EP4031475B1 - Control switch for operating a hoist or crane - Google Patents

Description

The invention relates to a control switch for one-handed operation of a hoist or crane according to the preamble of claim 1.

Such control switches are used to trigger crane movements such as crane and trolley travel or lifting and lowering by manual operation, in particular thumb operation, of the device. In this context, corresponding devices are also referred to as joysticks or, because of the possibility of one-finger operation by a finger of the hand holding the control switch placed on the control lever, also as mini joysticks. Control switches of this type are sold, for example, by the companies Konecranes Global Corporation and Demag Cranes & Components GmbH, see for example https://wvwv.demagcranes.de/produkte/elemente/steuerschaltung-und-wirlosekontrollen/drc-mj-mini-joystick.

The use of joysticks as control devices for operating machines is known from DE 11 2016 003 808 T5 , the US 2007/0262959 A1 , the EP 2 642 365 A1 , the EP 0 898 740 A1 , the DE 199 60 757 A1 , the US 2006/191775 A1 , the US 2016/077543 A1 as well as from the US 2011/148667 A1 .

The invention is based on the object of providing an improved generic control switch for operation, preferably one-handed operation, of a hoist or crane, which can be manufactured more economically in different variants for different applications and can be repaired particularly easily in the event of wear.

This task is solved by a control switch with the features of claim 1. Advantageous embodiments of the invention are specified in the dependent claims and the following description.

A generic control switch for one-handed operation of a hoist or crane, comprising a device for one-finger actuation with a base element and a control lever which can be pivoted relative to the base element and which is triggered by a pivoting movement of a non-pivoted basic position can be pivoted into an operating position pivoted relative to the basic position in order to thereby effect a predefined movement of the hoist or crane, the control switch being designed as a wired pendant control switch or as a wireless hand-held transmitter, comprising a manually operable control element in the form of a push button or another non-pivotable one Control element for controlling further functions of the hoist or crane, according to the invention, can be produced more economically in different variants for different applications and can be repaired particularly easily in the event of wear in that a switching gate influences the pivoting movement of the control lever due to its shape and the switching gate has a positive, at least one, locking lug having connection releasably connected to the base element and thereby in particular releasably attached to the base element, the device has a sensor system for detecting the pivoting movement, preferably a pivoting direction and / or a pivoting angle, of the control lever, the sensor system being designed to detect the pivoting movement in a contactless manner .

The manual operation of the device is preferably a one-finger operation. The pivoting movement of the control lever is caused by manual operation, preferably one-finger operation, preferably thumb operation, by an operator. The device can therefore, for example as part of a mini joystick, be installed in the control switch in such a way that an operator can use a finger placed on the control lever, preferably a thumb, in particular the hand holding the control switch, to control the control lever and thus the device with a single finger -Activation manually operated to cause movement of the hoist or crane.

The movements of the hoist or crane that can be brought about by actuating the device, in particular the control lever, are clearly assigned to the pivoting movement, in particular with regard to their pivoting direction and their pivoting angle. In the case of a stationary hoist, this can be, for example, a lifting or lowering movement and in the case of a crane, for example, in addition to the vertical lifting or lowering movement, also horizontal crane and trolley travel. In the usual way, it is provided that no movement of the hoist or crane is caused in the non-pivoted basic position of the control lever. The for a movement of The control signals required for the hoist or crane are only generated in an operating position of the control lever, output to a control of the hoist or crane and / or processed by the control, but not in the basic position of the control lever.

To control other functions of the hoist or crane, the control switch can also have one or more manually operable controls, for example pushbuttons or other non-pivoting controls. Of course, control switches in which more than one device according to the invention is installed are also conceivable. To operate a crane, for example, a device for the lifting and lowering movements and a further device for the horizontal crane movements of the crane girder (crane travel) and the crane trolley carrying the hoist (travel travel) can be provided.

With regard to the hoists or cranes to be operated, different types of hoists and cranes are conceivable.

Due to the detachable connection of the shift gate and its interchangeability, the shift gate is designed as a modular and separate replacement part. The shift gate is therefore not an integral part of the basic element, which can therefore have its own function that is independent of the shift gate. If the basic element is a housing, its housing function - for example for a sensor system for detecting a pivoting movement of the control lever, in particular a pivoting direction and / or a pivoting angle, in particular including the amount of the pivoting angle - remains independent of the function of the switching gate due to the detachable connection.

This makes it particularly easy to implement variants of the device with different switching gates for different applications of the device, for example those in the Figures 4a to 4d shown variants. All you have to do is vary the shape of the switching gate, but the basic element with its own function can remain the same, as can the control lever. This advantageously increases the usability of the same parts for the respective variants of the device and thus the control switch. Repairs when the shift gate is worn out are also made much easier because of this Due to the structural separation of functions, only the switching gate needs to be replaced.

In other words, the shift gate designed according to the invention as a detachable replacement part has the main or preferably even exclusive function of influencing the pivoting movement of the control lever in a manner predefined by appropriate shaping of the shift gate. The function of the switching gate is thereby separated from other components and their functions, in particular from the housing function of the housing.

The device can also have a sensor system for detecting the pivoting movement of the control lever, preferably including or in the form of a pivoting direction and/or a pivoting angle, in particular including the amount of the pivoting angle. With the swivel movement or corresponding actuation position detected by the sensor system, a conversion into control signals can then take place, which, when connected to the control of the hoist or crane in a signal-transmitting manner, have a predefined and for this purpose the respective actuation position or the associated swivel direction and/or the associated swivel angle, in particular with regard to direction and /or speed associated movement of the hoist or crane. The sensor system is preferably housed in the housing of the device and can be connected to the control of the hoist or crane in a signal-transmitting manner.

