WO2019175107A1 - Dispositif de commande - Google Patents

Dispositif de commande Download PDF

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Publication number
WO2019175107A1
WO2019175107A1 PCT/EP2019/056026 EP2019056026W WO2019175107A1 WO 2019175107 A1 WO2019175107 A1 WO 2019175107A1 EP 2019056026 W EP2019056026 W EP 2019056026W WO 2019175107 A1 WO2019175107 A1 WO 2019175107A1
Authority
WO
WIPO (PCT)
Prior art keywords
bottom plate
force
operating device
movement
sensor
Prior art date
Application number
PCT/EP2019/056026
Other languages
German (de)
English (en)
Inventor
Boris Zils
Original Assignee
Moba Mobile Automation Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Moba Mobile Automation Ag filed Critical Moba Mobile Automation Ag
Publication of WO2019175107A1 publication Critical patent/WO2019175107A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B66F11/046—Working platforms suspended from booms of the telescoping type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms

Definitions

  • Embodiments of the present invention relate to an operating device for a construction machine and to a corresponding method and to a construction machine such.
  • B a working platform with a corresponding operating device.
  • embodiments of the present invention relate to the field of joysticks (manual control transmitters) in control units for controlling aerial work platforms.
  • joysticks or hand control generally serve to a construction machine, such.
  • these hand control transmitters are located on the platform so that the operator can control the aerial work platform on which he is standing.
  • a danger is that the operator is trapped in the control or in the movement of the Huburss- by the same and thus may no longer operate the controller properly.
  • the problem is addressed here.
  • EP 2 794 460 A1 describes a hydraulic work platform with a control station, wherein the work platform has a control console with two semis, which each have at least one lever or a knob for manual control of the work platform. The semi-desks are arranged side of an operator, so that no control lever or knob is in front of the operator.
  • a manual control transmitter with a separate operation and evaluation which consists essentially of a mechanical part and an electrical part. Between the mechanical part and the electrical part is provided as a separating layer and as a fixing layer for the mechanical parts, a magnetically permeable plate, such as a printed circuit board.
  • the electrical or electronic part of the manual control transmitter is formed by one or more sensors arranged on the underside of the plate, for example magnetic field sensors.
  • the mechanical part is formed by a lever mechanism which is detachably arranged on the upper side of the carrier plate and has a magnet arranged thereon, which can be exchanged as a unit in case of repair.
  • EP 3 086 094 A1 discloses a manual control transmitter for a control and operating unit of an aerial work platform, working machine or construction machine.
  • the manual control transmitter comprises at least one actuating unit, which comprises an actuating element which has at least one magnetic position element, and an evaluation unit, which comprises at least one magnetic field sensor unit.
  • the evaluation unit is designed to detect a position and / or movement of the actuating element in a plane of motion based on a sensor signal from the magnetic field sensor unit.
  • the actuating element is movable relative to the sensor unit along a further movement direction perpendicular to the movement plane, and the evaluation unit is designed to detect a movement of the actuating element along the further direction of travel based on a sensor signal from the magnetic field sensor unit.
  • DE 10 2014 105 177 A1 describes an operating element with an elastically deformable actuating part and a force sensor matrix.
  • An operating element has an actuating part that is elastically deformable at least in certain areas when actuated under force to return to an unactuated position, and a matrix of force sensors for measuring a force application matrix that is assigned to the action of force on the actuating part; and an evaluation unit for comparing the measured force application matrix with a predetermined force application matrix in order to assign an electrical switching function to the operating element at a minimum match of the measured force action matrix with the predetermined force action matrix.
  • the object of the present invention is to provide a concept for an operating unit, which offers an improved compromise of operability, safety and safe installation.
  • Embodiments of the present invention provide an operating device for a construction machine having a base plate, a manual control transmitter, a motion sensor (e.g., a Hall sensor), and at least one force sensor.
  • the hand control transmitter or else called a joystick is arranged at an angle to the bottom plate and at least one-dimensional or two-dimensionally movable relative to the bottom plate.
  • the position and / or movement of the joystick / manual control transmitter can be determined with the motion sensor, which outputs a so-called motion signal as a function of the determined position and / or the specific movement.
  • the at least one force sensor is designed to determine a force acting on the manual control element or a force transmitted from the manual control transmitter to the base plate and to output a force signal as a function of the determined force.
