EP3165992A1 - Fernbedienung für motor - Google Patents

Fernbedienung für motor Download PDF

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Publication number
EP3165992A1
EP3165992A1 EP16193641.4A EP16193641A EP3165992A1 EP 3165992 A1 EP3165992 A1 EP 3165992A1 EP 16193641 A EP16193641 A EP 16193641A EP 3165992 A1 EP3165992 A1 EP 3165992A1
Authority
EP
European Patent Office
Prior art keywords
lever
frame
axis
remote control
housing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP16193641.4A
Other languages
English (en)
French (fr)
Inventor
Guillaume Fremiot
Benjamin Dollhofer
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3165992A1 publication Critical patent/EP3165992A1/de
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • 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
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • 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
    • 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
    • G05G2009/0474—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 characterised by means converting mechanical movement into electric signals
    • 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
    • G05G2009/0474—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 characterised by means converting mechanical movement into electric signals
    • G05G2009/04748—Position sensor for rotary movement, e.g. potentiometer

Definitions

  • the present invention relates to a remote control device comprising a remote control box provided with a lever actuated by the user and lever connecting means to the housing allowing the movement of the lever relative to the housing along two axes (X, Y), as well as means for detecting the relative movement of the lever relative to the housing to generate control signals of the machine with which the remote control is associated.
  • the fragility of this mechanism is related to the reduction of its two-pivot structure, one for each of the axes of rotation so that torsion forces are applied to the links and weaken the entire structure.
  • the mechanism is reinforced by two additional pivots, that is to say that there are two pivots per axis, which reduces the torsional forces.
  • the device described is relatively complex and is not suitable for mobile equipment to withstand the operating conditions outlined above. To have such a mechanical strength, it would be necessary to increase the dimensions of the elements in particular in the transverse directions X and Y, which would not allow its integration in a mobile equipment, for example in a construction machine cabin.
  • the present invention aims to develop a remote control mechanism for technical equipment such as construction equipment or public works, operating along two axes and return to the neutral point, which is simple construction, very compact and resistant.
  • the remote control according to the invention has the advantage of being of a particularly strong structure because it has in particular two pivots associated with each axis of pivoting of the control lever, but also an extremely simple and compact structure allowing its easy integration into technical equipment such as the driving position of a construction machine, at the armrest, because this location must have a particularly small footprint because of the reduced space available in the driving position and the need for it facilitate access.
  • the pivots of the main frame are constituted by two axis elements engaged in fixed bearings aligned on the axis of the housing and belonging to the housing.
  • the auxiliary frame is a U-shaped piece whose two branches end with two pivots formed by axis elements housed in the fixed bearings of the housing.
  • the intermediate frame is a U-shaped piece whose branches are provided with pivots formed by auxiliary bearings receiving the second pair of arms of the lever, the transverse branch of the intermediate frame being connected to the intermediate branch of the frame auxiliary by a linkage joint.
  • the assembly thus formed with the pivots is a reliable structure resistant to the conditions imposed on remotes of construction machines or public works or machines of this type.
  • the axes are orthogonal and the branches of the lever are orthogonal.
  • the auxiliary frame and the intermediate frame are symmetrical and their linkage articulation is located in the middle of the transverse branch of each of the frames.
  • This articulation is in particular a bearing whose axis passes through the pivot of the lever.
  • the auxiliary frame and the intermediate frame are movable in the plane of the X, Y axes and the lever 5 is movable above this plane of the X, Y axes.
  • the remote control of the invention has a particularly simple structure, robust and compact.
  • the figure 1 which is a schematic representation of an example of remote control intended to control a maneuver of an equipment such as a public works machine or another consists of a body or housing 1, fixed, carrying a movable control lever 5 by pivoting around an immaterial pivot R, defined as the intersection of the two axes X, Y around which the lever 5 can pivot with respect to a single axis or in combination with the two axes.
  • the fixed housing 1 carries a sensor CX associated with the X axis and a CY sensor associated with the Y axis to detect the pivoting movements RX, RY along the X and Y axes associated with the lever 5 and to provide signals used to generate control signals of the equipment as will be described in more detail below.
  • the signals supplied by the sensors CX, CY are processed in a known manner to generate the control signals.
