Manually operable control device

Abstract

The invention relates to a manually operable control device for operating at least one actuator of a vehicle, comprising a manually operable control lever element which can be displaced from a default position by means of a rotation about a first axis and/or about a second axis, wherein a degree and/or a direction of a corresponding displacement of the control lever element can be detected by means of a sensor device, further comprising at least a first actuator device with a first drive unit and a first output unit, wherein, by means of the first actuator device, the first axis can be acted upon with a first torque, a second actuator device with a second drive unit and a second output unit, wherein, by means of the second actuator device, the second axis can be acted upon with a second torque, wherein the first output unit is rotatably mounted about the first axis and the second output unit rotatably mounted about the second axis.

Claims

1. A manually operable control device for operating at least one actuator of a vehicle, comprising: a manually operable control lever element that is displaceable from a default position by a rotation about at least one of a first axis, a second axis, or both a first axis and a second axis; a sensor device, wherein at least one of a degree, a direction, or both a degree and a direction of a corresponding displacement of the control lever element is detectable by the sensor device; at least one first actuator device, the first actuator device including: a first drive unit and a first output unit, wherein the first drive unit includes a first electric motor, wherein the first output unit includes a first planetary gear, and wherein, the first actuator device applies a first torque to the control lever element along the first axis; and a second actuator device, the second actuator device including: a second drive unit and a second output unit, wherein the second drive unit includes a second electric motor, wherein the second output unit includes a second planetary gear, and wherein, the second actuator device applies a second torque to the control lever element along the second axis, and wherein the first output unit is rotatably mounted about the first axis and the second output unit is rotatably mounted about the second axis.

2. The manually operable control device according to claim 1, wherein the first and second planetary gears each include a sun gear, arranged in alignment with and rotatably mounted about one of the first axis or the second axis, an annulus gear radially surrounding the sun gear, and multiple planet wheels radially arranged between and intermeshed with the sun gear and the annulus gear.

3. The manually operable control device according to claim 1, wherein a first guide element is arranged at a lower end of the control lever element, wherein the first guide element is rotatably mounted about the second axis and forms a first slotted guide, and wherein the first slotted guide limits the rotation of the control lever element about the first axis to a specific first angle range.

4. The manually operable control device according to claim 3, wherein—the first guide element forms a bearing for a rotary mounting of the lower end of the control lever element.

5. The manually operable control device according to claim 3, wherein a second guide element is arranged between a lower end of the control lever element and an upper end of the control lever element, wherein the second guide element is rotatably mounted about the first axis and forms a second slotted guide, and wherein the second slotted guide limits the rotation of the control lever element about the second axis being a specific second angle range.

6. The manually operable control device according to claim 3, wherein the first output unit and the first guide element are each connected by means of a web element.

7. The manually operable control device according to claim 1, wherein a multi-part housing is provided, within which the first actuator device, the second actuator device, a first guide element or a second guide element are arranged.

8. The manually operable control device according to claim 1, wherein at least one passive reset device is provided for one or both of the first axis and the second axis, wherein passive reset device can be acted upon by a force when the control lever element is displaced, and where the control lever element is returnable to a default position by means of the force.

9. The manually operable control device according to claim 8, wherein the passive reset device includes a torsion spring element, and wherein the torsion spring element is arranged about the first or the second axis and is connected to a first guide element or a second guide element.

10. The manually operable control device according to claim 8, wherein the passive reset device includes a flat membrane element arranged, at least in the default position of the control lever element perpendicular to a longitudinal extension of the control lever element and connected with a housing and a lower end of the control lever element in a biased manner.

11. The manually operable control device according to claim 1, further comprising: a locking device, wherein the locking device can be brought into engagement with the control lever element, and wherein the locking device mechanically limits a displacement of the control lever element about at least one of the axes.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Further advantages, objectives and characteristics of the present invention are illustrated by way of the accompanying drawings and the following descriptions, which show and describe a control device by way of example.

