EP4031475B1 - Commutateur de commande conçu pour commander un engin de levage ou une grue - Google Patents

Commutateur de commande conçu pour commander un engin de levage ou une grue Download PDF

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Publication number
EP4031475B1
EP4031475B1 EP20767789.9A EP20767789A EP4031475B1 EP 4031475 B1 EP4031475 B1 EP 4031475B1 EP 20767789 A EP20767789 A EP 20767789A EP 4031475 B1 EP4031475 B1 EP 4031475B1
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EP
European Patent Office
Prior art keywords
control lever
control switch
crane
control
pivoting
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.)
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Application number
EP20767789.9A
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German (de)
English (en)
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EP4031475A1 (fr
Inventor
Frederick WOIDNECK
Wolfgang Krebs
Giuliano Persico
Peter Kortmann
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.)
Konecranes Global Oy
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Konecranes Global Oy
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Publication of EP4031475A1 publication Critical patent/EP4031475A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • 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
    • 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
    • G05G9/04785—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 the controlling member being the operating part of a switch arrangement
    • G05G9/04788—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 the controlling member being the operating part of a switch arrangement comprising additional control elements
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H3/00—Mechanisms for operating contacts
    • H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H9/00—Details of switching devices, not covered by groups H01H1/00 - H01H7/00
    • H01H9/02—Bases, casings, or covers
    • 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
    • G05G2009/04774—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 with additional switches or sensors on the handle
    • 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 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.
  • 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/ arrangement/ institute/ Kunststoffscaria-und-wirlosekontrollen/drc-mj-mini-joystick.
  • 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.
  • 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 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 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.
  • 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.
  • 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.
  • control switch can also have one or more manually operable controls, for example pushbuttons or other non-pivoting controls.
  • control switches in which more than one device according to the invention is installed are also conceivable.
  • 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.
  • the shift gate 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the control signals are generated outside the housing of the device.
  • 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.
  • 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.
  • 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.
  • more than one device for manual operation preferably one-finger operation, can also be installed here.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the spring element is arranged between the optional guide element and the control lever in terms of force flow.
  • 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.
  • the spring element is a coil spring
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the control lever In the basic position of the control lever, it is then designed to be coaxial with the shift gate and its characteristic contour.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the opening is elongated with two mutually parallel and linear edges.
  • 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.
  • the opening is round, preferably circular.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the switching gate can have a flat surface pointing in the axial direction, which is set back from the segments of the characteristic contour.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 ).
  • 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.
  • 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.
  • 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 .
  • the components described include the joystick 1 the following elements relevant to the function of the joystick 1 as a device for manual operation.
  • a control lever 4 is pivotally mounted about a pivot point S.
  • the control lever 4 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.
  • 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.
  • 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.
  • 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.
  • the control lever 4 In the basic position of the control lever 4, it is arranged coaxially with the switching gate 6.
  • the guide element 5 moves along a characteristic contour 6c, 6c. 1 of the switching gate 6.
  • the characteristic contour 6c. 1 instead of the characteristic contour 6c. 1, other characteristic contours are also possible (see Figures 4a to 4d ).
  • 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 .
  • 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.
  • the housing 7 has four receptacles 7a for receiving the locking lugs 6a on a side facing the switching gate 6.
  • 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.
  • FIGS. 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.
  • 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.
  • 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.
  • 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.
  • the switching gate shown has an opening 6d.1 for 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.
  • 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.
  • 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.
  • 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.
  • 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 ).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.

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

Claims (11)