The sensor system is advantageously designed to detect the pivoting movement without contact, preferably according to a magnetic operating principle. Contactless sensor technology has the advantage that it is particularly low-wear or even wear-free.

It is advantageously provided that the sensor system has a magnet and a Hall sensor, preferably a 3D Hall sensor, which interacts with the magnet. The magnet is preferably attached to the control lever or integrated into the control lever and the Hall sensor is preferably attached to the housing.

An electrical circuit board for generating the control signals can also be included Housing arranged and signal-transmitting connected to the sensor system and the control of the hoist or crane arranged outside the device and possibly outside the control switch. However, it is also conceivable that the control signals are generated outside the housing of the device. For safety reasons, a dead man's circuit can also be provided so that an unintentional pivoting of the control lever alone does not trigger a movement of the hoist or crane unless this is enabled by the dead man's circuit. Also conceivable are constructive measures such as at least one rib-shaped protective web that surrounds the control lever at least in sections in order to prevent it from pivoting unintentionally. The protective web(s) can, for example, protrude from the housing.

The control switch can be designed as a wired pendant control switch or as a wireless hand-held transmitter, for example as a radio hand-held transmitter. Alternatively, the control switch can also be installed in an armrest of a crane driver's seat, in which case one-finger operation is also possible. Of course, more than one device for manual operation, preferably one-finger operation, can also be installed here.

In a structurally simple manner, it can be provided that the control lever is biased relative to the base element, preferably by means of a spring element, and is held in the non-pivoted basic position in an unactuated state by a biasing force and by means of a manual actuation, preferably one-finger actuation. applied force can be pivoted against the preload force into the pivoted actuation position. Preferably, the spring element is arranged between the shift gate and the control lever in terms of force flow.

The preload therefore serves to fulfill safety requirements, as it causes an automatic pivoting movement of the control lever back to the non-pivoted basic position as soon as the manual operation of the control lever has ended. The spring element acting directly or indirectly on the control lever can be supported on the base element, for example on the housing, or another element of the device rigidly connected thereto in order to achieve the preload.

The spring element can be a helical spring which, at least in the basic position, extends parallel, preferably coaxially, to the control lever and here inside or outside of the control lever.

In addition, in order to influence the shape of the pivoting movement of the control lever through the shift gate, it can be provided that a guide element, preferably frame-shaped or ring-shaped when the frame is closed, is attached to the control lever in such a way that the control lever is supported on the shift gate by means of the guide element and during the pivoting movement of the Control lever, the guide element is guided along a characteristic contour of the switching gate and at the same time, in particular depending on the pivoting direction and / or the pivoting angle of the control lever, is moved relative to the control lever, in particular against or in the direction of the preload force and here preferably parallel to the longitudinal axis of the control lever to define a switching characteristic of the device.

The switching gate can, in particular through its characteristic contour, define an actuation force as a shape-related influence for some or all of the possible pivoting movements of the control lever, which is to be applied by manual operation in order to bring the control lever into a possible pivoted actuation position. The respective actuation force, which is therefore also defined as a force-related restriction of the pivoting movement, is particularly dependent on the associated pivoting direction and/or the associated pivoting angle relative to the basic position.

The characteristic contour can therefore also be referred to as a guide surface for the control lever and/or the guide element. The characteristic contour or guide surface is located in particular as a profiled surface on the side of the shift gate facing the guide element and can have a surface course that initially rises in a ramp shape from the inside to the outside and then falls in the radial direction, that is, viewed radially outwards from the central axis of the shift gate . Such a change from a ramp-like rising and then falling surface course can be repeated radially outwards, which can result in more than one maximum of the surface course. Preferably, however, the surface gradient always falls towards the outside edge of the shift gate. Linear, degressive or convex or concave surface gradients or, in sections in the radial direction, any combination of these surface gradients are possible. An edge can also be formed between two sections or surface profiles of the characteristic contour that are adjacent in the radial direction and have different gradients. Multiple edges are also possible in the radial direction.

When the control lever is pivoted from the basic position, the guide element is guided radially outwards in all variants of the shift gate starting from the innermost section of the respective characteristic contour and is supported on the characteristic contour.

If the guide element is designed as a frame or, in the case of a closed frame, as a ring, the control lever preferably extends through an opening delimited by the frame or ring. The opening of the guide element and the longitudinal extent of the control lever are coaxial with one another at least in the basic position and preferably also in the actuation position. Here, the opening and/or the outer contour of the guide element can be round, preferably circular, and the opening can be formed by an annular and/or cylindrical and therefore sleeve-shaped section of the guide element.

The surface course of the characteristic contour of the switching gate can be designed in such a way that when the control lever pivots from the basic position with an increasing pivot angle, the movement of the guide element occurs alternately against and in the direction of the preload force, in particular parallel to the longitudinal axis of the control lever. Due to the shape of the switching gate, in particular the characteristic contour, this creates a resulting force acting on the control lever, which exceeds the preload force to a varying extent depending on the pivot angle. This is accompanied by correspondingly changing holding forces or actuation forces, which are used by an operator when setting the respective pivoting directions and pivoting angles to effect the associated movement of the hoist or crane, in particular its direction and/or speed to be applied. Preferably, the guide element must first be moved against the preload force, so that the required actuation force initially increases from the basic position and the associated preload force. Depending on the desired switching characteristics, different surface profiles of the characteristic contour are conceivable for different switching gates, which can rise in the radial direction from the inside to the outside, for example in a ramp shape with a preferably linear or degressive or convex surface profile.

