EP3614228B1 - Operating lever with active feedback unit - Google Patents

Description

technical field

1. a) eine Montageplattform,
2. b) eine Nachführvorrichtung mit Rahmen und/oder Gehäuse, welche beweglich auf der Montageplattform angeordnet ist,
3. c) eine Steuereinheit mit einem Steuerhebel, welcher in einem Gelenk um eine Achse schwenkbar gelagert ist, wobei das Gelenk in dem Rahmen und/oder Gehäuse der Nachführvorrichtung vorgesehen ist,
4. d) einen Führungsgeber, welcher die Auslenkung ω des Steuerhebels erfasst und ein der Auslenkung ω zugeordnetes Signal erzeugt,
5. e) eine Auswerte- und Verarbeitungseinheit, welche das Signal von dem Führungsgeber verarbeitet und die Maschine entsprechend der Auslenkung ω ansteuert,
6. f) einen Rückholmechanismus, welcher den Steuerhebel in eine Ausgangsposition in dem Rahmen und/oder Gehäuse der Nachführvorrichtung zurückführt.

The invention relates to a manual control transmitter for controlling a machine, containing

1. a) an assembly platform,
2. b) a tracking device with a frame and/or housing, which is movably arranged on the assembly platform,
3. c) a control unit with a control lever which is mounted in a joint so that it can pivot about an axis, the joint being provided in the frame and/or housing of the tracking device,
4. d) a reference transmitter, which detects the deflection ω of the control lever and generates a signal associated with the deflection ω,
5. e) an evaluation and processing unit, which processes the signal from the reference sensor and controls the machine according to the deflection ω,
6. f) a return mechanism which returns the control lever to an initial position in the frame and/or housing of the tracking device.

description

Such manual control transmitters are often used to control heavy machinery. For example, they are used to control cranes, wheel loaders, excavators, forklifts or as speed controllers for rail vehicles and ships. They can be operated like a joystick. In principle, many types of machines that are operated manually can be controlled with a manual control transmitter. Modular design supports the use of a manual control transmitter in many machine control configurations.

The control takes place via the respective angular position of the control shaft, which is connected to the control lever. The angular position can be recorded without contact or with contact. It is known, for example, to determine the angular position optically using a coded disc. The angular position can also be determined electronically using a potentiometer, for example.

There are manual control transmitters that are only operated via one axis. However, multi-axis manual control transmitters are also used. Accordingly, the multi-axis manual control transmitters have at least two non-parallel control shafts that are driven by a suitable gear.

State of the art

From the DE 20 2010 000 176 a remote control for controlling vehicles with a maneuvering device is known, the remote control having an input device and the degrees of freedom of the mobility of the vehicle to be controlled are mapped in the degrees of freedom of the mobility of the input device.

the EP 0 671 604 A1 describes a joystick that has two potentiometers that are coupled to a control lever via a cardanic deflection. Each position of the control lever is assigned a corresponding position of the potentiometer wiper, so that the voltage values picked off at the potentiometer terminals can be supplied to an evaluation circuit. A device for converting an at least one-dimensional mechanical deflection into an electrical variable corresponding to this deflection is proposed there, in which one end of a pair of sliding contacts is controlled with electrical control signals via at least two contact surfaces. The other end of the pair of sliding contacts is moved over the number of parallel conductor tracks required for a specific resolution. By shifting the pair of sliding contacts, the control signals are forwarded as evaluation signals via the contacted conductor tracks at their end.

In the EP 0856 453 A2 an electro-hydraulic steering system for vehicles, which has manual steering and automatic steering (autopilot), which can be activated via a switch, is described. The steering system consists of at least one hydraulic steering cylinder for adjusting the steerable wheels, at least one sensor for determining the actual values of the wheel lock angle, at least one electrically actuated hydraulic control valve, which regulates the application of hydraulic fluid to the steering cylinder, and at least one automatic steering signal transmitter for generating an electrical steering signal -Required values for the wheel lock angle. The automatically generated desired steering signal values and the actual wheel lock angle values are fed to an electronic control and evaluation device. The control and evaluation device determines an electrical control signal for the hydraulic control valve from the actual value of the wheel lock angle and the automatically generated desired steering signal value. A steering signal transmitter is provided for manual steering, which consists of a manual Actuating movement also generates a corresponding electric steering signal setpoint, which is also supplied to the control and evaluation device. Depending on which steering is active, the control and evaluation device evaluates the manual or the automatic steering signal target values. A steering lever ("joystick") can also be used as a manual steering signal generator.

