Abstract
An active operating module comprising an operating lever that is pivotably mounted about at least one pivot axis and for each pivot axis at least one first active actuating force module, which generates a torque acting on the operating lever, against which a user has to deflect the operating lever out of a rest position. The at least one first active actuating force module is arranged below the at least one pivot axis and is effectively connected directly to the operating lever by a transmission. The active operating module further comprises at least two first active actuating force modules, wherein these comprise in particular a conical region and are arranged at a 90° angle to one another.
Claims
1. An adaptive operating module comprising an operating lever that is pivotably mounted about at least one pivot axis and for each pivot axis at least one first active actuating force module, which generates a torque acting on the operating lever against which a user has to deflect the operating lever out of a rest position, wherein the at least one first active actuating force module is arranged below the at least one pivot axis and is directly effectively connected to the operating lever by a transmission, and further comprising at least two first active actuating force modules, wherein the first active actuating force modules comprise in particular a conical region and are arranged at a 90° angle to one another.
2. The adaptive operating module according to claim 1, wherein the transmission and the first active actuating force module are configured in such a manner that the torque acting on the operating lever is between 1 and 10 Nm.
3. The adaptive operating module according to claim 1, further comprising a passive resetting unit which returns the operating lever into a zero position.
4. The adaptive operating module according to claim 3, wherein the passive resetting unit is designed as a spring, in particular as a leg spring and/or acts on the operating lever in the region of the at least one pivot axes.
5. The adaptive operating module according to claim 1, further comprising for each pivot axis of the operating lever a second active actuating force module, which generates a second torque acting on the operating lever, that is superimposed on the torque of the first active actuating force module.
6. The adaptive operating module according to claim 5, wherein the second active actuating force module has a smaller construction volume than the first active actuating force module corresponding thereto.
7. The adaptive operating module according to claim 1, wherein the first and/or second active actuating force module is selected from the group of radial MRF module, linear MRF module, electric motor, lifting magnet, shape memory alloy, and other active actuators.
8. The adaptive operating module according to claim 1, wherein the transmission is selected from the group of gear, toothed belt, chain, and linkage with ball head.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0026] The figures show in detail:
[0027] FIG. 1 a schematic representation of an adaptive operating module according to the invention in a preferred embodiment in a lateral view and
[0028] FIG. 2 a schematic representation of an adaptive operating module according to the invention in a preferred embodiment in a view from below and
[0029] FIG. 3 a schematic representation of the possible angle-dependent torque curves.
DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS
[0030] FIG. 1 shows a schematic representation of an adaptive operating module 1 according to the invention in a preferred embodiment in lateral view. The operating lever 3 enclosed by a lever sack is located at the upper end, which operating lever 3 at a free end can be gripped by a user. In the region of its second end located opposite the free end, the operating lever 3 is pivotably mounted. In the shown exemplary embodiment, the operating lever 3 is pivotably mounted about two pivot axes 2. Here, the first pivot axis 2 in the representation plane of the figure is located perpendicularly to the image plane and the second pivot access in the image plane, wherein both pivot axes 2 are additionally oriented perpendicularly to the operating lever 3 in its zero position shown here. The pivot axes 2 define a pivot plane which, just like the pivot axes 2, is oriented perpendicularly to the operating lever 3 in its zero position. The operating lever 3 can reach as far as to the pivot plane and contact the same or protrude downwards beyond the pivot plane, penetrating the same. For each pivot axis 2, the adaptive operating module 1 comprises a first active actuating force module 4, which in the operating state generates a torque which in the shown case is indirectly transmitted to the operating lever 3 and thus acts on the same in a desired force feedback or other function. For transmitting the torques generated by the first active actuating force modules 4 to the operating lever 3 a transmission 5 is provided, which effectively connects the first active actuating force modules 4 to the operating lever 3. In addition, the transmission 5 according to the invention amplifies the respective torque so that a larger construction volume of the first active actuating force modules 4 normally required for a greater torque is avoided and a more compact design of the