EP2065782A2 - Inductive manual controller - Google Patents

Inductive manual controller Download PDF

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Publication number
EP2065782A2
EP2065782A2 EP08166858A EP08166858A EP2065782A2 EP 2065782 A2 EP2065782 A2 EP 2065782A2 EP 08166858 A EP08166858 A EP 08166858A EP 08166858 A EP08166858 A EP 08166858A EP 2065782 A2 EP2065782 A2 EP 2065782A2
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EP
European Patent Office
Prior art keywords
control
machines according
manual control
controlling machines
control transmitter
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.)
Granted
Application number
EP08166858A
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German (de)
French (fr)
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EP2065782A3 (en
EP2065782B1 (en
Inventor
Klaus-Dieter Schulz
Thomas Neumann
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
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Fernsteuergeraete Kurt Oelsch GmbH
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Publication of EP2065782A2 publication Critical patent/EP2065782A2/en
Publication of EP2065782A3 publication Critical patent/EP2065782A3/en
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Publication of EP2065782B1 publication Critical patent/EP2065782B1/en
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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
    • 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
    • G05G2009/0474—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
    • G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil

Definitions

  • Such hand control transmitters are often used to control heavy machinery. For example, they are used to control cranes, excavators, forklifts or as a speed controller for rail vehicles and ships. You can be like operate a joystick. Basically, many types of machines that are manually operated can be controlled with a hand control transmitter. 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. It is known to detect the angular position optically, for example by means of a coded disc. The angular position can also be determined electronically, for example via a potentiometer.
  • the two-dimensional hand control transmitters have two non-parallel control shafts, which are driven by a suitable gear.
  • the sensitivity of a manual control transmitter can be achieved with a suitable transmission between control lever and control shaft.
  • the manual controllers are often used in damp, dusty or dirty environments.
  • the dirt, moisture or dust can permanently disturb the operation of the manual control transmitter after a while.
  • the moisture leads, e.g. For corrosion, the dirt or the dust often influences the functionality of the manual control transmitter.
  • the object of the invention is therefore to provide a manual control device for controlling machines, which eliminates the disadvantages of the prior art, is particularly reliable, dirt-resistant and easy to manufacture.
  • the object is achieved in that in a manual control transmitter for controlling machines of the type mentioned
  • An advantageous embodiment of the invention is that the rotary encoder detects the rotation angle and / or the angular velocity and / or the angular acceleration and generates a corresponding signal in each case. This allows different movement parameters of the control lever to be detected, which can be used for a differentiated operation of the machine. Thus, for example, the degree of acceleration of an engine can be varied.
  • the inductively sensitive element is designed as a chip containing micro-coils.
  • the training as a chip allows for a much smaller and more compact design of the hand control transmitter, as it was the case previously. It can also be used to minimize soiling because the transducers consume less volume overall.
  • the permanent magnet is located in a recess of the end face of the control shaft.
  • the recess may be formed as a bore on the end face of the control shaft, in which a bar magnet is inserted and glued.
  • a further advantageous embodiment of the hand control transmitter according to the invention is obtained by a return mechanism, wherein the control lever against the Return mechanism is actuated and returns the control lever and the control shaft after pressing in a starting position.
  • the control lever is always returned to a defined position. The operator only has to release the control lever in order to reach this starting position.
  • a further development can also be achieved by providing suitable locking points between the maximum deflection position of the control lever and its starting position. Thus, if necessary, engage the control lever in different positions additionally.
  • the return mechanism consists of two independently adjustable torsion springs, which are arranged around the control shaft. Due to the redundancy of the torsion springs, a functional spring remains in action during a spring break. This increases the reliability of the manual control transmitter. In addition, by using two torsion springs different pressure points can be generated by setting them differently. With an adjustment mechanism, the torsion springs can be biased differently.
  • the inductively sensitive element is provided on a printed circuit board, which is arranged substantially perpendicular to the axis of the control shaft.
  • the inductively sensitive element is arranged in the region of the end face of the control shaft in order to obtain the magnetic effect of the permanent magnet.
  • the signals detected by the inductively sensitive element can be optimally forwarded.
  • the printed circuit board is coupled to a motherboard, are provided on the other electronic components.
  • the motherboard contains, for example, a processor-controlled evaluation unit with a memory for processing the signals detected by the inductively sensitive element.
  • the motherboard may include an interface for external devices, via which the devices are driven, for example, for control or to otherwise utilize the detected signals.
  • the printed circuit boards and the motherboard are provided in a separate housing.
  • the switching elements applied to the circuit boards are preferably also completely or partially enclosed by the housing.
  • a particular embodiment of the invention is that the mounting device is provided in a housing from which the control lever protrudes.
  • the mounting device is an area in which all the components are arranged for their joint action. This makes it easy to mount the hand control transmitter in a modular design. Even with repairs, only the defective element needs to be replaced.
  • control lever has at least one switch. In this way, the hand control transmitter receives even more control units with which machines or devices can be controlled or events triggered.
  • the control lever is sealed with an elastic sealing body to the housing.
  • the elastic sealing body is formed by a bellows, because this proves to be particularly suitable due to its elastic properties for such control lever.
  • Fig. 1 shows in section an inventive hand control transmitter 10.
  • the manual control transmitter 10 includes a mounting device 12, in which two control shafts 14, 16 are rotatably mounted.
  • the control shafts 14, 16 are, like a cross, arranged perpendicular to each other. With a control lever 18, the two control shafts 14, 16 drive via a universal joint 19.
  • the control shafts 14, 16 are respectively biased with two leg springs 20, 22, which serve as a return mechanism 24.
  • the tension of the torsion springs 20, 22 is adjusted with one tensioning device 26, 28 each. Due to the redundancy of the leg springs 20, 22, the reliability is increased as soon as one of the leg springs 20, 22 fails, for example due to breakage.
  • the pressure points for the operation at different settings of the leg springs 20, 22 vary.
  • the control shafts 14, 16 have as bores 30, 32 recesses formed on end faces 34, 36 of the ends. In these bores 30, 32 are each permanent magnets 38, 40. Opposite each of the permanent magnets 38, 40 each have a printed circuit board 42, 44 is arranged. On the circuit boards 42, 44 each have an inductively sensitive element 46, 48 is provided. These inductively sensitive elements 46, 48 serve in cooperation with the permanent magnets 38, 40 as a rotary encoder.
  • the inductively sensitive elements 46, 48 are chips with micro-coils which react to a changing magnetic field.
  • the permanent magnets 38, 40 induce an electric current in the coils, which can be evaluated for detecting a rotational movement of the control shafts 14, 16.
  • the current is forwarded as a signal stream for processing.
  • the set angle can be determined, but possibly also an angular velocity or an angular acceleration, which can be used to control a machine.
  • the permanent magnets 38, 40 are arranged for this purpose largely perpendicular to the respective chip or the printed circuit boards 42, 44.
  • the printed circuit boards 42, 44 are provided on a mother board 47.
  • 44 further electronic functional units 49 are provided in addition to the circuit boards 42, 44.
  • this includes an interface 50 in order to connect the manual control transmitter 10 with machines or devices to be controlled.
  • a processor unit, a memory and other switching logic which may be provided as integrated circuits on a chip, are located on the motherboard 47.
  • these functional elements are not shown in the present diagram.
  • the hand control transmitter 10 operates digitally. But an analogous method of operation can also be provided.
  • the printed circuit boards 42, 44 and the mother board 47 are located in a separate, inner housing 52, which is usually made of plastic. This protects them from external influences.
  • the printed circuit boards 42, 44 are there again in pockets 56 of the inner housing 52.
  • the circuit boards 42, 44 are aligned stable in this way, so that the inductively sensitive elements 46, 48 each perpendicular to the end face 34, 36 of the control shafts 14, 16 are arranged.
  • the inner housing 52 is located next to the mounting device 12 in an outer housing 54, which in the present case is made of metal.
  • the outer housing 54 pot-like encloses the entire control mechanism and protects it from external influences.
  • a flange 57 is provided in order to fix the hand control transmitter 10 in an assembly modular.
  • the control lever 18 protrudes to be able to operate it, out of the outer housing 54.
  • a switch 60 preferably a deadman switch, which allows the operation of an additional function of the manual control transmitter 10.
  • an elastic bellows 62 is coated. This bellows 62 seals the outer housing 54 of the manual control transmitter 10.
  • An upper portion 64 of the bellows 62 is formed as a handle 66, whereby the control lever 18 is operated. With 68 mounting feet are referred to, with which the manual control transmitter 10 can be supported in an assembly.

