EP3343311B1 - Levier de commande pourvu d'unité de rétroaction active - Google Patents

Levier de commande pourvu d'unité de rétroaction active Download PDF

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Publication number
EP3343311B1
EP3343311B1 EP17002025.9A EP17002025A EP3343311B1 EP 3343311 B1 EP3343311 B1 EP 3343311B1 EP 17002025 A EP17002025 A EP 17002025A EP 3343311 B1 EP3343311 B1 EP 3343311B1
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EP
European Patent Office
Prior art keywords
machine
control
steering
angle
control lever
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.)
Active
Application number
EP17002025.9A
Other languages
German (de)
English (en)
Other versions
EP3343311A1 (fr
Inventor
Thomas Neumann
Volker Jahn
Marcus Schinkel
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.)
Fernsteuergeraete Kurt Oelsch GmbH
Original Assignee
Fernsteuergeraete Kurt Oelsch 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 Fernsteuergeraete Kurt Oelsch GmbH filed Critical Fernsteuergeraete Kurt Oelsch GmbH
Priority to PL19000407T priority Critical patent/PL3614228T3/pl
Priority to PL17002025T priority patent/PL3343311T3/pl
Priority to EP19000407.7A priority patent/EP3614228B1/fr
Publication of EP3343311A1 publication Critical patent/EP3343311A1/fr
Application granted granted Critical
Publication of EP3343311B1 publication Critical patent/EP3343311B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce

Definitions

  • 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 cruise control 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.
  • the modular design supports the use of a manual control transmitter in many machine control arrangements.
  • 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 to determine the angular position optically, for example, by means of a coded disk.
  • the angular position can e.g. but can also be determined electronically using a potentiometer.
  • Multi-axis manual control transmitters There are manual control transmitters that are only operated via one axis. Multi-axis manual control transmitters are also used. The multi-axis manual control transmitters therefore have at least two non-parallel control shafts that are driven by a suitable gear.
  • a remote control for controlling vehicles with a shunting device having an input device and In the degrees of freedom of the mobility of the input device, the degrees of freedom of the mobility of the vehicle to be controlled are mapped.
  • 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 slider, so that the voltage values tapped at the potentiometer terminals can be fed 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 sliding contact pair is controlled with electrical control signals via at least two contact surfaces. The other end of the pair of sliding contacts is shifted over a number of parallel conductor tracks required for a specific resolution. By shifting the pair of sliding contacts, the control signals are passed on as evaluation signals via the contacted conductor tracks at their end.
  • the steering system consists of at least one hydraulic steering cylinder for adjusting the steerable wheels, at least one sensor for determining the actual wheel lock angle, at least one electrically operated hydraulic control valve that regulates the application of hydraulic fluid to the steering cylinder and at least one automatic steering signal transmitter for generating electrical steering signals - Target values for the wheel lock angle.
  • the automatically generated steering signal setpoint values and the actual wheel lock angle 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 steering signal setpoint value generated by the actual wheel lock angle and the automatically generated steering signal.
  • a steering signal transmitter For manual steering, a steering signal transmitter is provided that comes from a manual Adjustment movement also generates a corresponding electrical steering signal setpoint value, which is also fed to the control and evaluation device. Depending on which steering is active, the control and evaluation device evaluates the manual or automatic steering signal target values.
  • a steering lever (“joystick”) can also be used as a manual steering signal transmitter.
  • 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 actuating element is arranged so that it can be displaced with respect to the vehicle and is actuated by a driver.
  • the restoring force and the reaction force move the actuating element into an initial position according to its state and its actuation.
  • 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 immediately receives feedback from the manual control transmitter, e.g. in which direction the machine or parts of the machine control.
  • the object is achieved in that in a manual control transmitter for controlling a machine of the type mentioned above the guide angle ( ⁇ ) is recorded for a target value specification of the steering speed and steering direction.
  • 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. To do this, the effect of the control instruction is determined and assigned to a position of the control lever.
  • the speed can be set by operating the manual control transmitter. This defines a setpoint. If the rail vehicle is now the speed reached, the control device adjusts the control lever by a corresponding angle that is assigned to this speed. With the present invention, the user immediately sees 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 ⁇ which is determined by the position assigned to the machine controlled with the deflection ⁇ . 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 grasp.
  • the drive of the tracking device has a gear.
  • the drives often turn too fast so that the speed can be reduced by a gearbox.
  • the transmission of the drive of the tracking device is provided in a self-locking manner. This measure serves to ensure that the deflection of the control lever is better adapted to the deflection actually carried out.
  • the return mechanism has a damping unit which generates damping when the control lever is deflected.
  • 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.
  • the damping motor can also be loaded with braking resistors.
  • the damping motor is connected to the control lever via a non-self-locking gear.
  • the damping unit therefore preferably has a spring, a magnet, an engine brake and / or an active engine brake which generates the damping.
  • a hydraulic and / or pneumatic damping element can also advantageously be contained in the damping unit.
  • a special variant of the manual control transmitter according to the invention consists in that the control lever in the joint is designed to be pivotable about at least two mutually perpendicular axes, with at least one damping unit being assigned to each axis.
  • This advantageous measure has the effect that the control lever of the manual control transmitter has more degrees of freedom.
  • This plurality 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.
  • 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 see which steering position the wheels have, for example.
  • Fig. 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 mounting platform 14.
  • the housing 18 can for example be tubular or spherical.
  • the tracking device 16 is provided movably 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 mounted pivotably 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 of the housing 18.