  • Embodiments of the present invention are based on the finding that in the collision scenarios described above (corresponding to which the operator can be trapped or squeezed between the basket or, in particular, the joystick and a part of the building during extension of the telescopic arm of the aerial work platform), the joystick frequently occurs jamming or timely zeroing to stop movement of the machine's telescopic arm.
  • the body of the operator is often clamped in the area of the control element, so that the body of the operator presses against the joystick, whereby the movement of the telescopic arm of the machine would be continued and the operator would be further squeezed and trapped.
  • the operating device (manual control transmitter / joystick) is provided with an additional protective function by which overloading of the joystick itself can be detected.
  • the overload is relevant if the manual control transmitter is actuated beyond the maximum range of motion since such overloads frequently occur in the case of collision scenarios explained above.
  • the manual control transmitter is at least one force sensor, for. B. expanded in the form of a strain gauge (DMS).
  • DMS strain gauge
  • This additional protective function or the additional protective element which is integrated in the joystick module of the operating unit or arranged therein, can not be damaged from the outside or the like, for example, environmental influences such as moisture or dust.
  • the mounting location of the operating unit is not limited.
  • At least one strain gage may additionally be applied as force sensors in the area of motion sensors (Hall sensors), which are e.g. Measure or detect a deformation of the printed circuit board when force is applied to the joystick.
  • An optional evaluation unit evaluates the signals from the Hall sensors and the strain gauge sensors and can use the signals of the strain gauge sensors to detect an overload on the joystick and thus any danger to the operator.
  • the force sensors / strain gauges considered here are inexpensive elements and can, for. B. by simply sticking on a joystick component such.
  • As a circuit board, integrated or arranged thereon and so are connected to the evaluation unit.
  • the operating unit comprises an evaluation unit which, in particular, receives the force signal of the at least one force sensor in order to detect an overload.
  • This externality feature can be integrated into the evaluation electronics of the joystick that are already present.
  • the evaluation electronics are designed, for example, to stop a movement of the construction machine or a movement speed of components of the construction machine, such as, for example, an extension of the telescopic arm, at the specific overload.
  • a countermovement in an overload of the joystick, that is, when it is operated beyond the maximum range of motion, for example, a movement of the telescopic arm of the machine stopped and triggered according to other embodiments, a countermovement, through which the operator can later free himself from the trapped situation .
  • a countermovement is a movement in a preferred manner opposite direction of movement, in general case but different directions of movement relative to the current movement.
  • a movement speed of the construction machine or a speed of movement of components of the construction machine, such as extension of the telescope arm can be reduced at a low overload.
  • various functions can be realized. For example, a speed of movement of the telescopic arm of the machine can be halved from a first threshold and then set to zero when a second threshold is exceeded, d. H. stopping the machine or the telescopic arm, in order then also to trigger a counter-movement in a further step.
  • These thresholds are adjustable according to embodiments.
  • an alarm signal is output at a certain overload.
  • a warning for example, on the operator's display
  • a countermovement as mentioned above can be initiated, because then it can be assumed that the machine operator can no longer operate the joystick (for example, because the operator is trapped).
  • the "threshold" for a warning signal in case of overload is also adjustable, for example by input element of the operating unit. It would also be conceivable here that the temporal component, that is to say a specific period of non-reaction to the alarm signal, is taken into account in the evaluation.
  • an alarm signal may also be output when the joystick is in a partially disabled state, for example, and yet is attempting to move in either direction.
  • This force can be detected by the evaluation electronics with the aid of the at least one force sensor, so that the operator then receives an appropriate message to unlock / unlock the joystick on the display or can generally be output.
  • the evaluation is designed to store the force signal or the force signals (for multiple force sensors) and / or to store a maximum value for the force signal or the force signals.
  • This has the meaning that a so-called "overload control" is achieved.
  • the joystick is designed for a maximum force of 300 N (30 kg). Higher forces can permanently damage the joystick or the joystick mechanism.
  • the evaluation unit in the joystick module constantly measures the loads applied to the joystick and stores the highest values. The manufacturer of the machine can interrogate these values in the event of service or repair and replace the joystick mechanism if necessary preventively.
  • the mechanics and electronics of the joystick are separated, so that a separate exchange is possible.
  • the external electronics are integrated, for example, on a printed circuit board or arranged on a printed circuit board.