For a stepless switching characteristic, the slope of the ramp-shaped surface profile is preferably lower than for a stepped switching characteristic, so that in the case of a stepped, for example single-stage, switching characteristic, the first or only maximum of the surface profile of the characteristic contour lies further inwards in the radial direction and is therefore achieved at a smaller pivot angle than with the continuously variable switching characteristic.

Optionally, a type of start catch can also be implemented in all variants of the switching gate, in particular in both the stepless and stepped variants described below. It is then provided that a predefined resistance in the sense of a minimum actuation force must first be overcome in order to initially pivot the control lever over a minimum pivot angle so far from the basic position that a control signal is generated or output, and for further pivoting of the control lever up to the first or only maximum, a smaller increase in the actuation force is required than for the initial pivoting beyond the minimum pivoting angle. If the minimum operating force or the minimum pivoting angle is not reached, the control lever is not pivoted or is pivoted sufficiently and therefore no control signal is generated or output. In order to implement such a starting catch, it can be provided that the surface course of the characteristic contour, which rises in a ramp-like manner outward in the radial direction, has an inner first section with a significantly greater gradient than the second section adjoining the radially outward direction. As a result, the further pivoting of the control lever and the resulting movement of the guide element in the second section requires a noticeably smaller increase in the required actuation force than the initial one during manual operation Pivoting the control lever and moving the guide element over the first section. An edge can be formed between the two sections, whereby the exceeding of the minimum operating force or the minimum pivoting angle becomes particularly noticeable.

Once the first maximum of the surface profile or the corresponding actuation force has been reached, this can decrease again with increasing swivel angle until, for example, a structurally determined end position with the maximum possible swivel angle is reached. Accordingly, the guide element then moves in the direction of the preload force. Alternatively, with a further increasing swivel angle after the first maximum, a swivel angle range with again increasing surface area and increasing actuation force up to a second maximum and corresponding movement of the guide element against the preload force can also follow, in particular in order to realize the multi-stage switching characteristic described in more detail below. More than two maxima of the surface profile and the corresponding actuation force are also conceivable over the entire swivel angle range. The drop in the surface profile following the respective maximum results, on the one hand, in a reduction in the actuation force required to hold the switching stage or end position and, on the other hand, in hysteresis when the control lever is returned to its basic position due to the preload after manual operation has ended.

In a structurally simple manner it can be provided that the spring element is arranged between the optional guide element and the control lever in terms of force flow. In other words, the preload force acting on the control lever by the spring element is applied indirectly with the force flow interposition of the guide element between the base element and the spring element, preferably between the switching gate and the spring element. The actuating force, defined as a shape-related influence and force-related limitation of the pivoting movement of the control lever, is also particularly dependent on the associated pivoting angle compared to the basic position. The pivot angle of the control lever influences where the guide element is supported on the shift gate or the characteristic contour, and thus the relative position of the guide element on the control lever, which in turn influences the force acting in the spring element and thus the actuating force to be applied.

A recess can also be provided on the guide element, in which the spring element can be supported on the guide element. If the spring element is a coil spring, it can be provided that the guide element is frame-shaped or ring-shaped and preferably has an annular section and an adjoining cylindrical section, via which the spring element can then be plugged together with the guide element. The optional recess can then also be frame-shaped or ring-shaped and arranged between the cylindrical section and the outer contour of the guide element. For example, the spring element can then be attached to the outside of the cylindrical section of the guide element. This applies regardless of the arrangement of the control lever relative to the coil spring. Optionally, an actuating element described in more detail below can also be arranged in terms of force flow between the spring element and the control lever, whereby the preload force from the spring element is applied to the control lever by means of the actuating element. The spring element is then arranged in terms of force flow between the switching gate and the optional actuating element, preferably between the optional guide element and the optional actuating element. The spring element can therefore be supported at one end via the optional actuating element on the control lever and at the other end via the optional guide element and the switching gate on the base element in order to achieve the preload in the basic position.

In a possible embodiment, it can be provided that the shift gate is frame-shaped or ring-shaped when the frame is closed and the control lever extends through an opening in the shift gate. The shift gate is then preferably formed by a ring element on which the characteristic contour is formed. In the basic position, the central axis of the switching gate is preferably coaxial with the longitudinal axis of the control lever. The opening and/or the outer contour of the shift gate can be round, preferably circular. Preferably, the control lever also extends through a housing opening into the housing in order to ensure reliable interaction with the switching means, in particular the above-mentioned sensors to ensure that the pivoting movements or the thus set actuation positions as well as the associated pivoting directions and pivoting angles can be detected and recorded within the housing.

The characteristic contour is arranged in sections or continuously in the circumferential direction around the opening of the shift gate and the control lever. A particularly preferred embodiment of the shift gate is such that the characteristic contour extends in the shape of a circular ring segment or circular ring around the opening of the shift gate. In the basic position of the control lever, it is then designed to be coaxial with the shift gate and its characteristic contour. By designing the characteristic contour in sections, in particular in the form of an annular segment, the preferred directions described in more detail below can be defined, for example, whereas in the case of a continuously circumferential characteristic contour, no preferred direction is defined, so that the same actuating force must be applied for all pivoting directions with the same pivoting angle in terms of magnitude .

Advantageously, it can be provided that the characteristic contour of the switching gate is designed in such a way that a stepless or stepped, in particular single-stage or multi-stage, switching characteristic of the device results. In the stepless variant, a continuously or constantly increasing or decreasing swivel angle curve causes a continuously or constantly increasing or decreasing speed curve of the movement of the hoist or crane in the respective direction of movement via correspondingly assigned control signals. If a start catch is implemented, this only applies once the minimum actuation force or the minimum swivel angle is exceeded.