  • the opening 27 is configured in the housing 18 such that the control lever 24 can be deflected relative to the housing 18.
  • the deflection ⁇ or the respective position which the control lever 24 experiences by a user for operating or controlling the machine is detected by a guide sensor 28.
  • the angle ⁇ of the deflection is also referred to below as the guide angle ⁇ .
  • the guide sensor 28 generates an angle signal which corresponds to a respective deflection ⁇ 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 action of force. The position can, however, 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 direct current motor.
  • An angle encoder 42 controls the motor drive so that the rotor 40 rotates through an angle ⁇ with respect to the mounting platform 14. The rotor 40 changes its angular position relative to the mounting platform 14.
  • the control unit 19 is integrated in the rotor 40.
  • the angle ⁇ of the rotor 40 which is measured in relation to the mounting 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 the action of the control lever 24.
  • Fig. 2 the manual control transmitter 12 is shown in a neutral deflection.
  • 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.
  • In the center of the wheel loader 44 is its steering axis 48.
  • Both the guide angle ⁇ of the deflection of the control lever 24 with the control shaft 20 about the axis 22, and the feedback angle ⁇ 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 aligned straight.
  • two possible deflections of the control lever 24 are shown in dashed lines.
  • the wheel loader 44 As soon as the control lever 24 is deflected by a guide angle ⁇ (dashed position), the wheel loader 44, as in FIG Fig. 3 to see the steering axis 48 steered by a steering angle ⁇ .
  • a control device 57 adjusts the tracking device 16 of the manual control transmitter 12 accordingly by this feedback angle ⁇ , so that the feedback angle ⁇ again corresponds to the steering angle ⁇ .
  • the tracking device 16 is rotated about an assigned position which is defined by the steering angle ⁇ or feedback angle ⁇ .
  • the deflection of the control lever 24 by the guide angle ⁇ is detected by the guide sensor 28 for this purpose.
  • the guide sensor 28 now generates a signal assigned to this guide angle ⁇ .
  • This signal is received by an evaluation and processing unit 53, which controls steering hydraulics (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 ⁇ is used as a measurement signal for regulating the motor drive 36.
  • the motor drive 36 then follows the rotor 40 by the corresponding feedback angle ⁇ .
  • 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 guide the control lever 24 in the housing 18 of the tracking device 16 back into 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 therefore damped by the damping unit 58.
  • Such a damping effect for preventing 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 motor damping, which, however, is not shown in this exemplary embodiment.
  • the manual control transmitter 12 is shown in the deflected position. As far as the Fig. 3 corresponds to the previous figures, the same reference numerals are used.
  • the manual control transmitter 12 is also designed as a machine for the wheel loader 44.
  • the wheel loader 44 is analogous to FIG Fig. 2 again shown stylistically via its drive axles 46.
  • the steering axle 48 is located in the middle of the wheel loader 44.
  • the control lever 24 is in its starting position 32.
  • Opposite the Fig. 2 is the feedback angle ⁇ of the rotor 40 of the tracking device 16 is adjusted by an angle ⁇ . Therefore, the front wheels 50 are steered at this angle ⁇ as described above.
  • the control device 57 has controlled 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 guide the control lever 24 in the housing 18 of the tracking device 16 back into 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 largely reduce any possible overshoot of the control lever 24.
  • the damping can also take place via active motor damping, which is not shown in this exemplary embodiment.
  • the operator generates a corresponding one by deflecting the control lever 24 by the guide angle ⁇ Control signal.
  • the guide angle ⁇ is recorded by the guide sensor 28.
  • the guide sensor 28 now generates a signal assigned to this guide angle ⁇ .
  • This signal is received by an evaluation and processing unit 53, which activates steering hydraulics 60 (not shown) for controlling the wheel loader 44.
  • This steering movement or the steering angle ⁇ of an articulated joint of the wheel loader 44 is detected by the angle sensor 59.
  • the measured steering angle ⁇ is used as a measurement signal for regulating the motor drive 36.
  • the actual value for the feedback angle ⁇ and the setpoint, which is formed by the steering angle ⁇ of the wheel loader, are included in the control.
  • the motor drive 36 then adjusts the rotor 40 by the corresponding feedback angle ⁇ .
  • 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 ⁇ and feedback angle ⁇ .
  • the guide angle ⁇ is recorded and is used to specify the target value for the steering speed and direction.
  • the deflection is damped 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.
  • the damping motor can be loaded with braking resistors.
  • 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 central position by means of a spring return. In this case the haptic changes, but the functionality of detecting the guide angle ⁇ is still given.
  • the tracking device 16 tracks the entire control unit 19 with the control lever 24 to the actual steering angle ⁇ .
  • the motorized actuator 34 with self-locking property receives a signal proportional to the steering angle ⁇ , compares it with its own feedback angle ⁇ and adjusts the control unit 19 until the feedback angle ⁇ is equal to the steering angle et.
  • the joystick lever shows the operator the actual steering angle ⁇ of the wheel loader via the feedback angle ⁇ .
  • the control lever 24 In a de-energized state, the control lever 24 remains in its state and thus shows the steering angle ⁇ last recorded.