  • the evaluation can be designed to calibrate the force / strain gauge sensors in the neutral position of the joystick by the Hall sensor, since the strain gage sensors usually have a temperature and age-related drift and it can be assumed that In the zero position of the joystick, no force should act on the force sensors.
  • These force / strain gauge sensors can be monitored by the evaluation unit such that a defect in the protective function or the protective elements is displayed. In this case, a corresponding warning signal can then be output to the machine operator.
  • a type of emergency operation can be implemented by the additional force sensors, even if the motion sensor (eg hall sensor) is defective, since by means of the force sensors (strain gauge sensors) also an operator diensignal can be evaluated.
  • the transmitter could then interpret the force signal of the force sensor as a motion signal.
  • the joystick can continue to be operated until the replacement of the defective module during the next maintenance or repair.
  • the evaluation electronics can be configured to move a position of the joystick / manual control transmitter with the motion sensor and to determine a movement of the joystick / hand control with the force sensor, although the motion sensor has no defect.
  • the motion signal output by the force sensor could be continuously compared with the motion signal of the motion sensor by the evaluation electronics and thus checked for plausibility.
  • the evaluation electronics and the sensors are preferably implemented on a printed circuit board.
  • the strain gauge sensor elements are glued to the circuit board.
  • a printed circuit board layout may also be provided in which the strain gauge sensors are integrated directly into the printed circuit board.
  • a deformation of the bottom plate or the printed circuit board or the component is determined, for example, and a force signal is output on the basis of the determined deformation.
  • the motion sensor is arranged in the solder root point of the joystick or in the area of the solder root point, while the one or more force sensors may be provided around this solder root point.
  • Another embodiment relates to a construction machine, such. B. a lifting platform with a corresponding expansion element.
  • Another embodiment relates to a method of operation with hardware components explained above, the method comprising the following steps:
  • FIG. 1 shows a schematic representation of an operating device according to a base embodiment
  • FIGS. 2a-c a schematic illustration of an aerial work platform during the movement, to illustrate how the safety problems solved by means of embodiments of the present invention can occur;
  • FIG. 3 shows a schematic illustration of a further operating device according to an extended exemplary embodiment
  • FIG. 4 shows a schematic representation of an operating device together with an operator for illustration of the possibly arising dangerous situation, starting from the operating device from FIG. 3;
  • 5a-5b are schematic representations of an operating device, in particular one
  • FIGS. 5a to 5b are schematic representations of the manual control transmitter from FIGS. 5a to 5b, wherein the determination of the force resulting from the overload is illustrated here;
  • FIG. 7a-7b are schematic representations for illustrating the deformation of components of the operating device according to embodiments.
  • FIG. 1 shows an operating unit 150 with a manual control transmitter 300, which can also be referred to as a joystick.
  • This manual control transmitter 300 is arranged angled relative to a base plate or printed circuit board 430 and designed to be movable.
  • the manual control transmitter 300 perpendicular to the bottom plate 430 and at least one-axis (eg front-rear, see arrow X) or biaxial (plus left-right, see arrow Y) or even three-axis (plus push-pull, see arrow Z ) movable.
  • the movement is by means of a part of the circumference of the operating device 150 associated movement sensor 400, such. B. a Hall sensor, in the X, Y and / or Z direction monitored.
  • This movement sensor 400 detects one, two or three axes of the movement of the joystick 300 relative to the bottom plate 430 or the printed circuit board 430 and emits therefrom a so-called motion signal 401.
  • This movement signal is received and evaluated by the optional evaluation unit 500.
  • the operating device 150 still has a force sensor 410, such. B. on a strain gauge. This can z. B. be arranged on the joystick 300. Alternatively, an arrangement of the force sensor in the base plate or printed circuit board 430 would also be conceivable, as illustrated here by the component marked with the reference numeral 410 '.
  • the force sensor 410 (410 ') outputs a force signal 411, which is also received by the evaluation device 500, for example.
  • the force signal 411 depends, for example, on the deformation of the joystick 300 or on the deformation of the bottom plate or printed circuit board 430. If the force signal 411 has a predetermined value, such as, for example, B. exceeds 300 Newton accordingly, the evaluation device 500 can detect a so-called overload. These 300 Newton are only examples and may vary depending on the application, eg. B. in the range between 10 Newton and 1000 Newton.
  • Fig. 2a shows an aerial work platform 10, which consists essentially of a chassis 11 and a crane mechanism 12 arranged thereon.
  • the crane mechanism 12 is rotatably arranged relative to the chassis 11 and changeable by the lifting cylinder 16 in its angle of attack.
  • the crane mechanism 12 includes a retractable telescopic boom 13, at the end of a basket 14 is arranged. In the basket 14, a person 1 as shown, or even working materials are transported benefits.
  • an operating unit 15 is arranged in the basket 14.