Abstract

The manual control system (10) has a control lever (18), which is operated to control a control shaft (14, 16) which is relatable in a mounting device (12). The control lever (18) is connected through a gearbox (19). A rotation angle sensor captures and outputs the rotation angle of the control shaft (14, 16), which with the control lever (18) is set. The rotation angle sensor is formed from a permanent magnet (38, 40), which at one end of the control shaft is fixed. A sensitive inductive element (46, 48) turns the permanent magnets. A signal (46, 48) is generated for the rotation angle.

Description

Technisches GebietTechnical area

Die Erfindung betrifft einen Handsteuergeber zum Steuern von Maschinen, enthaltend

  1. a) einen Steuerhebel, welcher zum Steuern betätigt wird,
  2. b) wenigstens eine Steuerwelle,
    • welche drehbar in einer Montagevorrichtung gelagert ist, und
    • welche unmittelbar und/oder über ein Getriebe mit dem Steuerhebel verbunden ist,
  3. c) einen Drehwinkelgeber, zum Erfassen und Ausgeben des Drehwinkels der Steuerwelle, welcher mit dem Steuerhebel jeweils eingestellt wird.
The invention relates to a manual control transmitter for controlling machines, containing
  1. a) a control lever which is actuated for control,
  2. b) at least one control shaft,
    • which is rotatably mounted in a mounting device, and
    • which is connected directly and / or via a transmission with the control lever,
  3. c) a rotary encoder, for detecting and outputting the rotation angle of the control shaft, which is set with the control lever respectively.