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

Claims (11)

  1. Machine (44) munie d'un essieu de direction (48) et d'un émetteur de commande manuelle (12) pour la commande de la machine (44), comprenant
    (a) une plate-forme de montage (14),
    (b) un dispositif de poursuite (16) muni d'un cadre et/ou boîtier (18) et disposé sur la plate-forme de montage (14) de sorte à pouvoir se déplacer,
    (c) un levier de commande (24) disposé dans une articulation de sorte à pouvoir pivoter autour d'un axe (22), l'articulation (23) étant prévue dans le cadre et/ou boîtier (18) du dispositif de poursuite (16),
    (d) un émetteur de guidage (28) qui saisit la déviation sous forme d'angle de guidage (ω) du levier de commande (24) et génère un signal associé à la déviation (ω) ,
    (e) une unité d'évaluation et de traitement (53) qui traite le signal de l'émetteur de guidage (28) et commande un dispositif de direction hydraulique (60) pour la commande de la machine (44) en fonction de la déviation par rapport à l'angle de guidage (ω), la machine (44) étant dirigée par rapport à l'essieu de direction (48) par rapport à un angle de direction (α),
    (f) un mécanisme de rappel (30) qui ramène toujours le levier de commande (24) en fonction d'un ordre de commande dans une position de départ relative (32) dans le cadre et/ou boîtier (18) du dispositif de poursuite (16),
    (g) un dispositif de réglage (57) qui poursuit le dispositif de poursuite (16) par rapport à un angle de rappel (β) de sorte que l'angle de rappel (β) correspond à l'angle de direction (α),
    caractérisée en ce que
    (h) le dispositif de direction hydraulique (60) commande dans les deux directions au moyen du levier de commande (24) à tout moment, indépendamment de l'angle de direction (α) et de l'angle de rappel (β), l'angle de guidage (ω) pouvant être saisi pour une valeur de consigne définie de la vitesse de direction et du sens de direction.
  2. Machine (44) munie d'un essieu de direction (48) et d'un émetteur de commande manuelle (12) pour la commande de la machine (44) selon la revendication 1, caractérisée en ce que présente un dispositif d'entraînement muni d'un rotor (40) qui poursuit le dispositif de poursuite (16) par rapport à un angle (β) qui est défini par la position associée machine (44) commandée grâce à la déviation (ω).
  3. Machine (44) munie d'un essieu de direction (48) et d'un émetteur de commande manuelle (12) pour la commande de la machine (44) selon la revendication 2, caractérisée en ce que le dispositif d'entraînement (36) du dispositif de poursuite (16) présente un réducteur (38).
  4. Machine (44) munie d'un essieu de direction (48) et d'un émetteur de commande manuelle (12) pour la commande de la machine (44) selon la revendication 3, caractérisée en ce que le réducteur (38) du dispositif d'entraînement (36) du dispositif de poursuite (16) est prévu sous forme autobloquante.
  5. Machine (44) munie d'un essieu de direction (48) et d'un émetteur de commande manuelle (12) pour la commande de la machine selon l'une quelconque des revendications 1 à 4, caractérisée en ce que le mécanisme de rappel (30) présente une unité d'amortissement (58) qui génère un amortissement pour le levier de commande (24) en cas de déviation du levier de commande (24).
  6. Machine (44) munie d'un essieu de direction (48) et d'un émetteur de commande manuelle (12) pour la commande de la machine selon l'une quelconque des revendications 1 à 5, caractérisée en ce que le mécanisme de rappel (30) présente un élément à ressort (54).
  7. Machine (44) munie d'un essieu de direction (48) et d'un émetteur de commande manuelle (12) pour la commande de la machine (44) selon l'une quelconque des revendications 1 à 6, caractérisée en ce que l'unité d'amortissement (58) comprend un aimant destiné à générer l'amortissement.
  8. Machine (44) munie d'un essieu de direction (48) et d'un émetteur de commande manuelle (12) pour la commande de la machine (44) selon l'une quelconque des revendications 1 à 7, caractérisée en ce que l'unité d'amortissement (58) comprend un frein moteur et/ou un frein moteur actif.
  9. Machine (44) munie d'un essieu de direction (48) et d'un émetteur de commande manuelle (12) pour la commande de la machine (44) selon l'une quelconque des revendications 1 à 8, caractérisée en ce que l'unité d'amortissement (58) comprend un élément amortisseur hydraulique et/ou pneumatique.
  10. Machine (44) munie d'un essieu de direction (48) et d'un émetteur de commande manuelle (12) pour la commande de la machine (44) selon l'une quelconque des revendications précédentes, caractérisée en ce que le levier de commande (24) est configuré de sorte à pouvoir pivoter dans l'articulation (23) par rapport à moins deux essieux (22) perpendiculaires l'un à l'autre, chaque essieu (22) étant associé au moins à une unité d'amortissement (58).
  11. Machine (44) munie d'un essieu de direction (48) et d'un émetteur de commande manuelle (12) pour la commande de la machine (44) selon l'une quelconque des revendications 1 à 8, caractérisée en ce que la machine (44) est configurée sous forme de machine mobile (44), notamment sous forme de véhicule sur rails, de chargeuse sur roues (44) ou de grue.
EP17002025.9A 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active Active EP3343311B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PL19000407T PL3614228T3 (pl) 2016-12-13 2017-12-13 Zgłoszenie patentowe dźwignia obsługowa z aktywną jednostką komunikatu wstecznego
PL17002025T PL3343311T3 (pl) 2016-12-13 2017-12-13 Dźwignia sterowania z aktywnym sprzężeniem zwrotnym
EP19000407.7A EP3614228B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202016106916 2016-12-13