In contrast, in the stepped variant, a maximum is defined for each switching stage in the surface course of the characteristic contour and thereby a swivel angle range, to which a non-zero speed of movement of the hoist or crane is assigned. To activate the respective switching stage, it is necessary to reach or exceed predefined pivot angles of the control lever or the respective maximums in order to achieve the respectively assigned Speed of movement of the hoist or crane and trigger corresponding control signals. Before activating the first stage, it is necessary to reach a minimum swivel angle, if necessary after overcoming the optional start catch, since in a swivel angle range below this no movement of the hoist or crane is caused or no corresponding control signal is triggered or processed. With a multi-stage switching characteristic, a correspondingly larger swivel angle must be achieved for the next higher speed, since if the swivel angle is between two swivel angle thresholds, the speed of the lower switching stage is otherwise maintained at a lower speed or at a speed of zero.

In the case of a pre-stressed control lever, its pivoting movements and associated pivoting angles, as described above, are accompanied by corresponding movements of the guide element and associated actuation forces, which must be applied during manual operation, in particular one-finger operation, in order to move the control lever into the possible pivoted actuation position(s). en) or to move switching stages. The above-described surface profiles of the characteristic contours and the associated pivoting direction-dependent and pivoting angle-dependent actuation forces, in particular the noticeable drop or smaller increase in the actuation force of a further pivoted control lever after reaching a maximum or an edge, serve the operator as clearly noticeable tactile feedback during manual operation. With the stepped version, you can feel that switching levels are reached when operated manually, with the stepless version, you can feel that you have reached the maximum speed, and with the optional start catch, you can feel that you have reached the second outer section of the ramp-shaped surface.

The shape-related influence caused by the switching gate or its characteristic contour and the associated force limitation of the possible pivoting movements also refers to the actuation forces that have to be applied for manual operation, in particular one-finger operation, and counteract the preload force of the control lever in order to move the control lever in particular to move from the unactuated basic position into the possible actuation position(s) or switching stages. Accordingly, for manual operation, in particular one-finger operation, of the control lever and the pivoting directions and angles thereof set, depending on the switching gate used and the associated characteristic contour, different, in particular stepless or stepped, movements of the guide element and the resulting curves of actuation forces are possible.

In order to influence the shape-related pivoting movement of the control lever through the shift gate, it can advantageously be provided that the shift gate is designed in such a way that the pivoting movement of the control lever is limited to a uniaxial or a multi-axis pivoting movement, in the case of a frame-shaped shift gate preferably the shape of the opening of the Shift gate is designed in such a way that the single-axis or multi-axis restriction of the pivoting movement results.

The switching gate can define a guide as a swivel range restriction as a shape-related influence on the possible swivel movements in the sense of a spatial restriction for the possible swivel movements of the control lever.

In the uniaxial variant, a pivoting range is defined by the switching gate, in particular its opening, which spatially limits the possible pivoting movements of the control lever to pivoting movements about exactly one axis. In the case of a frame-shaped or ring-shaped shift gate, the opening is elongated with two mutually parallel and linear edges. In the multi-axis variant, on the other hand, the switching gate, in particular its opening, defines a pivoting range, the pivoting movements about several imaginary or virtual axes, preferably at least two axes arranged at right angles to one another, or superpositions thereof as spherical pivoting movements in the sense of a free, three-dimensional pivoting, for example to cause a superimposed movement of the hoist or crane, in particular a diagonal movement of a crane trolley. In order to allow spherical pivoting movements, the opening is round, preferably circular. In principle, the control lever can be mounted freely and pivotably in three dimensions, for example by means of a ball joint. The panning range or the entirety of the pivoting movements possible therein, in particular pivot angles, is then influenced and limited accordingly by the shape of the switching gate, in particular its opening, and thus due to its shape.

According to the pivoting movements possible through the choice of the switching gate, in particular pivoting directions and/or pivoting angles, the movements that can be brought about by means of the device, in particular the associated pivoting directions, of the hoist or crane can be clearly assigned to these and can thus be defined as one-dimensional or multi-dimensional.

If spherical pivoting movements are permitted, in particular through a corresponding opening of the switching gate, pivoting movements around two imaginary or virtual main axes that are perpendicular to one another can be defined as preferred directions for the movement of the hoist or crane, for example for the travel of a crane trolley in Xs that are perpendicular to one another - and Y directions. By appropriately shaping the switching gate, in particular the characteristic contour, a different, preferably higher, necessary actuation force for a pivoting movement that deviates from the preferred directions can be defined than the actuating force required for a pivoting movement in one of the preferred directions with the same absolute pivot angle. Accordingly, a higher actuation force on the control lever may be required in order to effect a superimposed movement of the hoist or crane, such as the diagonal movement of a crane trolley mentioned as an example, than for effecting a movement of the hoist or crane in one of the preferred directions, for example a movement of the Crane trolley only in the X direction or only in the Y direction.

To define such preferred directions, it can be provided, for example, that the characteristic contour has a surface profile in sections in the circumferential direction, in particular in the shape of a circular ring segment. Between the individual sections or segments, the surface of the shift gate is then so far back from the characteristic contour in the sense of a recess that the guide element between the segments cannot be supported on the shift gate. In the area of the recesses The switching gate can have a flat surface pointing in the axial direction, which is set back from the segments of the characteristic contour. In other words, the characteristic contour is interrupted in sections in the circumferential direction. The preferred directions run, preferably centrally, through the recesses lying between the interrupted sections of the characteristic contour. The recesses can also be in the shape of a circular ring segment. Preferably, four identically designed sections of the characteristic contour are formed in the circumferential direction, which are interrupted or separated from one another by a total of four recesses.

The design of the switching gate with regard to the definition of the desired pivoting range of the control lever is independent of the characteristic contour, so that any combination is possible. In particular, the aforementioned preferred directions can thus be implemented equally with a stepless or stepped characteristic contour of the shift gate.