Stand der TechnikState of the art

Solche Handsteuergeber werden häufig zur Steuerung von schweren Maschinen eingesetzt. Beispielsweise werden sie zur Steuerung von Kränen, Baggern, Gabelstaplern oder als Fahrtenregler für Schienenfahrzeuge und Schiffe eingesetzt. Sie lassen sich wie ein Joystick bedienen. Grundsätzlich lassen sich viele Arten von Maschinen, die manuell bedient werden, mit einem Handsteuergeber steuern. Modulare Bauweise unterstützt die Verwendung eines Handsteuergebers in vielen Anordnungen für Maschinensteuerungen.Such hand control transmitters are often used to control heavy machinery. For example, they are used to control cranes, excavators, forklifts or as a speed controller for rail vehicles and ships. You can be like operate a joystick. Basically, many types of machines that are manually operated can be controlled with a hand control transmitter. Modular design supports the use of a manual control transmitter in many machine control arrangements.

Die Steuerung erfolgt über die jeweilige Winkellage der Steuerwelle, die mit dem Steuerhebel verbunden ist. Es ist bekannt, die Winkellage optisch beispielsweise mittels einer kodierten Scheibe zu erfassen. Die Winkellage lässt sich aber auch elektronisch beispielsweise über ein Potentiometer ermitteln.The control takes place via the respective angular position of the control shaft, which is connected to the control lever. It is known to detect the angular position optically, for example by means of a coded disc. The angular position can also be determined electronically, for example via a potentiometer.

Es gibt eindimensionale Handsteuergeber, die nur über eine Achse betrieben werden. Aber auch zweidimensionale Handsteuergeber werden verwendet. Die zweidimensionalen Handsteuergeber verfügen dementsprechend über zwei nichtparallele Steuerwellen, die über ein geeignetes Getriebe angetrieben werden.There are one-dimensional manual control encoders which are only operated via one axis. But also two-dimensional hand control encoders are used. Accordingly, the two-dimensional hand control transmitters have two non-parallel control shafts, which are driven by a suitable gear.

Die Empfindlichkeit eines Handsteuergebers lässt sich mit einem geeigneten Getriebe zwischen Steuerhebel und Steuerwelle erzielen.The sensitivity of a manual control transmitter can be achieved with a suitable transmission between control lever and control shaft.

Die Handsteuergeber kommen oft in feuchten, staubigen oder schmutzigen Umgebungen zum Einsatz. Dabei kann der Schmutz, die Feuchtigkeit oder der Staub nach einer Weile den Betrieb des Handsteuergebers nachhaltig stören. Die Feuchtigkeit führt z.B. zur Korrosion, der Schmutz, bzw. der Staub beeinflusst häufig die Funktionstüchtigkeit des Handsteuergebers.The manual controllers are often used in damp, dusty or dirty environments. The dirt, moisture or dust can permanently disturb the operation of the manual control transmitter after a while. The moisture leads, e.g. For corrosion, the dirt or the dust often influences the functionality of the manual control transmitter.

Offenbarung der ErfindungDisclosure of the invention

Aufgabe der Erfindung ist es daher, einen Handsteuergeber zum Steuern von Maschinen zu schaffen, der die Nachteile des Standes der Technik beseitigt, besonders zuverlässig, schmutzresistent und einfach herzustellen ist.The object of the invention is therefore to provide a manual control device for controlling machines, which eliminates the disadvantages of the prior art, is particularly reliable, dirt-resistant and easy to manufacture.

Erfindungsgemäß wird die Aufgabe dadurch gelöst, dass bei einem Handsteuergeber zum Steuern von Maschinen der eingangs genannten ArtAccording to the invention the object is achieved in that in a manual control transmitter for controlling machines of the type mentioned

d) der Drehwinkelgeber gebildet wird aus

  • einem Permanentmagneten, welcher an einem Ende der Steuerwelle fixiert ist,
  • einem induktiv sensiblen Element, welches Drehungen des Permanentmagneten erfasst und
  • einem Signalgeber, welcher ein dem Drehwinkel entsprechendes Signal erzeugt.
d) the rotary encoder is formed from
  • a permanent magnet fixed to one end of the control shaft,
  • an inductively sensitive element which detects rotations of the permanent magnet and
  • a signal generator which generates a signal corresponding to the angle of rotation.

Eine vorteilhafte Ausgestaltung der Erfindung besteht darin, dass der Drehwinkelgeber den Drehwinkel und/oder die Winkelgeschwindigkeit und/oder die Winkelbeschleunigung erfasst und jeweils ein entsprechendes Signal generiert. Damit lassen sich verschiedene Bewegungsparameter des Steuerhebels erfassen, die für eine differenzierte Bedienung der Maschine herangezogen werden können. Damit kann beispielsweise der Beschleunigungsgrad eines Motors variiert werden.An advantageous embodiment of the invention is that the rotary encoder detects the rotation angle and / or the angular velocity and / or the angular acceleration and generates a corresponding signal in each case. This allows different movement parameters of the control lever to be detected, which can be used for a differentiated operation of the machine. Thus, for example, the degree of acceleration of an engine can be varied.