  1. Commutateur de commande (107) permettant de manipuler d'une main un treuil ou une grue (100), ledit commutateur de commande comprenant un dispositif (1) permettant de commander d'un doigt avec un élément de base qui est de préférence conçu comme un boîtier (7), et un levier de commande (4) qui peut pivoter par rapport à l'élément de base qui peut être pivoté par un mouvement de pivotement, déclenché par un actionnement avec un doigt, d'une position de base non pivotée à une position d'actionnement pivotée par rapport à la position de base, afin de provoquer ainsi un mouvement prédéfini du treuil ou de la grue (100), le commutateur de commande (107) étant conçu comme un commutateur de commande suspendu filaire ou comme un émetteur portatif sans fil, comprenant un élément de commande actionnable manuellement sous la forme d'un bouton-poussoir ou d'un autre élément de commande non pivotant destiné à commander d'autres fonctions du treuil ou de la grue (100), caractérisé en ce qu'une coulisse de commutation (6) influence le mouvement de pivotement du levier de commande (4) en raison de sa forme et la coulisse de commutation (6) est reliée de manière amovible à l'élément de base par une liaison par complémentarité de formes comportant au moins une ergot d'encliquetage (6a), le dispositif comporte un ensemble de détection destiné à détecter le mouvement de pivotement, de préférence un sens de pivotement et/ou un angle de pivotement, du levier de commande (4), l'ensemble de détection étant conçu pour détecter le mouvement de pivotement sans contact.
  2. Commutateur de commande (107) selon la revendication 1, caractérisé en ce que le levier de commande (4) est précontraint par rapport à l'élément de base, de préférence au moyen d'un élément à ressort (3), et est maintenu, dans un état non actionné, dans la position de base non pivotée par une force de précontrainte et peut pivoter, au moyen d'une force appliquée par commande manuelle, dans la position d'actionnement pivotée en s'opposant à la force de rappel.
  3. Commutateur de commande (107) selon la revendication précédente, caractérisé en ce qu'un élément de guidage (5) de préférence en forme de cadre ou d'anneau est fixé au levier de commande (4) de sorte que le levier de commande (4) puisse venir en appui sur la coulisse de commutation (6) au moyen de l'élément de guidage (5) et, pendant le mouvement de pivotement du levier de commande (4), l'élément de guidage (5) soit guidé le long d'un contour caractéristique (6c) de la coulisse de commutation (6) et en même temps être déplacé par rapport au levier de commande (4), notamment dans le sens de la force de précontrainte ou en s'opposant à celle-ci, et de préférence parallèlement à l'axe longitudinal du levier de commande (4) afin de définir une caractéristique de commutation du dispositif.
  4. Commutateur de commande (107) selon la revendication précédente, caractérisé en ce que l'élément à ressort (3) est disposé en fonction du flux de force entre l'élément de guidage (5) et le levier de commande (4).
  5. Commutateur de commande (107) selon l'une des revendications précédentes, caractérisé en ce que la coulisse de commutation (6) est conçue sous la forme d'un cadre ou d'un anneau, le levier de commande (4) s'étendant à travers une ouverture (6d, 6d.1, 6d.2) de la coulisse de commutation (6).
  6. Commutateur de commande (107) selon l'une des revendications 3 à 5, caractérisé en ce que le contour caractéristique (6c) de la coulisse de commutation (6) est conçu de manière à obtenir une caractéristique de commutation progressive ou étagée, notamment à un étage ou à plusieurs étages, du dispositif.
  7. Commutateur de commande (107) selon l'une des revendications précédentes, caractérisé en ce que la coulisse de commutation (6) est conçue de manière à ce que le mouvement de pivotement du levier de commande (4) soit limité à un mouvement de pivotement mono-axial ou multiaxial, dans le cas d'une coulisse de commutation (6) en forme de cadre la forme de l'ouverture (6d, 6d.1, 6d.2) de la coulisse de commutation (6) étant de préférence conçue de sorte que le mouvement de pivotement soit limité à un axe ou plus.
  8. Commutateur de commande (107) selon l'une des revendications précédentes, caractérisé en ce qu'au moins un réceptacle (7a) destiné à réaliser la liaison par complémentarité de formes est prévu sur l'un des côtés de l'élément de base dirigé vers de la coulisse de commutation (6).
  9. Commutateur de commande (107) selon l'une des revendications précédentes, caractérisé en ce que l'ensemble de détection est logé dans l'élément de base conçu comme un boîtier (7) du commutateur de commande (107) et peut être relié à une commande du treuil ou de la grue (100) de manière à transmettre le signal.
  10. Commutateur de commande (107) selon l'une des revendications précédentes, caractérisé en ce que l'ensemble de détection est conçu pour détecter le mouvement de pivotement sans contact selon un principe d'action magnétique.
  11. Commutateur de commande (107) selon la revendication 9 ou 10, caractérisé en ce que l'ensemble de détection comporte un aimant (8) et un capteur à effet Hall (9), de préférence un capteur à effet Hall 3D, qui coopère avec l'aimant (8), l'aimant (8) étant de préférence fixé au levier de commande (4) ou intégré au levier de commande (4) et le capteur à effet Hall (9) étant de préférence fixé au boîtier (7).
EP20767789.9A 2019-09-19 2020-09-04 Commutateur de commande conçu pour commander un engin de levage ou une grue Active EP4031475B1 (fr)

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DE102019125223.7A DE102019125223A1 (de) 2019-09-19 2019-09-19 Vorrichtung zur Handbetätigung einer Maschine, vorzugsweise eines Hebezeugs oder Krans
PCT/EP2020/074758 WO2021052780A1 (fr) 2019-09-19 2020-09-04 Commutateur de commande conçu pour commander un engin de levage ou une grue

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EP4031475B1 true EP4031475B1 (fr) 2023-11-08

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EP (1) EP4031475B1 (fr)
CN (1) CN114375282B (fr)
DE (1) DE102019125223A1 (fr)
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US11661318B2 (en) 2023-05-30
DE102019125223A1 (de) 2021-03-25
CN114375282A (zh) 2022-04-19
EP4031475A1 (fr) 2022-07-27
WO2021052780A1 (fr) 2021-03-25
US20220340397A1 (en) 2022-10-27
CN114375282B (zh) 2023-05-02
ES2970387T3 (es) 2024-05-28

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