A particularly simple attachment of the switching gate to the base element can be achieved according to the invention in that the switching gate is releasably connected to the base element via a positive connection having at least one locking lug and is thereby particularly releasably attached to the base element. The respective locking lug is preferably part of the switching gate, in particular its ring element, and the receptacle(s) for the locking lug(s) associated with producing the positive connection is/are preferably part of the basic element, although a reverse arrangement of the locking lug ( n) and recording(s) is possible. If the basic element is a housing, the characteristic contour of the switching gate is preferably arranged on a side of the switching gate facing away from the housing.

Accordingly, the means, for example designed as a locking lug(s), for producing the positive and releasable connection when the shift gate is released and the characteristic contour provided for restricting the pivoting movements lie on opposite or opposite sides of the preferably frame-shaped shift gate. The positive connection can also be made using the locking lug(s). Snap connection can be formed.

A simple assembly of the device can be achieved by providing at least one receptacle for producing the positive connection on a side of the base element facing the switching gate. The positioning of the switching gate within the device and relative to its movable components, in particular the control lever, can be determined particularly easily by the position of the receptacle(s). This applies in particular in the case of a positive connection produced by means of locking lug(s), even if the locking lug(s) are arranged on the base element and the receptacle(s) on the switching gate and are preferably each part of it. Preferably, the at least one receptacle for producing the positive connection and the means for producing the positive and releasable connection are the same for all variants of the switching gate. The different variants of the switching gates therefore only differ in the respective characteristic contour and/or their openings for defining the desired pivoting range (single-axis or multi-axis) of the control lever.

The embodiments of the device described in the context of this document can also have an actuating element attached to the control lever, which defines the immediate contact surface of the operating hand or the operating finger of the operator. In order to increase the ergonomics in the sense of simple and intuitive operation for the operator for the respective application of the device, various actuating elements with different contact surface contours are conceivable, for example concave contours to accommodate a fingertip and/or protruding tactile lugs which indicate the respective directions of movement of the hoist or Crane, in particular the possible preferred directions.

To protect against environmental influences, the device can also have an elastic protective cover attached to the base element, which encloses the switching gate and at least partially the control lever, in particular, in the case of a base element designed as a housing, the part of the control lever protruding from the housing as well as the optional components of the guide element and spring element. The protective cover seals the passage of the control lever Opening provided in the housing and thus also protects the components of the device arranged within the housing from environmental influences.

• Figur 1 eine perspektivische Ansicht eines Joysticks,
• Figur 2 eine Schnittansicht des Joysticks aus Figur 1,
• Figur 3 eine perspektivische Ansicht einer Schaltkulisse zur Realisierung der zweistufigen Schaltcharakteristik und eines Gehäuses für den Joystick aus Figur 1,
• Figuren 4a bis 4d perspektivische Ansichten von sieben beispielhaften Varianten der Schaltkulisse für den Joystick aus Figur 1 und
• Figur 5 einen Kran in einer perspektivischen Ansicht mit einem Steuerschalter, der einen Joystick gemäß Figur 1 aufweist.

An exemplary embodiment of the invention is explained in more detail based on the following description. Show it:

• Figure 1 a perspective view of a joystick,
• Figure 2 a sectional view of the joystick Figure 1 ,
• Figure 3 a perspective view of a switching gate for realizing the two-stage switching characteristic and a housing for the joystick Figure 1 ,
• Figures 4a to 4d Perspective views of seven exemplary variants of the switching gate for the joystick Figure 1 and
• Figure 5 a crane in a perspective view with a control switch corresponding to a joystick Figure 1 having.

The Figure 1 shows a perspective view of a joystick 1. The joystick 1 can be used as a device for manual operation on a control switch 107 for operating a hoist or crane (see Figure 5 ). For this purpose, the joystick 1 is connected in terms of control technology to the corresponding hoist or crane or their control. The joystick 1 is manually operated by a one-finger operation to cause movement of the hoist or crane.

The joystick 1 has an optional actuating element 2 for manual operation. The actuating element 2 defines the immediate contact surface 2a of the actuating finger, preferably the thumb, of the operator. In order to increase the ergonomics in the sense of simple and intuitive operation for the operator for the respective application of the joystick 1, it optionally has concave contours for accommodating a fingertip and also optionally protruding tactile lugs, the directions of movement of the hoist or crane, in particular preferred directions such as the X and Y directions (see Figure 5 ), represent.

A housing 7 of the joystick 1 serving as a basic element is arranged opposite the actuating element 2. In particular, the elements of the joystick 1 described in more detail below are housed in the housing 7. Besides, it can Housing 7 and thus also the joystick 1 are attached to a component, for example to a control switch 107 (see Figure 5 ).

An elastic protective cover 11 is arranged between the actuating element 2 and the housing 7, through which the further components of the joystick 1 mentioned below are covered and thus protected from environmental influences. This applies to all variants of the device according to the invention.

The Figure 2 shows a sectional view of the joystick 1 Figure 1 . In addition to the in Figure 1 The components described include the joystick 1 the following elements relevant to the function of the joystick 1 as a device for manual operation.

On the base element, which is designed, for example, as a housing 7, a control lever 4 is pivotally mounted about a pivot point S. By means of a pivoting movement, the control lever 4 can be moved from one in Figure 2 shown non-pivoted basic position can be pivoted into an operating position (not shown) which is pivoted relative to the basic position. The control lever 4 extends through an opening 7b into the housing 7, inside which the pivot point S is located. The actuating element 2 is attached to the end of the control lever 4 located outside the base element or housing 7. At the end of the control lever 4 facing away from the actuating element 2 in relation to the pivot point S of the control lever 4, a magnet 8 is arranged and connected to the control lever 4 in order to be able to be pivoted together and in particular uniformly with it.