  • the housing 1 receives a main frame 2 provided with two axis elements EX1, EX2, aligned on the axis X and housed in two fixed bearings PX1, PX2. These bearings are aligned on the X axis and carried by the housing 1.
  • the main frame 2 pivots relative to the housing 1 about the X axis as indicated by the arrow RX at an angle less than 180 °.
  • the main frame 2 In a plane transverse to the axis X, passing through the geometrical pivot R, the main frame 2 is provided with two main bearings PPX1, PPX2, aligned on a straight line passing through the pivot R.
  • the main frame 2 is a structure defining generally two pivots (EX1 / PX1; EX2 / PX2) in the X axis and two pivots (PPX1, PPX2) in a plane transverse to the X axis and containing the Y axis, that is to say, four coplanar pivots.
  • the main frame according to the example shown is a rectangular structure formed of two longitudinal sides 21 parallel to the axis X and connected by transverse sides 22 connected to the longitudinal sides 21 and each carrying a main bearing PPX1, PPX2.
  • the housing 1 also has an auxiliary frame 3 which is a U-shaped piece whose side branches 31 are joined by a transverse board 32.
  • the side branches 31 are connected at their other end to a shaft member EY1, EY2.
  • EY1, EY2 are aligned on the Y axis and housed in two fixed bearings PY1, PY2 of the housing 1.
  • the auxiliary frame 3 is connected to the housing 1 by two pivots (EY1 / PY1; EY2 / PY2) aligned on the Y axis and transmitting the pivoting movement RY of the auxiliary frame 3 to the sensor RY.
  • the auxiliary frame 3 pivots relative to the housing 1 to the return of the Y axis. This pivoting indicated by the double arrow RY, is at an angle less than 180 °.
  • the auxiliary frame 3 is connected to a U-shaped intermediate frame 4 whose two lateral branches 41 are connected by a transverse branch 42.
  • Each of the lateral branches 41 is connected at its other end to an auxiliary bearing PPY1, PPY2 aligned with the pivot R.
  • the intermediate frame 4 has branches 41 each provided with a pivot member (PPY1, PPY2) combined with a fulcrum element complementary to the lever 5 as will be described next.
  • the lever 5 is integrally provided with two pairs of arms BX1 BX2 BY1 BY2 coming from the pivot R and which in a certain position of the lever 5 are aligned on the directions X and Y.
  • the pair of arms BX1, 2 is engaged in the main bearings PPX1, PPX2.
  • the pair of arms BY1,2 is engaged in the auxiliary bearings PPY1, PPY2 thus achieving two pairs of pivots between the lever 5 and the main frame 2 or the intermediate frame 4.
  • the intermediate frame 4 is connected by its transverse branch 42 to the transverse branch 32 of the auxiliary frame 3 by a hinge 6 which is a bearing axis passing through the pivot R.
  • the lever 5 is located on one side of the plane of the main frame 2 and the auxiliary frame 3 combined with the intermediate frame 4 is located on the other side of the plane of the main frame 2.
  • the movement of the lever 5 is transmitted to the sensor CX by the kinematic chain formed by the pair of arms BX1, 2 connected to the main frame 2 by the main bearings PPX1, 2.
  • the movement of the lever 5 is transmitted to the sensor CY by the drive train formed by the pair of BY1,2 arms, the PPY1,2 bearings, the intermediate frame 4, the hinge 6 and the auxiliary frame 3.
  • the auxiliary frame 3 and the intermediate frame 4 are open frames, located under the plane of the XY axes so as not to interfere in motion with the main frame 2; the auxiliary frame 3 is sufficiently open to pivot in the main frame 2; in other words, the intermediate frame 4 is sufficiently narrow or the main frame 2 is long enough to allow the free pivoting of the intermediate frame 4 in the main frame 2 for the range of control movements of the lever 5.
  • axis element / bearing are relative concepts designating pivots and which can be reversed in part or in full for the pivots shown: the axis elements can be replaced by bearings (elements females) and the bearings by axis elements (male elements).
  • the X, Y axes are perpendicular; generally but not necessarily, the lever is perpendicular to the XY axes.
  • the frame 2 may have a polygonal or curved shape connecting its pivots.
  • the auxiliary frame 3 may be triangular V-shaped as the intermediate frame 4 insofar as the shapes of the frames allow their relative movement.
  • the figure 2 is a perspective view from below of an embodiment of the remote control according to the invention.
  • This bottom view shows the remote without the CX, CY swing sensors. It reveals the housing 1 formed of a plate 11 and a cover 12 which exceeds the lever 5 which receives a handle to facilitate its grip. Under the plate 12 appears the main frame 2, the auxiliary frame 3 and the intermediate frame 4 and the hinge 6 connecting the auxiliary frame to the intermediate frame.
  • the figure 3 is a perspective view from above of the part of the remote control shown in FIG. figure 2 , but without the housing, that is to say without the plate 11 and the cover 12.
  • This view which also does not show the pivot sensors CX, CY highlights the compactness of the remote control facilitating its integration into a device, for example a console or a seat armrest in a gear in a particularly ergonomic manner.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
EP16193641.4A 2015-11-06 2016-10-13 Fernbedienung für motor Pending EP3165992A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1560647A FR3043475B1 (fr) 2015-11-06 2015-11-06 Telecommande d'engin