  • This operating unit 15 essentially comprises operating lever / manual control transmitter (or so-called joysticks 30) and, optionally, key elements 21, as shown in more detail in FIG.
  • An operating position could, for example, be a stem 6 mounted on a building wall 5, such as, for example, a balcony shown in FIG. 2a. It is usual for an operating unit 15 to be arranged in the basket 14 in the direction of the working platform 10, and thus for the operator 1 to look in the basket 14 in the direction of the machine 10.
  • the operator 1 moves during extension of the telescopic boom 13 with his back to the appropriate working position.
  • the arrangement of the operating unit 15 in the basket 14 allows the operator 1 to work easier and better at the working position, since no work-related parts such as the operating unit 15 are then in the way.
  • a disadvantage of the arrangement of the operating unit 15 in the basket 14 is that when approaching the working position an obstacle, such as a building porch 6, the operator 1 can be easily overlooked and it may possibly lead to a collision of the operator 1 with the building porch 6. Since the telescopic boom 13 moves further in a movement direction B in the event of a collision between the operator 1 and the building porch 6, the operator 1 is pressed with his upper body 2 directly onto the operating unit 15. The operator 1 is then no longer able to bring the operating lever or joystick 30 into a zero position and thus to stop further extension of the telescopic drawer 13. Such a collision situation is shown in FIGS. 2b and 2c. Accordingly, such accidents lead to pinching of the operator 1 between the building porch 6 and the operating unit 15.
  • FIGS. 2a-2c shows by way of example an operating unit 15 for controlling the construction machine or the system 10 shown in FIGS. 2a-2c comprising crane mechanism 12 and / or telescopic boom 13 and / or basket 14 of the work platform 10 (or a component of the system).
  • the individual movements of the basket 14 can be changed, for example, the telescopic boom 13 and extend or change the angle of attack of the crane mechanism 12 by the lifting cylinder 16.
  • These joysticks 30 are each arranged on a module 20a and 20b, which can be easily replaced, for example in the event of a defect, without the entire operating unit 15 having to be replaced.
  • a keyboard module 21 and a display 22 for displaying machine-relevant data and parameters are arranged for further functionalities.
  • FIG. 4 shows how the operator 1, in the event of a collision with a building porch 6 (see FIG. 2c), is pressed with his upper body 2 directly onto the knob 31 of the operating lever or joystick 30 of the operating unit 15 and a force F, FOL on the knob 31 exercises. In this situation, the operator 1 would no longer be able to bring the operating lever or joystick 30 into a zero position and thus to stop further extension of the telescopic jib 13.
  • FIGS. 5a and 5b show a side view of a joystick module 20a / b.
  • the mechanical components of the joystick 30 are arranged on a printed circuit board 43, preferably screwed thereto.
  • the joystick lever 30 consists essentially of a knob 31, which serves the operator 1 to operate the joystick 30 in different directions. Directly below the knob 31 is a latch 33, which must be pulled up before each actuation of the joystick. This prevents an unconscious or unwanted operation of the joystick 30 and thus an unconscious or unwanted movement of the crane mechanism 12, the telescopic boom 13 and / or the basket 14 of the platform 10. This can happen when the operator 1, for example, in the basket 14 turn around must and with the elbow accidentally comes against the joystick lever 30.
  • a so-called bellows 32 is arranged in the lower part, which consists of a movable material.
  • the bellows 32 In a lateral movement of the joystick 30, as shown in Fig. 5b, the bellows 32 is compressed on one side and on the pulled apart on the other side.
  • the required electronics for detecting and evaluating the joystick movements are ideally located below the printed circuit board 43 and essentially consists of a Hall sensor 40.
  • Joystick movements are detected by a magnet attached to the mechanism, not shown here.
  • the joystick module 20a / b is preferably releasably secured in the outer edge regions of the printed circuit board 43 to holders 35a / b by means of fastening means 36.
  • a force F acting on the knob 31 of the operating lever or joystick 30 of the operating unit 15 a force is thus also exerted on the printed circuit board 43, which leads to mechanical tension or mechanical deformations of the printed circuit board 43.
  • Such mechanical stresses can be measured with the present invention by means of at least one strain gage sensor 41 and / or 42 arranged on the printed circuit board 43.
  • overloading i. H. a beyond the maximum allowable load limit force acting on the joystick lever 30, as shown schematically in Figs. 6a and 6b, are detected with the at least one arranged on the circuit board 43 DMS sensor 41 and / or 42.
  • the overloading of the joystick lever 30 is indicated schematically by the dashed line 44, which shows that joystick 30 was actuated with a stronger force FOL compared to the illustration in FIG. 5b.
  • FOL force
  • FIGS. 7a to 7b illustrate, by hatching, the voltage states in the bottom plate / circuit board 43 when the joystick 30 is deflected out of the position indicated by the dashed line.
  • the rest position is indicated by dashed lines, wherein the deflection or the force leading to the deflection is marked F.