Als eine besonders bevorzugte Ausbildung des erfindungsgemäßen Handsteuergebers ist das induktiv sensible Element als Chip ausgebildet, welcher Mikrospulen enthält. Die Ausbildung als Chip lässt eine erheblich verkleinerte und kompaktere Bauweise des Handsteuergebers zu, als es bisher der Fall war. Damit lässt sich auch erreichen, dass die Verschmutzung minimiert wird, weil die Messaufnehmer insgesamt weniger Volumen verbrauchen.As a particularly preferred embodiment of the hand control transmitter according to the invention, the inductively sensitive element is designed as a chip containing micro-coils. The training as a chip allows for a much smaller and more compact design of the hand control transmitter, as it was the case previously. It can also be used to minimize soiling because the transducers consume less volume overall.

Vorzugsweise befindet sich der Permanentmagnet in einer Ausnehmung der Stirnseite der Steuerwelle. Die Ausnehmung kann als eine Bohrung auf der Stirnseite der Steuerwelle ausgebildet sein, in die ein Stabmagnet eingeführt und verklebt ist. Durch diese Maßnahme wird erreicht, dass der Permanentmagnet keinen zusätzlichen Raum verbraucht und in der Ausnehmung geschützt angeordnet ist.Preferably, the permanent magnet is located in a recess of the end face of the control shaft. The recess may be formed as a bore on the end face of the control shaft, in which a bar magnet is inserted and glued. By this measure it is achieved that the permanent magnet consumes no additional space and is arranged protected in the recess.

Eine weitere vorteilhafte Ausbildung des erfindungsgemäßen Handsteuergebers erhält man durch einen Rückholmechanismus, wobei der Steuerhebel gegen den Rückholmechanismus betätigbar ist und den Steuerhebel und die Steuerwelle nach dem Betätigen in eine Ausgangsposition zurückbringt. Damit wird der Steuerhebel immer in eine definierte Stellung zurückgebracht. Der Bediener muss den Steuerhebel nur loslassen, damit er diese Ausgangsposition erreicht. Eine Weiterbildung kann auch dadurch erreicht werden, dass zwischen der maximalen Ausschlagstellung des Steuerhebels und dessen Ausgangsposition geeignete Rastpunkte vorgesehen sind. So kann ggf. der Steuerhebel in verschiedenen Stellungen zusätzlich einrasten.A further advantageous embodiment of the hand control transmitter according to the invention is obtained by a return mechanism, wherein the control lever against the Return mechanism is actuated and returns the control lever and the control shaft after pressing in a starting position. Thus, the control lever is always returned to a defined position. The operator only has to release the control lever in order to reach this starting position. A further development can also be achieved by providing suitable locking points between the maximum deflection position of the control lever and its starting position. Thus, if necessary, engage the control lever in different positions additionally.

In einer weiteren vorteilhaften Ausgestaltung des erfindungsgemäßen Handsteuergebers besteht der Rückholmechanismus aus zwei unabhängig einstellbaren Schenkelfedern, welche um die Steuerwelle angeordnet sind. Durch die Redundanz der Schenkelfedern bleibt bei einem Federbruch eine funktionstüchtige Feder im Einsatz. Dies erhöht die Zuverlässigkeit des Handsteuergebers. Zudem lassen sich durch Verwendung von zwei Schenkelfedern unterschiedliche Druckpunkte erzeugen, indem sie unterschiedlich eingestellt werden. Mit einem Einstellmechanismus können die Schenkelfedern dazu unterschiedlich vorgespannt werden.In a further advantageous embodiment of the hand control transmitter according to the invention, the return mechanism consists of two independently adjustable torsion springs, which are arranged around the control shaft. Due to the redundancy of the torsion springs, a functional spring remains in action during a spring break. This increases the reliability of the manual control transmitter. In addition, by using two torsion springs different pressure points can be generated by setting them differently. With an adjustment mechanism, the torsion springs can be biased differently.

Vorzugsweise ist das induktiv sensible Element auf einer Leiterplatte vorgesehen, welche im Wesentlichen senkrecht zur Achse der Steuerwelle angeordnet ist. Das induktiv sensible Element wird dazu im Bereich der Stirnseite der Steuerwelle angeordnet, um die magnetische Wirkung des Permanentmagneten zu erhalten. Durch die Verwendung einer Leiterplatte lassen sich die von dem induktiv sensiblen Element erfassten Signale optimal weiterleiten. Besonders vorteilhaft ist die Leiterplatte mit einer Mutterleiterplatte gekoppelt ist, auf der weitere elektronische Bauelemente vorgesehen sind. Die Mutterleiterplatte enthält beispielsweise eine prozessorgesteuerte Auswerteinheit mit einem Speicher zur Verarbeitung der vom induktiv sensiblen Element erfassten Signale. Außerdem kann die Mutterleiterplatte eine Schnittstelle für externe Geräte enthalten, über die die Geräte beispielsweise zur Steuerung angesteuert werden oder um die erfassten Signale anderweitig zu verwerten.Preferably, the inductively sensitive element is provided on a printed circuit board, which is arranged substantially perpendicular to the axis of the control shaft. The inductively sensitive element is arranged in the region of the end face of the control shaft in order to obtain the magnetic effect of the permanent magnet. By using a printed circuit board, the signals detected by the inductively sensitive element can be optimally forwarded. Particularly advantageous is the printed circuit board is coupled to a motherboard, are provided on the other electronic components. The motherboard contains, for example, a processor-controlled evaluation unit with a memory for processing the signals detected by the inductively sensitive element. In addition, the motherboard may include an interface for external devices, via which the devices are driven, for example, for control or to otherwise utilize the detected signals.

