1997-09-17 1999-12-14 Coactive Drive Corporation Actuator with opposing repulsive magnetic forces
JP2000276244A (ja) 1999-03-24 2000-10-06 Hitachi Constr Mach Co Ltd 操作レバー装置
US20060169498A1 (en) 2003-07-11 2006-08-03 Bosch Rexroth D.S.I. Remote controller for heavy construction machines with follower pushrod
WO2008130870A1 (fr) 2007-04-19 2008-10-30 Husco International, Inc. Levier de commande hydraulique hybride pour soupapes fonctionnant électriquement
US20130276925A1 (en) 2011-01-07 2013-10-24 Bosch Rexroth D.S.I. Pressure regulating device with detection of the neutral position
WO2015005695A1 (fr) 2013-07-10 2015-01-15 An Sang Jeong Dispositif photovoltaïque
WO2015056595A1 (fr) * 2013-10-18 2015-04-23 株式会社小松製作所 Dispositif de détection de course, procédé de détection de course, système de détection de course, unité de levier d'actionnement et système de détection de course pour levier d'actionnement
EP3096197A2 (fr) 2015-05-11 2016-11-23 Grammer Ag Systeme de commande pour vehicules
WO2018159330A1 (fr) 2017-02-28 2018-09-07 株式会社小松製作所 Levier d'actionnement

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