A Hall sensor 9 for detecting the pivoting movement, preferably the associated pivoting direction and/or the associated pivoting angle including its amount, of the control lever 4 is also arranged in the housing 7. The Hall sensor 9 interacts with the magnet 8 in that it is excited by it differently depending on the pivoting movement carried out. The magnet 8 and the Hall sensor 9 are part of a sensor system for detecting the pivoting movement. An electrical circuit board 10 for generating the control signals is also arranged in the housing 7 and transmits signals to the sensors, in particular to the Hall sensor 9, and to those arranged outside the joystick 1 Control of the hoist or crane connected.

The pivoting movement or actuating position of the control lever 4 detected by the Hall sensor 9 is then converted into control signals which cause a predefined movement of the hoist or crane that is assigned to the respective pivoting direction and/or the respective pivoting angle, in particular with regard to direction and/or speed. In the non-pivoted basic position of the control lever 4, no movement of the hoist or crane is caused. The control signals required for movement of the hoist or crane are therefore only generated, output and/or processed by the control in an actuating position of the control lever 4.

The control lever 4 is biased relative to the base element or housing 7 by means of a spring element 3, which is designed, for example, as a helical spring. The control lever 4 is held in the non-pivoted basic position in an unactuated state by a biasing force generated by the spring element 3 and acting on the control lever 4 and can only be pivoted into a pivoted operating position against the biasing force by means of a force, preferably applied manually. The preload applied in this way serves to fulfill safety requirements, since this ensures an automatic pivoting movement of the control lever 4 back into the non-pivoted basic position as soon as the manual operation of the control lever 4 has ended.

The spring element 3 is supported at one end via the actuating element 2 on the control lever 4 and at the other end via a guide element 5 and a switching gate 6 on the housing 7 in order to achieve the preload in the basic position. The spring element 3 is thereby arranged in terms of force flow between the annular guide element 5 and the control lever 4, in particular between the guide element 5 and the actuating element 2, and extends coaxially to the control lever 4 in the basic position. The guide element 5 has a cylindrical section 5a, onto which the spring element 3 is attached on the outside on a side facing the actuating element 2. A circumferential recess 5b is provided on the guide element 5 around the cylindrical section 5a, in which the spring element 3 is located Guide element 5 is supported. The control lever 4 extends through the guide element 5, the guide element 5 and the control lever 4 being arranged coaxially to one another at least in the basic position shown. The preload acting on the control lever 4 by the spring element 3 takes place indirectly with the force flow interposition of the guide element 5 and the actuating element 2 between the base element and the control lever 4, in particular between the switching gate 6 and the control lever 4.

By means of the guide element 5, the control lever 4 is supported on the switching gate 6, which influences the pivoting movement of the control lever 4 due to its shape and is releasably, preferably positively connected, connected to the base element or housing 7 and thus fastened to it. The switching gate 6 is annular and is therefore formed by a ring element 6b. The control lever 4 extends through an opening 6d in the shift gate 6, which is in the Figures 2 and 3 is designed, for example, as an opening 6d.1 for multi-axis pivoting movements, into the housing 7. The housing 7 also has an opening 7b for this purpose. The housing function of the housing 7 for part of the control lever 4, the sensor system for detecting the pivoting movement with the magnet 8 and the Hall sensor 9 as well as the electrical circuit board 10 is independent of the function of the switching gate 6 due to the detachable connection to the switching gate 6. This allows For different applications of the joystick 1, it is particularly easy to implement variants of the joystick 1 with different switching gates 6. Only the switching gate 6 needs to be varied for this.

In the basic position of the control lever 4, it is arranged coaxially with the switching gate 6. When the control lever 4 pivots, the guide element 5 moves along a characteristic contour 6c, 6c. 1 of the switching gate 6. Instead of the characteristic contour 6c. 1, other characteristic contours are also possible (see Figures 4a to 4d ). Here, the guide element 5 is moved depending on the respective pivot angle of the control lever 4 against or in the direction of the preload force relative to the control lever 4, in particular parallel to its longitudinal axis, in order to define a switching characteristic of the joystick 1. The switching gate 6 defines an actuating force that is to be applied as a shape-related and force-related influence or restriction on the possible pivoting movements of the control lever 4. to bring the control lever 4 into a possible pivoted operating position.

The Figure 3 shows a perspective view of a switching gate 6 for realizing the two-stage switching characteristic and the housing 7 serving as a basic element for the joystick 1 Figure 1 . For the releasable and form-fitting connection or fastening of the shift gate 6 to the housing 7, the shift gate 6 has at least one locking lug 6a, in the present case four locking lugs 6a. The locking lugs 6a are on the shift gate 6 on the characteristic contour 6c. 1 arranged side of the switching gate 6. To produce the detachable connection, the housing 7 has four receptacles 7a for receiving the locking lugs 6a on a side facing the switching gate 6. The positioning of the switching gate 6 within the joystick 1 and relative to its movable components, in particular the control lever 4, is determined by the position of the receptacles 7a. The releasable and in particular form-fitting connection produced by the locking lugs 6a and the receptacles 7a can also be referred to as a snap connection.

The opening 7b on the housing 7, which serves to pass through the control lever 4, is also clearly visible.

The Figures 4a to 4d show top views of a total of seven exemplary variants of the switching gate 6 for the joystick 1 Figure 1 . All variants are ring-shaped with an opening 6d. The differences between the individual variants of the switching gate 6 described below can in principle be combined with one another in order to obtain further variants that are not shown.