From the generic EP 1316 491 A2 a device and a method for operating a vehicle are known, in which a restoring force and a reaction force are applied to an actuating element. The actuator is arranged to be slidable relative to the vehicle and is operated by a driver. The restoring force and the reaction force move the actuating element to a starting position according to its state and its actuation.

The disadvantage of such a device is that the driver is not informed sufficiently and directly how the machine or the vehicle actually behaves.

Disclosure of Invention

The object of the invention is to avoid the disadvantages of the prior art and to create a manual control transmitter for controlling a machine in which the user receives immediate feedback from the manual control transmitter, e.g. in which direction the machine or parts of the machine are steering.

• dass der Führungsgeber ausgebildet ist, einer Sollwertwertvorgabe der Lenkgeschwindigkeit und -richtung zu dienen
• dass mittels des Steuerhebels jederzeit und unabhängig vom tatsächlichen Lenkwinkel und Rückmeldewinkel die Lenkhydraulik der Maschine in beide Richtungen steuerbar ist und
• dass der Antrieb ausgebildet ist, ein zum tatsächlichen Lenkwinkel proportionales Signal zu empfangen, es mit dem Rückmeldewinkel zu vergleichen und über die Nachführvorrichtung eine Nachführung der gesamten Steuereinheit mit dem Steuerhebel vornimmt, bis der Rückmeldewinkel gleich dem tatsächlichen Lenkwinkel ist.

According to the invention, the object is achieved in that in a machine with a manual control transmitter for controlling a machine of the type mentioned

• that the reference encoder is designed to serve as a target value for the steering speed and direction
• that the steering hydraulics of the machine can be controlled in both directions by means of the control lever at any time and independently of the actual steering angle and feedback angle and
• that the drive is designed to receive a signal proportional to the actual steering angle, to compare it with the feedback angle and to use the tracking device to track the entire control unit with the control lever until the feedback angle is equal to the actual steering angle.

The invention is based on the principle that the control lever of the manual control transmitter assumes the deflected position that is also assigned to the machine. For this purpose, the control lever is always returned to a relative starting position within the tracking device after a control instruction. The deflected position of the control lever is finally achieved by the tracking device in which the control lever is mounted. This starting position of the control lever is therefore deflected separately. For this purpose, the effect of the control instruction is determined and assigned to a position of the control lever. In the case of a rail vehicle, for example, the speed can be set by actuating the manual control transmitter. This defines a target value. If the rail vehicle now the speed has reached, the control device readjusts the control lever by a corresponding angle, which is associated with this speed. With the present invention, the user can see immediately which setpoint has been set.

An advantageous embodiment of the manual control transmitter according to the invention results from the fact that the drive has a rotor, which tracks the tracking device by an angle β, which is defined by the position assigned to the machine controlled with the deflection ω. This measure causes the tracking device to rotate with the control lever through an associated angle with the rotor. This saves space and the respective position of the control lever is easy for the user to detect.

In a preferred embodiment of the manual control transmitter according to the invention, the drive of the tracking device has a gear. The drives often turn too fast, so that the speed can be reduced by a gear.

In a preferred embodiment of the manual control transmitter according to the invention, the gearing of the drive of the tracking device is provided to be self-locking. This measure serves to ensure that the deflection of the control lever is better adapted to the deflection actually carried out.

Another expedient embodiment of the invention is that the retrieval mechanism has a damping unit which produces damping when the control lever is deflected. In order to prevent the control lever from overshooting due to the return mechanism and to improve the feel, the deflection is dampened by means of the damping unit. This is achieved, for example, via an engine brake. An additional damping motor acts on the lever if necessary. As a passive brake, the damping motor can also be loaded with braking resistors. There is also the option of actively operating a damping motor, for example to generate restoring forces, shaking effects or the like as an additional force feedback element. In the present exemplary embodiment, the damping motor is connected to the control lever via a non-self-locking gear. This ensures that if the damping motor fails, Control lever is returned to its relative center position by spring return. In this case, the haptic changes, but the functionality of detecting the guidance angle ω is still given. The damping unit therefore preferably has a spring, a magnet, an engine brake and/or an active engine brake, which produces the damping. However, a hydraulic and/or pneumatic damping element can also be advantageously included in the damping unit.