(2) In the drawings:

(3) FIG. 1 shows an example of a vehicle with a control device and an actuator element according to the invention;

(4) FIGS. 2a, 2b, 2c, 2d show different views of a first embodiment of the control device according to the invention;

(5) FIGS. 3a, 3b show different perspective views of the first embodiment;

(6) FIG. 3c shows an exploded view of the first embodiment;

(7) FIG. 3d shows an exploded view of a second embodiment of the control device according to the invention;

(8) FIGS. 4a, 5a, 5b show different cross-sectional views of the first embodiment;

(9) FIG. 4b shows a cross-sectional view of the second embodiment;

(10) FIG. 6a shows a perspective view of parts of an actuator device of the second embodiment;

(11) FIG. 6b shows a perspective view of a guide element;

(12) FIG. 7 shows a graphic illustration of the assistance or instructions provided by the actuator devices to the driver.

DETAILED DESCRIPTION

(13) FIG. 1 shows an example of a vehicle V, which comprises a control device 1 for operating at least one actuator 200 of the vehicle V, which is arranged inside a driver's cab and which can be operated manually. In this example, the vehicle V is a tractor, and the actuator 200 is the drive (not shown in more detail) used to pivot a front loader bucket as seen in the figure.

(14) Where appropriate, a Cartesian coordinate system with the longitudinal direction 1x, the width direction 1y and the height direction 1z of the control device 1 is shown in the following figures for purposes of better orientation. It is also possible that individual components were hidden to improve clarity. FIG. 3b shows, for example, only some housing parts 91, 93, 94 of the housing 90.

(15) FIGS. 2a and 2c each show a side view of the control device 1, according to the invention, with a control lever element 10 as well as the first axis X and the second axis Y. A housing 90 and electrical connections 230, 240 for supplying power to the actuator devices 30, 40 are marked as well.

(16) FIG. 2c shows the control device 1 from above. FIG. 2d also shows the control device 1 from above; for more clarity, however, the control lever element 10, the second housing part 92 and the fifth housing part 95 are hidden.

(17) In the present invention, a longitudinal extension of the control lever element 10 is arranged perpendicular to the first axis X and the second axis Y, at least in the default position P0 of the control lever element 10. In addition, the first axis X and the second axis Y are also arranged perpendicular to one another in the present invention.

(18) FIG. 3a shows a perspective view of the control device 1.

(19) FIG. 3b shows a perspective view as well in which parts of the housing 90 were hidden, however. The figure shows the manually operable control device 1 for operating at least one actuator 200 of a vehicle V that comprises a manually operable control lever element 10. Starting from a default position P0 shown, this control lever element 10 can be displaced by means of a rotation about a first axis X and a second axis Y. In the present invention, these axes X, Y are virtual axes.

(20) A degree and a direction of a relevant displacement of the control lever element 10 can be detected by means of a sensor 50. In the present invention, this sensor 50 is configured as a Hall sensor and located on the side of the control device 1 that faces away from the control lever element 10, i.e. in the present invention, it is, from the driver's perspective, located on an underside of the control device 1 (refer to the schematic illustration according to FIG. 3b).

(21) Also, the control device 1 comprises a first actuator device 30 with a first drive unit 34 and a first output unit 32, wherein the first axis X can be acted upon by a first torque by means of the first actuator device 30 and a second actuator device 40 with a second drive unit 44 and a second output unit 42, wherein the second axis Y can be acted upon by a second torque by means of the second actuator device 40.

(22) The first output unit 32 is rotatably mounted about the first axis X, and the second output unit 42 is rotatably mounted about the second axis Y. The axis about which one of the output units 30, 40 rotates is therefore aligned with one of the first X axis or the second axis Y.

(23) In the present invention, the drive unit 34 or 44 also rotates about the same axis as the associated output unit 32 or 42. In the present invention, therefore, the drive unit 34 or 44 and the output unit 32 or 42 therefore do not form an angular gear with one another.

(24) Both actuator devices 30, 40, both drive units 34, 44 and both output units 32, 42 are each configured identically.

(25) As shown, the first actuator device 30 and the second actuator device 40 each form a motor/gear combination with each comprising the first 32 or the second output unit 42 designed as a planetary gear 60 and the first 34 or second drive unit 44 designed as an electric motor 150.