adaptive operating module 1 made possible. In addition, for a particularly simple form of the transmission 5, a second transmission 5 for the second of the first active actuating force modules 4 is according to the invention, but which is not shown here. Because of the transmission 5, particularly great torques act on the operating lever 3, originating from the first active actuating force modules 4. A second active actuating force module 8 is provided, which generates a torque which is superimposed on the torque of the first active resetting modules 4 and likewise acts on the operating lever 3. This second active actuating force module 8 is configured significantly smaller since it is to only generate smaller torques. These smaller torques mainly fulfil smaller tasks such as for example a vibration alarm. The tasks requiring greater forces such as for example the blockage of certain deflections of the operating lever are assumed by the first active actuating force modules 4. In addition, it is according to the invention that the second active actuating force module 8 is effectively connected to the operating lever 3 via a transmission 5, or even via the same transmission 5 as the first active actuating force modules 4 and so that the torque generated by the second active actuating force module 8 is likewise amplified by a transmission 5. It is likewise according to the invention that the adaptive operating module 1 for each axis comprises a second active actuating force module 8. This is not shown in the shown embodiment either. For a particularly advantageous compact design, the first active actuating force modules 4 and the transmission 5, but also the second active actuating force module 8 are arranged vertically below the operating lever 3 and in particular below the pivot plane defined by the pivot axes 2. In the shown embodiment, a passive resetting unit 7 in the form of a leg spring is arranged in the region of the pivot axes 2 of the operating lever and acts on the same in such a manner that the passive resetting unit 7 returns the operating lever 3 into its zero position even in the absence of power supply of the adaptive operating module 1.
[0031] FIG. 2 shows a schematic representation of an adaptive operating module 1 according to the invention in a preferred embodiment in a view from below. The shape of the first active actuating force modules 4 is particularly succinctly noticeable. In the shown embodiment, these are arranged so as to contact one another in order to save as much installation space as possible. In addition, the first active actuating force modules 4 each comprise a conical region 6 by way of which they can be arranged so as to contact one another in a particularly compact manner. In addition, a maximum construction volume is made possible through the conical region 6 despite the minimal installation space claimed, wherein the torque that can be generated by the first actuating force module 4 is dependent on the construction volume. Accordingly, a good compromise between a compact design and a generation of such high torques can be achieved through such a configuration and arrangement of the first active actuating force modules 4 which, at least combined with as compact as possible a transmission 5, also make possible force feedback functions such as for example a blocking of the lever movement.
[0032] FIG. 3 shows a schematic representation of possible torque curves as a function of the deflection angle α in ° of the operating lever on the abscissa and of the torque T in Nm on the ordinate. The maximum value of the abscissa is given by the maximum mechanically possible deflection of the operating lever, while the maximum possible ordinate values are given by the maximum achievable torque T from the addition of those from active actuating force module and passive resetting unit.
[0033] The continuous line with linear rise, which is not marked, reflects the torque curve of the passive resetting unit. The dotted line shifted parallel thereto in the direction of the ordinate reflects the minimum possible torque curve which is obtained by exclusive subtraction of the maximum torque of the active actuating force module from that of the passive resetting module. A first non-linear curve 9 runs between both, which is obtained by a subtraction of a variable torque of the active actuating force module from that of the passive resetting unit. Such a profile can be desirable when for example the reaching of an idle run portion of an implement is to be signalled to an operator and the end of the same.
[0034] The second non-linear curve 10 is obtained by adding a variable torque of the active actuating force module to that of the passive resetting unit. The curve profile exemplarily reflects a pressure point to be overcome by an operator, while multiple pressure points along the deflection angle α, spaced evenly or distinctly apart from one another in α, equally or distinctly high in T would also be according to the invention.
[0035] The third non-linear curve 11 is obtained by a non-linear maximum addition of the torque of the active actuating force module and simulates to a user the mechanical deflection limitation of the operating lever of the joystick. This can be desirable in particular when even small deflection movements already make possible sufficiently precise controls.