In einer vorteilhaften Variante sind die Leiterplatten und die Mutterleiterplatte in einem eigenständigen Gehäuse vorgesehen. Durch diese Maßnahme wird erreicht, dass die elektrischen Schaltungen separat vor Verschmutzungen und ggf. gegen Feuchtigkeit geschützt sind. Dabei sind vorzugsweise die auf den Leiterplatten aufgebrachten Schaltelemente ebenfalls von dem Gehäuse ganz oder teilweise umschlossen.In an advantageous variant, the printed circuit boards and the motherboard are provided in a separate housing. By this measure it is achieved that the electrical circuits separately from contamination and possibly against moisture are protected. In this case, the switching elements applied to the circuit boards are preferably also completely or partially enclosed by the housing.

Eine besondere Ausbildung der Erfindung besteht darin, dass die Montagevorrichtung in einem Gehäuse vorgesehen ist, aus dem der Steuerhebel herausragt. Die Montagevorrichtung ist ein Bereich, in dem sämtliche Bauelemente für ihr gemeinsames Wirken angeordnet sind. Dadurch lässt sich der Handsteuergeber leicht in einer Modulbauweise montieren. Auch bei Reparaturen muss nur das defekte Element ausgetauscht werden.A particular embodiment of the invention is that the mounting device is provided in a housing from which the control lever protrudes. The mounting device is an area in which all the components are arranged for their joint action. This makes it easy to mount the hand control transmitter in a modular design. Even with repairs, only the defective element needs to be replaced.

In einer bevorzugten Variante weist der Steuerhebel wenigstens einen Schalter auf. Auf diese Weise erhält der Handsteuergeber noch mehr Steuereinheiten, mit denen Maschinen bzw. Geräte gesteuert oder Ereignisse ausgelöst werden können.In a preferred variant, the control lever has at least one switch. In this way, the hand control transmitter receives even more control units with which machines or devices can be controlled or events triggered.

Gemäß einer vorteilhaften Ausgestaltung des erfindungsgemäßen Handsteuergebers ist der Steuerhebel mit einem elastischen Dichtkörper zum Gehäuse hin abgedichtet. Auf diese Weise sind sämtliche Bauteile des Handsteuergebers innerhalb des Gehäuses vor Verschmutzung und Feuchtigkeit geschützt. Vorzugsweise wird dann der elastische Dichtkörper von einem Faltbalg gebildet, weil dieser sich aufgrund seiner elastischen Eigenschaften für solche Steuerhebel als besonders geeignet erweist.According to an advantageous embodiment of the hand control transmitter according to the invention, the control lever is sealed with an elastic sealing body to the housing. In this way, all components of the manual control transmitter are protected within the housing from dirt and moisture. Preferably, then the elastic sealing body is formed by a bellows, because this proves to be particularly suitable due to its elastic properties for such control lever.

Weitere Ausgestaltungen und Vorteile ergeben sich aus dem Gegenstand der Unteransprüche, sowie der Zeichnung mit der dazugehörigen Beschreibung.Further embodiments and advantages will become apparent from the subject of the dependent claims, as well as the drawing with the associated description.

Ein Ausführungsbeispiel der Erfindung ist nachstehend unter Bezugnahme auf die zugehörige Zeichnung näher erläutert.An embodiment of the invention is explained below with reference to the accompanying drawings.

Kurze Beschreibung der ZeichnungShort description of the drawing

Fig. 1Fig. 1
zeigt in einer schematischen Prinzipskizze einen Schnitt eines erfindungsgemäßen Handsteuerungsgebers.shows a schematic schematic diagram of a section of a hand control transmitter according to the invention.
Bevorzugtes AusführungsbeispielPreferred embodiment

Fig. 1 zeigt im Schnitt einen erfindungsgemäßen Handsteuerungsgeber 10. Der Handsteuerungsgeber 10 enthält eine Montagevorrichtung 12, in der zwei Steuerwellen 14, 16 drehbar gelagert sind. Die Steuerwellen 14, 16 sind, wie ein Kreuz, senkrecht zueinander angeordnet. Mit einem Steuerhebel 18 lassen sich die beiden Steuerwellen 14, 16 über ein Kardangelenk 19 antreiben. Die Steuerwellen 14, 16 sind jeweils mit zwei Schenkelfedern 20, 22, welche als Rückholmechanismus 24 dienen, vorgespannt. In der Schnittzeichnung ist nur das Schenkelfedernpaar 20, 22 zu sehen, welches die Steuerwelle 14 umschließt. Die Spannung der Schenkelfedern 20, 22 wird mit jeweils einer Spannvorrichtung 26, 28 eingestellt. Durch die Redundanz der Schenkelfedern 20, 22 wird die Zuverlässigkeit erhöht, sobald eine der Schenkelfedern 20, 22, beispielsweise durch Bruch, ausfällt. Außerdem lassen sich die Druckpunkte für die Bedienung bei unterschiedlicher Einstellung der Schenkelfedern 20, 22 variieren. Fig. 1 shows in section an inventive hand control transmitter 10. The manual control transmitter 10 includes a mounting device 12, in which two control shafts 14, 16 are rotatably mounted. The control shafts 14, 16 are, like a cross, arranged perpendicular to each other. With a control lever 18, the two control shafts 14, 16 drive via a universal joint 19. The control shafts 14, 16 are respectively biased with two leg springs 20, 22, which serve as a return mechanism 24. In the sectional drawing, only the leg spring pair 20, 22 can be seen, which encloses the control shaft 14. The tension of the torsion springs 20, 22 is adjusted with one tensioning device 26, 28 each. Due to the redundancy of the leg springs 20, 22, the reliability is increased as soon as one of the leg springs 20, 22 fails, for example due to breakage. In addition, the pressure points for the operation at different settings of the leg springs 20, 22 vary.