As a shape-related influence on the pivoting movement of the control lever 4, the switching gate 6, depending on the variant, only allows single-axis or multi-axis pivoting movements of the control lever 4 by defining a corresponding pivoting range depending on the shape. For this purpose, the opening 6d is either designed as an opening 6d.1 for multi-axis, in particular spherical, pivoting movements and is round, preferably circular, or as an opening 6d.2 for uniaxial pivoting movements, which is then elongated with two parallel and linear edges, around the swivel range or to limit the possible pivoting movements spatially to pivoting movements about exactly one axis. In the Figures 4a to 4c the left shift gate 6 is each designed with an opening 6d.1 for multi-axis, in particular spherical, pivoting movements and the right shift gate 6 is each designed with an opening 6d.2 for single-axis pivoting movements. In the Figure 4d The switching gate shown has an opening 6d.1 for multi-axis, in particular spherical, pivoting movements.

In the case of variants with multi-axis, in particular spherical, pivoting movements, preferred directions can be defined in the sense described above, in that the characteristic contour 6c, as described above, has a circumferential direction that runs in sections around the respective opening 6d, 6d.1 or 6d.2 thus an annular segment-shaped surface profile and corresponding recesses are formed between the segments of the characteristic contour 6c or 6c.1 to 6c.3. This is the case for all variants Figures 4a to 4c the case, whereas in Figure 4d shown variant of the switching gate 6 no preferred direction is specified. Accordingly, the characteristic contour 6c or 6c.2 is not formed there in sections, but completely, that is, continuously and uninterrupted, all around.

Characteristic contours 6c of the switching gate 6 are also provided as a shape-related influence on the pivoting movement of the control lever 4, which have the similarities and differences described below in the variants shown.

The characteristic contour 6c is located in all variants as a profiled surface of the switching gate 6 on the guide element 5 (in the Figures 4a to 4d not shown) and thus the locking lugs 6a (in the Figures 4a to 4d hidden) opposite side of the shift gate 6. In the radial direction, the characteristic contours 6c each have a surface course that initially rises in a ramp shape from the inside to the outside and falls towards the outer edge of the shift gate 6. In between, the surface course in the radial direction has in the case of the single-stage characteristic contour 6c.3 ( Figure 4c ) and the stepless characteristic contour 6c.2 ( Figures 4b and 4d ) exactly a maximum at which two-stage characteristic contour 6c. 1 ( Figure 4a ), on the other hand, two maxima. When the control lever 4 is pivoted starting from the basic position, the guide element 5 is guided radially outwards in all variants of the switching gate 6, starting from the innermost section 6f of the respective characteristic contour 6c.

An edge 6e can also be formed between two sections or surface profiles of the characteristic contour 6c that are adjacent in the radial direction and have different gradients relative to one another. If the inner of the adjacent sections has a positive slope and the outer of the adjacent sections has a negative slope, the edge 6e formed therebetween defines a maximum (see Figures 3 and 4a ). However, an edge 6e can also be designed to define a starting detent described above, in that the sections adjacent to the edge 6e both have a positive slope, but the slope of the inner section is greater than the slope of the outer section (see Figure 4c ).

In the Figure 4a shown variants of the switching gate 6, each with a two-stage characteristic contour 6c. 1 have an initially linearly increasing ramp-shaped surface course radially from the inside to the outside, each of which is followed by two maxima, forming an edge 6e, which are connected by a concave surface course. The outer maximum is followed by a surface that slopes linearly towards the outer edge.

The ones in the Figures 4b and 4d Variants of the switching gate 6 shown, each with a stepless characteristic contour 6c.2, have an initially linearly rising ramp-shaped surface course or section 6f radially from the inside to the outside, which is followed by a convex surface course that initially rises and falls from the maximum, forming the single maximum . The convex surface is followed by a surface that slopes linearly towards the outer edge.

In the Figure 4c The variants of the switching gate 6 shown, each with a single-stage characteristic contour 6c.3, have in common with the stepless variants that they also have a convex surface profile to form the single maximum. For the stepless characteristic contour 6c.2, the slope of the of The ramp-shaped surface gradient rising inwards outwards is smaller than in the single-stage characteristic contour 6c.3, so that in the stepless characteristic contour 6c.2 the maximum lies further out in the radial direction and is therefore achieved at a larger pivot angle than in the single-stage characteristic contour 6c. 3.

At the in Figure 4c In the variants shown, a starting catch described above is also implemented, for example, in that the surface course of the characteristic contour 6c.3, which rises in a ramp-like manner from the inside to the outside in the radial direction, has an internal first section 6f with a significantly greater gradient than the second section adjoining the radially outside. An edge 6e is formed between the inner first section 6f and the section adjoining it on the outside. In the basic position, the guide element 5 lies against the first inner section 6f.

The shift gates 6 shown with a single-stage characteristic contour 6c.3 result in a single-stage switching characteristic of the joystick 1, those with a two-stage characteristic contour 6c.1 a two-stage switching characteristic and those with a stepless characteristic contour 6c.2 a stepless switching characteristic.

With the stepped characteristic contours 6c.1 and 6c.3, the hand-operated reaching of switching stages is noticeable, with the stepless characteristic contour 6c.2, the hand-operated reaching of the maximum speed. Otherwise, the above statements apply to the individual switching characteristics.