A special variant of the manual control transmitter according to the invention is that the control lever in the joint is designed to be pivotable about at least two mutually perpendicular axes, with each axis being assigned at least one damping unit. This advantageous measure means that the control lever of the manual control transmitter has more degrees of freedom. This multiplicity of degrees of freedom enables a machine to be controlled in a more complex manner. For example, one deflection can be used for the speed and the other deflection for the steering of a vehicle.

A further advantageous embodiment of the manual control transmitter according to the invention is that the machine is designed as a mobile machine, in particular as a rail vehicle, a wheel loader or a crane. These manual control transmitters are particularly useful for such vehicles. When working with these vehicles, users can quickly determine the steering position of the wheels, for example.

Further configurations and advantages emerge from the subject matter of the dependent claims and the drawings with the associated descriptions. An embodiment is explained in more detail below with reference to the accompanying drawings. The invention should not be limited solely to these exemplary embodiments. They only serve to explain the invention in more detail. The invention is intended to relate to all objects which, now and in the future, the person skilled in the art would consider obvious for realizing the invention.

Brief description of the drawing

1

shows in a schematic diagram the basic principle of a manual control transmitter according to the invention.

2

shows a schematic outline sketch of a manual control transmitter according to the invention from the side with a neutral deflection.

3

shows in a schematic outline sketch according to the 2 a manual control transmitter according to the invention from the side with a deflection.

4

shows the functional principle of the control device for the manual control transmitter according to the invention in a schematic outline sketch.

Preferred embodiment

In 1 10 shows the basic diagram of a manual control transmitter 12 according to the invention. The manual control transmitter 12 is used to control a machine, such as a wheel loader. The manual control transmitter 12 has a mounting platform 14 . Tracking device 16 with a housing 18 is provided on this assembly platform 14 . The housing 18 can be tubular or spherical, for example. The tracking device 16 is movably provided on the mounting platform 17 . In the present exemplary embodiment, a rotational movement of the tracking device 16 is provided.

A control unit 19 is provided in the housing 18 of the tracking device 16 . The control unit 19 has a control shaft 20 which is pivotably mounted about an axis 22 . The rotatably or pivotably mounted control shaft 20 forms a joint 23 for a control lever 24. The control lever 24 is provided on the control shaft 20 of the control unit 19 with a control knob 26. The control lever 24 protrudes with its control knob 26 from an opening 27 in the housing 18 . The opening 27 is designed in the housing 18 in such a way that the control lever 24 can be deflected relative to the housing 18 . The deflection ω or the respective position which the control lever 24 experiences from a user for operating or controlling the machine is detected by a reference sensor 28 . The angle ω of the deflection is also referred to below as the guide angle ω. The reference sensor 28 generates an angle signal which corresponds to a respective deflection ω of the control lever 24 about the axis 22 . A return mechanism 30 always returns the control lever 24 to its starting position 32 in the housing 18 of the tracking device 16 without the application of force. However, the position can change relative to the mounting platform 14 if the tracking device 16 changes its position.

The tracking device 16 is designed with an actuator 34 . The tracking device 16 also contains a motor drive 36 which controls a rotor 40 with a gear 38 . The motor drive 36 is preferably designed as a DC motor. An angle sensor 42 controls the motor drive in such a way that the rotor 40 rotates through an angle β relative to the assembly platform 14 . The rotor 40 changes its angular position relative to the assembly platform 14.

The control unit 19 is integrated in the rotor 40 . The angle β of the rotor 40, which is measured in relation to the assembly platform, is referred to as the feedback angle. The actuator 34 has a self-locking property, so that the position of the rotor 40 cannot be changed by applying force to the control lever 24 .

In 2 the manual control transmitter 12 is shown in a neutral deflection. As far as these 2 the 1 corresponds to the same reference numerals are used. The manual control transmitter 12 is in this embodiment for a wheel loader 44 as machine trained. The wheel loader 44 is shown schematically via its drive axles 46 . The steering axis 48 is in the middle of the wheel loader 44. Both the guidance angle ω of the deflection of the control lever 24 with the control shaft 20 about the axis 22 and the feedback angle β of the rotor 40 of the tracking device 16 are in a neutral steering position. Therefore, all wheels, front wheels 50 and rear wheels 52, are straight. However, two possible deflections of the control lever 24 are shown in dashed form.