Die Steuerwellen 14, 16 weisen als Bohrungen 30, 32 ausgebildete Ausnehmungen an Stirnseiten 34, 36 der Enden auf. In diesen Bohrungen 30, 32 befinden sich jeweils Permanentmagnete 38, 40. Gegenüber eines jeden Permanentmagneten 38, 40 ist jeweils eine Leiterplatte 42, 44 angeordnet. Auf den Leiterplatten 42, 44 ist jeweils ein induktiv sensibles Element 46, 48 vorgesehen. Diese induktiv sensiblen Elemente 46, 48 dienen im Zusammenwirken mit den Permanentmagneten 38, 40 als Drehwinkelgeber.The control shafts 14, 16 have as bores 30, 32 recesses formed on end faces 34, 36 of the ends. In these bores 30, 32 are each permanent magnets 38, 40. Opposite each of the permanent magnets 38, 40 each have a printed circuit board 42, 44 is arranged. On the circuit boards 42, 44 each have an inductively sensitive element 46, 48 is provided. These inductively sensitive elements 46, 48 serve in cooperation with the permanent magnets 38, 40 as a rotary encoder.

Bei den induktiv sensiblen Elementen 46, 48 handelt es sich um Chips mit Mikrospulen, die auf ein sich änderndes Magnetfeld reagieren. Durch eine Bewegung der Steuerwellen 14, 16 mittels des Steuerhebels 18 induzieren die Permanentmagnete 38, 40 einen elektrischen Strom in den Spulen, der zur Erfassung einer Drehbewegung der Steuerwellen 14, 16 ausgewertet werden kann. Der Strom wird dazu als Signalstrom zur Verarbeitung weitergeleitet. Hierbei lässt sich nicht nur der eingestellte Winkel ermitteln, sondern ggf. auch eine Winkelgeschwindigkeit oder eine Winkelbeschleunigung, die zur Steuerung einer Maschine herangezogen werden können.The inductively sensitive elements 46, 48 are chips with micro-coils which react to a changing magnetic field. By a movement of the control shafts 14, 16 by means of the control lever 18, the permanent magnets 38, 40 induce an electric current in the coils, which can be evaluated for detecting a rotational movement of the control shafts 14, 16. The current is forwarded as a signal stream for processing. In this case, not only the set angle can be determined, but possibly also an angular velocity or an angular acceleration, which can be used to control a machine.

Die Permanentmagnete 38, 40 sind dazu weitestgehend senkrecht zu dem jeweiligen Chip bzw. der Leiterplatten 42, 44 angeordnet. Die Leiterplatten 42, 44 sind auf einer Mutterleiterplatte 47 vorgesehen. Auf der Mutterleiterplatte 47 sind neben den Leiterplatten 42, 44 weitere elektronische Funktionseinheiten 49 vorgesehen. Dazu gehört insbesondere eine Schnittstelle 50, um den Handsteuergeber 10 mit zu steuernden Maschinen oder Geräten zu verbinden. Ferner befinden sich im Bedarfsfall und zur intelligenten Ausbildung des Handsteuergebers 10 eine Prozessoreinheit, ein Speicher und andere Schaltlogik, die als integrierte Schaltkreise auf einem Chip vorgesehen sein können, auf der Mutterleiterplatte 47. Diese Funktionselemente sind in vorliegender Darstellung nicht abgebildet. Vorzugsweise arbeitet der Handsteuerungsgeber 10 digital. Aber eine analoge Arbeitsweise kann auch vorgesehen sein.The permanent magnets 38, 40 are arranged for this purpose largely perpendicular to the respective chip or the printed circuit boards 42, 44. The printed circuit boards 42, 44 are provided on a mother board 47. On the motherboard 47, 44 further electronic functional units 49 are provided in addition to the circuit boards 42, 44. In particular, this includes an interface 50 in order to connect the manual control transmitter 10 with machines or devices to be controlled. Furthermore, if necessary and for the intelligent design of the manual control transmitter 10, a processor unit, a memory and other switching logic, which may be provided as integrated circuits on a chip, are located on the motherboard 47. These functional elements are not shown in the present diagram. Preferably, the hand control transmitter 10 operates digitally. But an analogous method of operation can also be provided.