Publications (1)

Publication Number Publication Date
EP3165992A1 true EP3165992A1 (de) 2017-05-10

Family

ID=55486773

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16193641.4A Pending EP3165992A1 (de) 2015-11-06 2016-10-13 Fernbedienung für motor

Country Status (3)

Country Link
US (1) US10054976B2 (de)
EP (1) EP3165992A1 (de)
FR (1) FR3043475B1 (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3085354B1 (fr) * 2018-09-04 2020-09-04 Safran Electronics & Defense Dispositif de commande de vol d'un aeronef

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2929258A (en) * 1957-09-18 1960-03-22 Harold J Mackway Joystick control mechanism
DE1238547B (de) * 1965-04-23 1967-04-13 Starkstrom Appbau G M B H Koordinatenschalter
US4422345A (en) * 1981-09-11 1983-12-27 Deere & Company Two-way control lever rotatable in cab wall for sound sealing
WO2001065328A1 (en) 2000-02-29 2001-09-07 Microsoft Corporation Haptic feedback joystick
US6400352B1 (en) * 1995-01-18 2002-06-04 Immersion Corporation Mechanical and force transmission for force feedback devices
US6512509B1 (en) 1999-03-22 2003-01-28 Logitech Europe S.A. Forked gimbal arm force feedback mechanism
US20080115611A1 (en) * 2006-11-20 2008-05-22 Honeywell International, Inc. Fully floating, self-aligning, self-adjusting gimbal assembly for an active human-machine interface

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5142931A (en) * 1991-02-14 1992-09-01 Honeywell Inc. 3 degree of freedom hand controller
US20110148666A1 (en) * 2007-04-04 2011-06-23 Honeywell International, Inc. User interface passive haptic feedback system
FR3011815B1 (fr) * 2013-10-15 2016-01-08 Sagem Defense Securite Dispositif de commande de vol d'un aeronef

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2929258A (en) * 1957-09-18 1960-03-22 Harold J Mackway Joystick control mechanism
DE1238547B (de) * 1965-04-23 1967-04-13 Starkstrom Appbau G M B H Koordinatenschalter
US4422345A (en) * 1981-09-11 1983-12-27 Deere & Company Two-way control lever rotatable in cab wall for sound sealing
US6400352B1 (en) * 1995-01-18 2002-06-04 Immersion Corporation Mechanical and force transmission for force feedback devices
US6512509B1 (en) 1999-03-22 2003-01-28 Logitech Europe S.A. Forked gimbal arm force feedback mechanism
WO2001065328A1 (en) 2000-02-29 2001-09-07 Microsoft Corporation Haptic feedback joystick
US20080115611A1 (en) * 2006-11-20 2008-05-22 Honeywell International, Inc. Fully floating, self-aligning, self-adjusting gimbal assembly for an active human-machine interface

Also Published As

Publication number Publication date
US10054976B2 (en) 2018-08-21
FR3043475B1 (fr) 2017-12-15
FR3043475A1 (fr) 2017-05-12
US20170131737A1 (en) 2017-05-11

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