The Figure 5 shows a crane 100 in a perspective view with a control switch 107, which has a joystick 1 according to Figure 1 having. It can be seen that the crane 100 is designed, for example, as an overhead crane in the form of a single-girder bridge crane, which has a crane girder 101 that is movably mounted along a crane track, not shown. The crane girder 101 can be moved transversely to its longitudinal axis in a substantially horizontal crane travel direction or X direction, driven by a motor, in particular by an electric motor. For this purpose, there is an example of an electric motor-driven chassis 104, 105 at the opposite ends 102, 103 of the crane girder 101 arranged, each of which is supported on a crane rail of the crane track (not shown here). Arranged on the crane girder 101 is a crane trolley 106 with a hoist designed, for example, as a cable pull, which, together with the hoist and its hoist h, which is also driven by a motor or electric motor, moves parallel to the longitudinal axis of the crane girder 101 in a trolley travel direction or Y direction by motor, in particular by an electric motor. can be driven along the crane girder 101.

The operation of the crane 100, that is in particular the control of movements and functions of the trolleys 104, 105, the crane trolley 106 and the hoist h as well as the respective drive, is carried out via the control switch 107, which is designed, for example, as a wired pendant control switch, and in particular by Manual operation of the joystick 1 according to the invention. The control switch 107 is connected to the control unit 108 in a signal-transmitting manner. It is of course also conceivable that the control switch 107 is designed as a radio handheld transmitter.

Reference symbol list

1

Device, here joystick

2

Actuator

2a

investment area

3

Spring element

4

Control lever

5

Leadership element

5a

Section

5b

recess

6

Shift gate

6a

detent nose

6b

Ring element

6c

characteristic contour

6c.1

two-stage characteristic contour

6c.2

stepless characteristic contour

6c.3

single-stage characteristic contour

6d

opening

6d.1

Opening for multi-axis swivel movements

6d.2

Opening for uniaxial swivel movements

6e

Edge

6f

Section

7

Housing

7a

Recording

7b

opening

8th

magnet

9

Hall sensor

10

electrical circuit board

11

Protective cover

100

crane

101

Crane girder

102

End

103

End

104

landing gear

105

landing gear

106

crane cat

107

Control switch

108

Control unit

H

Hoist

S

Pivot point

X

Crane travel direction

Y

trolley travel direction

Claims (11)

1. Control switch (107) for operating in single-hand operation a hoist or crane (100), comprising a device (1) for single-finger actuation with a base element, preferably designed as a housing (7), and a control lever (4) which can be pivoted relative to the base element and which can be pivoted by means of a pivot movement triggered by means of single-finger actuation from an unpivoted base position into an actuation position pivoted in relation to the base position, in order thereby to bring about a predefined movement of the hoist or crane (100), wherein the control switch (107) is designed as a wired pendant control switch or as a hand-held wireless transmitter, comprising a manually actuable control element in the form of a pushbutton or another non-pivotable control element for actuating further functions of the hoist or crane (100), characterized in that due to its shape, a shifting gate (6) influences the pivot movement of the control lever (4) and that the shifting gate (6) is detachably connected to the base element via a positive-locking connection having at least one detent lug (6a), the device having a sensor system for detecting the pivot movement, preferably a pivot direction and/or a pivot angle of the control lever (4), wherein the sensor system is designed to detect the pivot movement contactlessly.
2. Control switch (107) according to claim 1, characterized in that the control lever (4) is pretensioned in relation to the base element, preferably by means of a spring element (3), and in an unactuated state is held in the unpivoted base position by a pretensioning force and can be pivoted against the pretensioning force into the pivoted actuation position by means of a force applied by the manual actuation.
3. Control switch (107) according to the preceding claim, characterized in that a guide element (5), which is preferably frame-shaped or ring-shaped, is attached to the control lever (4) in such a way that the control lever (4) is supported on the shifting gate (6) by means of the guide element (5) and the guide element (5) is guided along a characteristic contour (6c) of the shifting gate (6) during the pivot movement of the control lever (4) and at the same time is moved relative to the control lever (4), in particular counter to or in the direction of the pretensioning force and here preferably in parallel to the longitudinal axis of the control lever (4), in order to define a shifting characteristic of the device.
4. Control switch (107) according to the preceding claim, characterized in that the spring element (3) is arranged in terms of force flow between the guide element (5) and the control lever (4).
5. Control switch (107) according to any one of the preceding claims, characterized in that the shifting gate (6) is frame-shaped or ring-shaped, wherein the control lever (4) extends through an opening (6d, 6d.1, 6d.2) of the shifting gate (6).
6. Control switch (107) according to any one of claims 3 to 5, characterized in that the characteristic contour (6c) of the shifting gate (6) is designed such that a continuous or stepped, in particular a single-step or multi-step, shifting characteristic of the device results.
7. Control switch (107) according to any one of the preceding claims, characterized in that the shifting gate (6) is designed such that the pivot movement of the control lever (4) is limited to a uniaxial or a multiaxial pivot movement, wherein in the case of a frame-shaped shifting gate (6), the shape of the opening (6d, 6d.1, 6d.2) of the shifting gate (6) is preferably designed in such a way that the uniaxial or multiaxial limitation of the pivot movement results.
8. Control switch (107) according to one of the preceding claims, characterized in that on a side of the base element facing the shifting gate (6), at least one receptacle (7a) for producing the positive-locking connection is provided.
9. Control switch (107) according to any one of the preceding claims, characterized in that the sensor system is accommodated in the base element designed as a housing (7) of the control switch (107) and can be connected in a signal-transmitting manner to a controller of the hoist or crane (100).
10. Control switch (107) according to any one of the preceding claims, characterized in that the sensor system is designed to detect the pivot movement in a contactless manner according to a magnetic operating principle.
11. Control switch (107) according to claim 9 or 10, characterized in that the sensor system has a magnet (8) and a Hall sensor (9), preferably a 3D Hall sensor, interacting with the magnet (8), wherein the magnet (8) is preferably fastened to the control lever (4) or integrated into the control lever (4) and the Hall sensor (9) is preferably fastened to the housing (7).

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