(26) In the present invention, each electric motor 150 is a torque motor with a nominal torque of 0.3 Nm. In the present invention, the planetary gear has a gear ratio of 7. Thus, an output torque of 2.1 Nm is realized in the present invention.

(27) By means of the actuator devices 30, 40 described, it is now possible to control the control lever element 10 indirectly, namely by controlling one or both of the first axis X and the second axis Y in an active or programmed manner, a method which is also known as “Force Feedback.”

(28) In the present invention, the control device 1 comprises an electronic control unit CU (refer to the schematic representation in FIG. 2a) by means of which output signals 300 (control signals) can be transmitted to both electric motors 150 and by means of which input signals 400 from a sensor 51 can be received (refer to the example in FIG. 2a). The sensor 51 is, for example, an acceleration sensor, which is designed to measure the acceleration of the actuator 200.

(29) FIGS. 3d and 6a also show that the planetary gear 60, which is configured by means of the first 32 and/or second output unit 42 in the present invention, has a rotatably mounted sun gear 61 (as seen in FIG. 3d), an annulus gear 63 radially surrounding the sun gear 61 and three planet wheels 62, which are radially arranged between and intermeshed with the sun gear 61 and the annulus gear 63. In the present invention, the sun gear 61 is aligned with one of the first axis X or second axis Y and rotatably mounted about the latter.

(30) In contrast to the other figures, FIGS. 3d and 4b show a second embodiment of the present control device 1, according to which a separate web element 64′ is arranged for connecting the planet wheels 62 with the guide elements 70, 80.

(31) FIGS. 3c, 6a, 6b, 5a and 4a, however, show examples in which such projections 89 are arranged on the second guide element 80, said projections 89 also engaging in the holes 621 of the planet wheels 62 of the other planetary gear 60 (detailed description below). In the present invention, such projections 79 are also arranged on the first guide element 70 (refer to FIG. 3c). The web element 64 according to the first embodiment is thus configured to be part of the guide elements 70 and 80.

(32) In the present invention, both guide elements 70, 80 are mounted in the housing 90 by means of a first 761, 861 and a second bearing 762, 862 by means of a roller bearing connection (refer, in particular, to FIGS. 3c and 4a).

(33) In the present invention, a module of the sun gear 61, the annulus gear 63 and the planet wheels 62 each has an identical value of 0.5 mm.

(34) In the example shown, the annulus gear 63 is mounted in a stationary manner; the output is therefore not provided via the annulus gear 63. In the present invention, the annulus gear 63 has an anti-rotation device by means of which its radial position can be locked relative to a remaining part of the control device 1. In the present invention, this anti-rotation device is firstly formed by means of a special geometry of the annulus gear 63 on its outer diameter; this special geometry consists of four flat regions 631 on the outer radius of the annulus gear 63. According to FIG. 5a, it is shown that this anti-rotation device is secondly configured as a geometry on the housing 90 that is complementary to the geometry of the annulus gear 63, which in the present invention consists of one of four flat regions 901 on an inner radius of the housing 90.

(35) FIGS. 3a and 3c, in particular, show that the housing 90 in the present invention comprises a first housing part 91 which forms the underside of the control device 1 and provides a first support element for the first actuator device 30, the second actuator device 40, the first guide element 70 and the second guide element 80. Likewise, a second housing part 92 is arranged adjacent to the first housing part 91 in the height direction 1z of the control device 1, with the second housing part 92 preferably being arranged so that it does not overlap with the first housing part 91 in the height direction 1z. It can be seen that the first 91 and the second housing part 92 are substantially configured in the shape of a shell and connected to one another by means of screw connections 99.

(36) As a further support element for the actuator devices and as protection against dust, a third 93 and a fourth housing part 94 are provided in the present invention with each being arranged to cover one of the actuator devices 30 or 40 on a side facing away from the respective guide elements 70 or 80. In the present invention, the third 93 and the fourth housing part 94 are substantially plate-shaped and connected to the first 91 and the second housing part 92 by means of screw connections 99.

(37) It can be seen that a fifth housing part 95 is designed as a plastic part and arranged adjacent to the second housing part 92 in the height direction 1z of the control device 1, with the fifth housing part 95 being arranged so that it does not overlap with the second housing part 92 in the height direction 1z. In the present invention, the fifth housing part 95 is substantially frame-shaped and connected to the second housing part 92 by means of screw connections 99. In the present invention, the control lever element 1 is arranged continuously through a cut out 951 in the fifth housing part 95.