As soon as the control lever 24 is deflected by a guide angle ω (dashed position), the wheel loader 44, as in 3 to see steered about the steering axis 48 by a steering angle α. A control device 57 adjusts the tracking device 16 of the manual control transmitter 12 accordingly by this feedback angle β, so that the feedback angle β again corresponds to the steering angle α. For this purpose, the tracking device 16 is rotated about an assigned position, which is defined by the steering angle α or the feedback angle β.

For this purpose, the deflection of the control lever 24 by the guide angle ω is detected by the guide transmitter 28 . The reference sensor 28 now generates a signal assigned to this reference angle ω. This signal receives an evaluation and processing unit 53, which actuates a steering hydraulic system (not shown) for controlling the wheel loader 44. This steering movement of the wheel loader 44 is measured by an angle sensor 59 . The measured steering angle α is used as a measurement signal for controlling the motor drive 36 . This is because the motor drive 36 then tracks the rotor 40 by the corresponding feedback angle β. The control lever 24 is then returned to its relative starting position 32 in the housing 18 in a damped manner.

The return mechanism 30 for the control lever 24 is provided in the housing 18 of the tracking device 16 . Resilient elements 54 return the control lever 24 in the housing 18 of the tracking device 16 to the starting position 32 . The starting position 32 is centered if possible. With 58 is a damping unit referred to, which reduces a possible overshoot after actuation of the control lever 24. The return of the control lever 24 to its starting position 32 is therefore dampened by the damping unit 58 . Such a damping effect to prevent the control lever 24 from overshooting can also be achieved, for example, via damping elements 56, such as magnets. Alternatively, this damping can also take place via active engine damping, which is not shown in this exemplary embodiment.

In 3 the manual control transmitter 12 is shown in the deflected position. So far the 3 corresponding to the previous figures, the same reference symbols are also used. In this exemplary embodiment, the manual control transmitter 12 is also designed as a machine for the wheel loader 44 . The wheel loader 44 is analogous to 2 in turn represented stylistically via its drive axles 46 . In the middle of the wheel loader 44 is the steering axle 48. The control lever 24 is in its starting position 32. Compared to the 2 the feedback angle β of the rotor 40 of the tracking device 16 is shifted by an angle β. Therefore, the front wheels 50 are steered at this angle β as previously described. As described above, the control device 57 has steered the tracking device 16 into the desired position, which corresponds to the steering position of the wheel loader.

The return mechanism 30 for the control lever 24 is provided in the housing 18 of the tracking device 16 . The resilient elements 54 return the control lever 24 in the housing 18 of the tracking device 16 to the starting position 32 . The starting position 32 is centered if possible. The return of the control lever 24 to its starting position 32 is damped by the damping unit 58 in order to reduce a possible overshooting of the control lever 24 as far as possible. The damping can also take place via active motor damping, which is not shown in this exemplary embodiment.

Based on 4 should describe how it works. By deflecting the control lever 24 by the guide angle ω, the operator generates a corresponding one control signal. For this purpose, the guide angle ω is detected by the guide transmitter 28 . The reference sensor 28 now generates a signal assigned to this reference angle ω. This signal receives an evaluation and processing unit 53, which actuates a steering hydraulic system 60 (not shown) for controlling the wheel loader 44. This steering movement or the steering angle α of an articulated joint of the wheel loader 44 is detected by the angle sensor 59 . The measured steering angle α is used as a measurement signal for controlling the motor drive 36 . The actual value for the feedback angle β and the target value, which is formed by the steering angle α of the wheel loader, are included in the control. The motor drive 36 then tracks the rotor 40 by the corresponding feedback angle β. The control lever 24 is then returned to its relative starting position 32 in the housing 18 in a damped manner.

The operator can use the spring-centered control lever 24 to control the steering hydraulics in both directions at any time and independently of the steering angle α and the feedback angle β. The guidance angle ω is recorded and is used to specify the desired value for the steering speed and direction.

In order to prevent the control lever 24 from overshooting by the return mechanism 30 and to improve the feel, the deflection is dampened by means of the damping unit 58 . This is achieved, for example, via an engine brake. An additional damping motor (not shown here) then acts on the lever. As a passive brake, the damping motor can be loaded with braking resistors.