Die Leiterplatten 42, 44 sowie die Mutterleiterplatte 47 befinden sich in einem eigenen, inneren Gehäuse 52, welches üblicherweise aus Kunststoff besteht. Dadurch sind sie vor äußeren Einflüssen geschützt. Die Leiterplatten 42, 44 befinden sich dort wiederum in Taschen 56 des inneren Gehäuses 52. Die Leiterplatten 42, 44 werden auf diese Weise stabil ausgerichtet, so dass die induktiv sensiblen Elemente 46, 48 jeweils senkrecht zur Stirnseite 34, 36 der Steuerwellen 14, 16 angeordnet sind. Das innere Gehäuse 52 befindet sich neben der Montagevorrichtung 12 in einem äußeren Gehäuse 54, welches vorliegend aus Metall gefertigt ist. Das äußere Gehäuse 54 umschließt topfartig den gesamten Steuerungsmechanismus und schützt ihn vor äußeren Einflüssen. An dem äußeren Gehäuse 54 ist ein Flansch 57 vorgesehen um den Handsteuerungsgeber 10 in einer Baugruppe modulartig befestigen zu können.The printed circuit boards 42, 44 and the mother board 47 are located in a separate, inner housing 52, which is usually made of plastic. This protects them from external influences. The printed circuit boards 42, 44 are there again in pockets 56 of the inner housing 52. The circuit boards 42, 44 are aligned stable in this way, so that the inductively sensitive elements 46, 48 each perpendicular to the end face 34, 36 of the control shafts 14, 16 are arranged. The inner housing 52 is located next to the mounting device 12 in an outer housing 54, which in the present case is made of metal. The outer housing 54 pot-like encloses the entire control mechanism and protects it from external influences. On the outer housing 54, a flange 57 is provided in order to fix the hand control transmitter 10 in an assembly modular.

Der Steuerhebel 18 ragt, um ihn betätigen zu können, aus dem äußeren Gehäuse 54 heraus. Am oberen Ende 58 des Steuerhebels 18 befindet sich ein Schalter 60, vorzugsweise ein Totmannschalter, der die Bedienung einer zusätzlichen Funktion des Handsteuergebers 10 ermöglicht. Über den Steuerhebel 18, sowie den Schalter 60 ist ein elastischer Faltenbalg 62 übergezogen. Dieser Faltenbalg 62 dichtet das äußere Gehäuse 54 des Handsteuergebers 10 ab. Ein oberer Teilbereich 64 des Faltenbalges 62 ist als Griff 66 ausgebildet, womit der Steuerhebel 18 bedient wird. Mit 68 werden Montagefüße bezeichnet, mit denen der Handsteuergeber 10 in einer Baugruppe abgestützt werden kann.The control lever 18 protrudes to be able to operate it, out of the outer housing 54. At the upper end 58 of the control lever 18 is a switch 60, preferably a deadman switch, which allows the operation of an additional function of the manual control transmitter 10. About the control lever 18, and the switch 60, an elastic bellows 62 is coated. This bellows 62 seals the outer housing 54 of the manual control transmitter 10. An upper portion 64 of the bellows 62 is formed as a handle 66, whereby the control lever 18 is operated. With 68 mounting feet are referred to, with which the manual control transmitter 10 can be supported in an assembly.

Claims (13)