(38) In the present invention, drive is provided via a shaft 151 of the motor 150 and the sun gear 61, with a central axis 152 of the shaft 151 being aligned in the present invention with a central axis 611 of the sun gear 61. The shaft 151 is also rigidly connected to the sun gear 61 in the present invention.

(39) In the present invention, the shaft 151 is mounted as a drive shaft on a side facing the control lever element 10 via the mounting of the sun gear 61 and ultimately via the mounting between the annulus gear 63 and the housing 90. On a side facing away from the control lever element 10, the shaft 150 is mounted in such a way that it comes in contact with the inner ring of a roller bearing 153, the outer ring of which is mounted, for example, by means of the housing 90.

(40) In the example shown, all gears 61, 62, 63 are made of plastic.

(41) In the present invention, the control lever element 1 is supported by means of a Cardan joint 70, 80, which is configured as described below.

(42) In particular, FIGS. 3c and 4a show that a first guide element 70 is arranged on a lower end 11 of the control lever element 10, which is rotatably mounted about the second axis Y and forms a first slotted guide 71, by means of which the rotation of the control lever element 10 around the first axis X can be limited to a specific first angle range.

(43) In addition, the first guide element 70 forms a bearing 73 for rotary mounting of the lower end 11 of the control lever element 10. In the present invention, the first guide element 70 has a hole 72 through the slotted guide 71. In the present invention, the lower end 11 of the control lever element also has a hole 13, with the two holes 13, 71 being arranged in alignment with one another. In addition, a rod 52 is arranged within the two holes 13, 71 around which the control lever element 10 is rotatably arranged and which rod is rigidly connected to the first guide element 70.

(44) Furthermore, particularly FIG. 4a shows that a second guide element 80 is arranged between the lower end 11 of the control lever element 10 and an upper end 12 of the control lever element 10, which second guide element is rotatably mounted about the first axis X and forms a second slotted guide 81, by means of which the rotation of the control lever element 10 about the second axis Y can be limited to certain second angle range.

(45) In the present invention, the second guide element 80 is arranged such that it at least partially overlaps with the first guide element 70 in the height direction 1z of the control device 1. In the present invention, the second guide element 80 forms, for example, an arc shape 88 in some regions with a virtual central axis of the associated arc being arranged parallel to the second axis and such that it intersects the first guide element 70.

(46) In the present invention, the first output unit 32 and the first guide element 70 as well as the second output unit 42 and the second guide element 80 are each connected by means of a web element 64; 64′ (as already mentioned above). In the present invention, this web element 64 is made of plastic. The web element 64 (refer, in particular, to FIGS. 3c and 4a) is formed by means of a first end 74 or 84 of the respective guide element 70 or 80 and is rigidly connected to the remaining part of the respective guide element 70 or 80. The web element 64′ (see FIGS. 4b and 6), however, is designed as a separate component.

(47) Both web elements 64, 64′ thus comprise multiple cylindrical projections 79, 89; 641 whose number is always three and thus corresponds to the number of the planet wheels 62 of the respective planetary gear 60. One of these projections 79, 89; 641 is in engagement with a respective hole 621, with the holes 621 being arranged centrally and continuously through the respective planet wheel 62 in axial direction of the planet wheels 62.

(48) In the present invention, a multi-part housing 90 is provided within which the first actuator device 30, the second actuator device 40, the first guide element 70 and/or the second guide element 80 are arranged.

(49) It is also shown that a passive reset device 110, 120, 130 is provided for the first axis X and for the second axis Y, which can be acted upon by a force when the control lever element 10 is moved, wherein the control lever element 10 is able to be returned to the default position P0 by means of a force.

(50) The passive reset device 110, 120 thus comprises a torsion spring element which is arranged about the first axis X or the second axis Y and connected to the first guide element 70 or the second guide element 80 (not shown in the figures).