  • this is a two-dimensional joystick, which, for. B. can protrude vertically from the bottom plate / circuit board, it should be noted at this point that it is also another movable element, the z. B. is angled at a different angle, can act.
  • the operating device is suitable not only for the above-explained embodiments working platforms, but also for other construction machines.
  • the motion sensor can be realized for example by an inductive element or a capacitive element.
  • the force sensor does not necessarily have to be realized as a strain gauge, but can also be designed differently.
  • Further exemplary embodiments relate to a method for operating the lifting work platform.
  • the method includes the steps of monitoring the motion / position of the joystick and outputting a corresponding motion signal, monitoring a force applied to the joystick, and outputting a corresponding force signal, as well as controlling the construction machine in response to the two monitored quantities.
  • aspects have been described in the context of a device, it should be understood that these aspects also constitute a description of the corresponding method, so that a block or device of a device is also to be understood as a corresponding method step or as a feature of a method step , Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block or detail or feature of a corresponding device.
  • Some or all of the method steps may be performed by a hardware device (or using a hardware device).
  • a hardware apparatus such as a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, some or more of the most important method steps may be performed by such an apparatus.
  • embodiments of the invention may be implemented in hardware or in software.
  • the implementation may be performed using a digital storage medium, such as a floppy disk, a DVD, a Blu-ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or FLASH memory, a hard disk, or other magnetics - or optical memory are stored on the electronically readable control signals, which can cooperate with a programmable computer system or cooperating, that the respective method is performed. Therefore, the digital storage medium can be computer readable.
  • some embodiments according to the invention include a data carrier having electronically readable control signals capable of interacting with a programmable computer system such that one of the methods described herein is performed.
  • embodiments of the present invention may be implemented as a computer program product having a program code, wherein the program code is operable to perform one of the methods when the computer program product runs on a computer.
  • the program code can also be stored, for example, on a machine-readable carrier.
  • inventions include the computer program for performing any of the methods described herein, wherein the co-preprocess is stored on a machine-readable carrier.
  • an embodiment of the method according to the invention is thus a computer program which has a program code for performing one of the methods described hereinbefore when the computer program is running on a computer.
  • a further exemplary embodiment of the method according to the invention is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for performing one of the methods described herein is recorded.
  • the data carrier, the digital storage medium or the computer-readable medium are typically representational and / or non-transitory or non-transient.
  • a further exemplary embodiment of the method according to the invention is thus a data stream or a sequence of signals which represents or represents the computer program for performing one of the methods described herein.
  • the data stream or the sequence of signals may be configured, for example, to be transferred via a data communication connection, for example via the Internet.
  • Another embodiment includes a processing device, such as a computer or a programmable logic device, that is configured or adapted to perform any of the methods described herein.
  • a processing device such as a computer or a programmable logic device, that is configured or adapted to perform any of the methods described herein.
  • Another embodiment includes a computer on which the computer program is installed to perform one of the methods described herein.
  • Another embodiment according to the invention comprises a device or system adapted to transmit a computer program for performing at least one of the methods described herein to a receiver.
  • the transmission can be done for example electronically or optically.
  • the receiver may be, for example, a computer, a mobile device, a storage device or a similar device.
  • the device or system may, for example, comprise a file server for transmitting the computer programmer to the receiver.
  • a programmable logic device eg, a field programmable gate array, an FPGA
  • a field programmable gate array may cooperate with a microprocessor to perform any of the methods described herein.
  • the methods are performed by a any hardware device performed. This may be a universal hardware such as a computer processor (CPU) or hardware specific to the process, such as an ASIC.
  • the devices described herein may be implemented, for example, using a hardware device, or using a computer, or using a combination of a hardware device and a computer.
  • the devices described herein, or any components of the devices described herein, may be implemented at least partially in hardware and / or software (computer program).
  • the methods described herein may be implemented using a hardware device, or using a computer, or using a combination of a hardware device and a computer.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Control Devices (AREA)
  • Position Input By Displaying (AREA)