There is also the option of actively operating a damping motor, for example to generate counteracting forces, restoring forces, shaking effects or the like as an additional force feedback element. In the present exemplary embodiment, the damping motor is connected to the control lever 24 via a non-self-locking gear. This ensures that if the damping motor fails, the control lever 24 is returned to its relative center position by means of a spring return. In this case the haptic changes, but the functionality of detecting the guidance angle ω is still given.

The tracking device 16 tracks the entire control unit 19 with the control lever 24 to the actual steering angle α. The motorized actuator 34 with a self-locking property receives a signal proportional to the steering angle α, compares it with its own feedback angle β and tracks the control unit 19 until the feedback angle β is equal to the steering angle α. In the stationary position (not deflected by the operator), the joystick lever shows the operator the actual steering angle α of the wheel loader via the feedback angle β. In a currentless state, the control lever 24 remains in its state and thus displays the last detected steering angle α.

Reference List

10

Basic diagram of the hand control

12

hand controller

14

assembly platform

16

tracking device

18

housing

19

control unit

20

control shaft

22

axis

23

joint

24

control lever

26

control knob

27

opening

28

leader

30

return mechanism

32

starting position

34

actuator

36

motor drive

38

transmission

40

rotor

42

angle sensor

44

wheel loader

46

drive axles

48

steering axle

50

front wheels

52

rear wheels

53

Evaluation and processing unit

54

Springy elements

56

damping elements

57

control device

58

damping unit

59

angle sensor

60

steering hydraulics

Claims (10)

1. A machine with a manual controller (12) to control the machine (44), wherein the manual controller (12) comprises:

   a) a mounting platform (14),

   b) a tracking device (16) with a frame and/or housing (18), which is movably arranged on the mounting platform (14),

   c) a control unit (19) with a control lever (24), which is mounted to pivot around an axis (22) in a joint (23), whereby the joint (23) is provided in the frame and/or housing (18) of the tracking device (16),

   d) a position sensor (28), which detects the deflection (ω) of the control lever (24) and generates a signal corresponding to the deflection (ω),

   e) an evaluation and processing unit (53), which processes the signal from the position sensor (28) and controls the machine according to the deflection,

   f) a return mechanism (30), which returns the control lever (24) to a starting position (32) in the frame and/or housing (18) of the tracking device (16), whereby

   g) a control device (57) is provided, which, using a drive (36) in the form of a motorized actuator (34), controls the tracking device (16) to move to an assigned position, whereby said assigned position of the tracking device (16) is defined by the deflection (ω) of the machine (44) being controlled.

   characterized in that

   the position sensor (28) is designed to supply a target value for the steering speed and direction,

   it is possible by means of the control lever (24) to control the steering hydraulic system of the machine in both directions at any time and independent of the actual steering angle (α) and feedback angle (β), and

   the drive (36) is designed to receive a signal proportional to the actual steering angle (a), compare it to the feedback angle (β), and via the tracking device (16) to track the entire control unit (19) with the control lever (24) until the feedback angle (β) is equal to the actual steering angle (a).
2. A machine according to claim 1, characterized in that the drive (36) of the tracking device (16) has a gearbox (38).
3. A machine according to claim 2, characterized in that the gearbox (38) of the drive (36) of the tracking device (16) is designed to be self-locking.
4. A machine according to one of claims 1 to 3, characterized In that the return mechanism (30) has a damping unit (58), which generates a damping force for the control lever (24) upon deflection of the control lever (24).
5. A machine according to one of claims 1 to 4, characterized in that the return mechanism (30) has a spring element (54).
6. A machine according to one of claims 1 to 5, characterized in that the damping unit (58) comprises a magnet to generate the damping force,
7. A machine according to one of claims 1 to 6, characterized in that the damping unit (58) comprises a motor brake and/or an active motor brake.
8. A machine according to one of claims 1 to 7, characterized in that the damping unit (58) comprises a hydraulic and/or pneumatic damping element.
9. A machine according to one of claims 1 to 8, characterized in that the control lever (24) in the joint (23) is arranged to pivot about at least two perpendicular axes (22), whereby each axis (22) has at least one damping unit (58) associated with it.
10. A machine according to one of claims 1 to 9, characterized in that the machine (44) is designed as a mobile machine (44), and in particular as a rail vehicle, a wheel loader (44), or a crane.

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