(51) Cumulatively, the passive reset device 130 comprises a flat membrane element 131, which is arranged, at least in the default position P0 of the control lever element 10, perpendicular to a longitudinal extension 10z of the control lever element 10 and connected to the housing 90 and the lower end 11 of the control lever element 10 in a biased manner (refer to FIGS. 5a and 5b).

(52) In addition, a locking device 140 is arranged, which can be brought into engagement with the control lever element 10 and by means of which a movement of the control lever element 10 about at least one of the axes X, Y can be mechanically limited, wherein, in the present invention, a position of the locking device 140 is designed to be adjustable. The locking device 140 thus forms an adjustment member for the displacement of the control lever element 10, which is arranged in a plane parallel to the first axis X and the second axis Y, wherein the locking device 140 is movably arranged within this plane.

(53) In the present invention, the locking device 140 can be brought into engagement with a first locking element 87 for the first axis X and with a second locking element 77 for the second axis Y. In the present invention, the first 87 and the second locking element 77 are designed as a locking lug, i.e. said element is provided with a projection, wherein the projection is able to be brought into engagement with the locking device 140, in particular with the adjustment member of the locking device 140. The first locking element 87 is arranged at a second end 85 of the second guide element 80. The second locking element 77 is arranged at a second end 75 of the first guide element 70 (also refer to FIG. 2c). In the present invention, the second end 75 or 85 is arranged so that it faces away from the respective output unit 32.

(54) FIG. 7 shows a possible course of the torque T′ (“torque”) depending on the adjustment path x (“travel”) or the displacement path of the control lever element on the basis of a diagram with the axes T for torque and x for the travel. For the sake of simplicity, the latter is to be equated with a pivoting angle of the control lever element.

(55) This figure shows the torque limits T*min, T*max of the present arrangement, namely a minimum application torque T*min and a maximum application torque T*max. The latter corresponds to at least twice the break-out torque Tbo, i.e. the maximum torque required to break an existing adhesive connection. A value known in practice for this breakout torque (also called friction torque) is typically 1.5 Nm.

(56) As can be seen, all the values of the example curve T′ lie between the graphs (lines) for the break-out torque Tbo and the maximum torque T*max to be applied. According to the example curve T′, the torque T initially increases approximately linearly or with a slight slope m1.

(57) When a certain distance is reached, the torque T increases with a steep slope m2 to a maximum value Tmax and then decreases with a negative slope m3, which is also steep in terms of its degree, to a torque Tmin, which, in the present invention, has the lowest value within the example curve T′. The torque then increases again with a steep slope m4.

(58) It is therefore conceivable here that the control device is programmed in such a way that, depending on the distance travelled x or depending on the respective travel section, it either actively opposes the driver (refer to the areas with the slopes m2, m4) or actively supports the driver (refer to the areas with the slopes m3). On the one hand, this serves to warn the driver of a danger (as described above); however, it can also inform the driver by means of the abrupt change in torque that, by leaving a first travel segment, a first work level is now left as well and a second work level is started when a second travel segment is entered. This means for the driver, for example, that additional damping devices on the excavator are now switched on or have to be switched on.

(59) All the features disclosed in the application documents are claimed as being essential to the invention, either individually or in combination, provided that they are novel over prior art.

LIST OF REFERENCE SIGNS

(60) 1 Control device 10 Control lever element 11 Lower end 13, 72 Hole 20 Cardan joint 30, 40 Actuator device 32, 42 Output unit 34, 44 Drive unit 50, 51 Sensor 52 Rod 60 Planetary gear 61 Sun gear 62 Planet wheel 63 Annulus gear 64,64′ Web element 70, 80 Guide element 71 81 Slotted guide 73 Bearing 77 87 Locking element 79, 89, 641 Projection 88 Arc shape 90 Housing 91, 92, 93, 94, 95 Housing part 99 Screw connection 110, 120, 130 Reset device 131 Membrane element 140 Locking device 150 Electric motor 151 Shaft 152, 611 Central axis 153 Roller bearing 230, 240 Electrical connection 300 Control signal 400 Input signal 621 Hole 631, 901 Flat region 761, 762′, 861, 862′ Bearing 951 Cutout CU Electronic control unit P0 Default position X, Y Axis V Vehicle