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP19000407.7A Division EP3614228B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active
EP19000407.7A Division-Into EP3614228B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active

Publications (2)

Publication Number Publication Date
EP3343311A1 EP3343311A1 (fr) 2018-07-04
EP3343311B1 true EP3343311B1 (fr) 2020-09-30

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EP19000407.7A Active EP3614228B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active
EP17002025.9A Active EP3343311B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active

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EP19000407.7A Active EP3614228B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active

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EP (2) EP3614228B1 (fr)
DE (1) DE102017105008A1 (fr)
ES (2) ES2837251T3 (fr)
PL (2) PL3614228T3 (fr)

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Publication number Priority date Publication date Assignee Title
DE202017105886U1 (de) * 2017-09-27 2017-11-29 Spohn & Burkhardt GmbH & Co. KG Schalteinrichtung
DE102018117162B4 (de) 2018-07-16 2020-03-26 Bombardier Transportation Gmbh Fahrschalteranordnung für ein Schienenfahrzeug, Schienenfahrzeug mit einer Fahrschalteranordnung und Verwendung eines Gelenklagers in einer Fahrschalteranordnung
DE102018130092B4 (de) * 2018-11-28 2020-11-12 Jenoptik Advanced Systems Gmbh Bedienvorrichtung und Verfahren zum Einstellen einer Geschwindigkeit zum Auf- und/oder Abrollen eines Seils für eine Winde und Bediensystem mit einer Bedienvorrichtung und einer Winde
DE102020120323A1 (de) * 2020-07-31 2022-02-03 Torqeedo Gmbh Vorrichtung zum Vorgeben der Fahrstufe eines Boots

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DE4408050A1 (de) 1994-03-10 1995-09-14 Thomson Brandt Gmbh Vorrichtung zur Umwandlung einer mechanischen in eine elektrische Größe
DE19625500C2 (de) * 1996-06-26 1999-10-14 Daimler Chrysler Ag Bedienelementanordnung zur Steuerung der Längs- und der Querbewegung eines Kraftfahrzeuges
DE19703846A1 (de) 1997-02-01 1998-08-06 Claas Ohg Elektrohydraulisches Lenksystem für Fahrzeuge
JP2000318587A (ja) * 1999-05-06 2000-11-21 Nissan Motor Co Ltd 自動車用運転操作装置
JP3852381B2 (ja) * 2001-11-29 2006-11-29 トヨタ自動車株式会社 車両操作装置
DE102008047346B4 (de) * 2008-09-15 2012-10-18 Deutsches Zentrum für Luft- und Raumfahrt e.V. Steuereinrichtung zur Steuerung von schienengebundenen Fahrzeugen
DE202010000176U1 (de) 2010-02-12 2011-06-30 AL-KO Kober AG, 89359 Fernbedienung

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Also Published As

Publication number Publication date
DE102017105008A1 (de) 2018-06-14
PL3614228T3 (pl) 2022-06-13
EP3614228B1 (fr) 2022-03-30
ES2837251T3 (es) 2021-06-29
EP3343311A1 (fr) 2018-07-04
ES2914804T3 (es) 2022-06-16
PL3343311T3 (pl) 2021-03-08
EP3614228A1 (fr) 2020-02-26

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