Abstract

L'invention concerne un dispositif de commande destiné à un engin de chantier, qui comprend une plaque de base, un émetteur à commande manuelle, un capteur de mouvement et un capteur de force. L'émetteur de commande manuelle est disposé angulairement par rapport à la plaque de base et peut être déplacé dans au moins une dimension par rapport à la plaque de base. Le capteur de mouvement est conçu pour déterminer la position et/ou le mouvement de l'émetteur à commande manuelle par rapport à la plaque de base et pour délivrer un signal de mouvement en fonction de la position et/ou du mouvement déterminé. Le capteur de force est conçu pour déterminer une force agissant sur l'émetteur à commande manuelle et pour délivrer un signal de force en fonction de la force déterminée.
PCT/EP2019/056026 2018-03-12 2019-03-11 Dispositif de commande WO2019175107A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP18161299.5A EP3539820B1 (fr) 2018-03-12 2018-03-12 Dispositif de commande
EP18161299.5 2018-03-12

Publications (1)

Publication Number Publication Date
WO2019175107A1 true WO2019175107A1 (fr) 2019-09-19

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EP (1) EP3539820B1 (fr)
WO (1) WO2019175107A1 (fr)

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DE202010004128U1 (de) 2010-03-24 2010-06-10 Moba Ag Handsteuergeber mit getrennter Betätigung und Auswertung
US20100302017A1 (en) * 2009-06-01 2010-12-02 Econtrols, Inc. Tactile Feedback for Joystick Position/Speed Controls
EP2462048A1 (fr) 2009-08-07 2012-06-13 Niftylift Limited Cabine d opérateur à sécurité renforcée
EP2462049A1 (fr) 2009-08-07 2012-06-13 Niftylift Limited Système de commande à sécurité améliorée pour cabine d opérateur
DE102012022404A1 (de) * 2012-11-16 2014-05-22 Kramer-Werke Gmbh Maschine mit Ladeanlage
EP2794460A1 (fr) 2011-12-19 2014-10-29 Haulotte Group Nacelle élévatrice pourvue d'un pupitre de commande
DE102014105177A1 (de) 2014-03-18 2015-10-08 Preh Gmbh Bedienelement mit elastisch verformbarem Betätigungsteil und Kraftsensorenmatrix
EP3086094A1 (fr) 2015-04-20 2016-10-26 MOBA Mobile Automation AG Émetteur de commande manuelle, unité de commande doté d'un émetteur de commande manuelle et machine de travail ou engin

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JPH0453800U (fr) * 1990-09-14 1992-05-08
JPH0465299U (fr) * 1990-10-18 1992-06-05
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