Handsteuergeber (10) zum Steuern von Maschinen, enthaltend a) einen Steuerhebel (18), welcher zum Steuern betätigt wird, b) wenigstens eine Steuerwelle (14, 16), - welche drehbar in einer Montagevorrichtung (12) gelagert ist, und - welche unmittelbar und/oder über ein Getriebe (19) mit dem Steuerhebel (18) verbunden ist, c) einen Drehwinkelgeber, zum Erfassen und Ausgeben des Drehwinkels der Steuerwelle (14, 16), welcher mit dem Steuerhebel (18) jeweils eingestellt wird, dadurch gekennzeichnet, dass d) der Drehwinkelgeber gebildet wird aus - einem Permanentmagneten (38, 40), welcher an einem Ende der Steuerwelle (14, 16) fixiert ist, - einem induktiv sensiblen Element (46, 48), welches Drehungen des Permanentmagneten (38, 40) erfasst und - einem Signalgeber (46, 48), welcher ein dem Drehwinkel entsprechendes Signal erzeugt. Manual control transmitter (10) for controlling machines, comprising a) a control lever (18) which is actuated for control, b) at least one control shaft (14, 16), - Which is rotatably mounted in a mounting device (12), and which is connected directly and / or via a gear (19) to the control lever (18), c) a rotary encoder, for detecting and outputting the rotation angle of the control shaft (14, 16), which is set with the control lever (18) respectively, characterized in that d) the rotary encoder is formed from a permanent magnet (38, 40) fixed at one end of the control shaft (14, 16), - An inductively sensitive element (46, 48), which detects rotations of the permanent magnet (38, 40) and - A signal generator (46, 48) which generates a signal corresponding to the rotation angle. Handsteuergeber (10) zum Steuern von Maschinen nach Anspruch 1, dadurch gekennzeichnet, dass der Drehwinkelgeber den Drehwinkel und/oder die Winkelgeschwindigkeit und/oder die Winkelbeschleunigung erfasst und jeweils ein entsprechendes Signal generiert.Manual control transmitter (10) for controlling machines according to claim 1, characterized in that the rotary encoder detects the rotation angle and / or the angular velocity and / or the angular acceleration and in each case generates a corresponding signal. Handsteuergeber (10) zum Steuern von Maschinen nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass das induktiv sensible Element (46, 48) als Chip ausgebildet ist, welcher Mikrospulen enthält.Manual control transmitter (10) for controlling machines according to one of claims 1 or 2, characterized in that the inductively sensitive element (46, 48) is designed as a chip containing micro-coils. Handsteuergeber (10) zum Steuern von Maschinen nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass der Permanentmagnet (38, 40) in einer Ausnehmung (30, 32) einer Stirnseite (34, 36) der Steuerwelle (14, 16) angeordnet ist.Manual control transmitter (10) for controlling machines according to one of Claims 1 to 3, characterized in that the permanent magnet (38, 40) is arranged in a recess (30, 32) of an end face (34, 36) of the control shaft (14, 16) is. Handsteuergeber (10) zum Steuern von Maschinen nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass der Steuerhebel (18) gegen einen Rückholmechanismus (24) betätigbar ist, der den Steuerhebel (18) und die Steuerwelle (16, 18) nach dem Betätigen in eine Ausgangsposition zurückbringt.A manual control transmitter (10) for controlling machines according to any one of claims 1 to 4, characterized in that the control lever (18) is operable against a return mechanism (24) which controls the control lever (18) and the control shaft (16, 18) Pressing returns to a starting position. Handsteuergeber (10) zum Steuern von Maschinen nach Anspruch 4, dadurch gekennzeichnet, dass der Rückholmechanismus (24) aus zwei unabhängig einstellbaren Schenkelfedern (20, 22) besteht, welche um die Steuerwelle (14, 16) angeordnet sind.Manual control transmitter (10) for controlling machines according to claim 4, characterized in that the return mechanism (24) consists of two independently adjustable torsion springs (20, 22) which are arranged around the control shaft (14, 16). Handsteuergeber (10) zum Steuern von Maschinen nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass das induktiv sensible Element (46, 48) auf einer Leiterplatte (42, 44) vorgesehen ist, welche im Wesentlichen senkrecht zur Achse der Steuerwelle (14, 16) angeordnet ist.Manual control transmitter (10) for controlling machines according to one of claims 1 to 6, characterized in that the inductively sensitive element (46, 48) is provided on a printed circuit board (42, 44) which is substantially perpendicular to the axis of the control shaft (14 , 16) is arranged. Handsteuergeber (10) zum Steuern von Maschinen nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die Leiterplatte (42, 44) mit einer Mutterleiterplatte (47) gekoppelt ist, auf der weitere elektronische Funktionselemente vorgesehen sind.Manual control transmitter (10) for controlling machines according to one of Claims 1 to 7, characterized in that the printed circuit board (42, 44) is coupled to a motherboard (47) on which further electronic functional elements are provided. Handsteuergeber (10) zum Steuern von Maschinen nach einem der Ansprüche 7 bis 8, dadurch gekennzeichnet, dass die Leiterplatten (42, 44) und die Mutterleiterplatte (47) in einem eigenständigen Gehäuse (52) vorgesehen sind.Manual control transmitter (10) for controlling machines according to one of Claims 7 to 8, characterized in that the printed circuit boards (42, 44) and the motherboard (47) are provided in a separate housing (52). Handsteuergeber (10) zum Steuern von Maschinen nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass die Montagevorrichtung (12) in einem Gehäuse (54) vorgesehen ist, aus dem der Steuerhebel (18) herausragt.Manual control transmitter (10) for controlling machines according to one of claims 1 to 9, characterized in that the mounting device (12) in a housing (54) is provided, from which the control lever (18) protrudes. Handsteuergeber (10) zum Steuern von Maschinen nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass der Steuerhebel (18) wenigstens einen Schalter (60) aufweist.Manual control transmitter (10) for controlling machines according to one of claims 1 to 10, characterized in that the control lever (18) has at least one switch (60). Handsteuergeber (10) zum Steuern von Maschinen nach einem der Ansprüche 1 bis 11, dadurch gekennzeichnet, dass der Steuerhebel (18) mit einem elastischen Dichtkörper (62) zum Gehäuse (54) abgedichtet ist.Manual control transmitter (10) for controlling machines according to one of claims 1 to 11, characterized in that the control lever (18) with an elastic sealing body (62) to the housing (54) is sealed. Handsteuergeber (10) zum Steuern von Maschinen nach Anspruch 12, dadurch gekennzeichnet, dass der elastische Dichtkörper von einem Faltbalg (62) gebildet wird.Manual control transmitter (10) for controlling machines according to claim 12, characterized in that the elastic sealing body is formed by a folding bellows (62).
EP08166858A 2007-11-27 2008-10-17 Inductive manual controller Not-in-force EP2065782B1 (en)

Applications Claiming Priority (1)

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EP3232295A3 (en) * 2016-04-13 2018-01-31 MAKERSAN Makina Otomotiv Sanayi Ticaret Ltd. Sti. A control lever for precise operation
WO2020145914A1 (en) * 2019-01-10 2020-07-16 Makersan Makina Otomotiv Sanayi Ticaret Anonim Sirketi A joystick with increased endurance

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SG11202106477SA (en) * 2019-01-31 2021-07-29 Razer Asia Pacific Pte Ltd Inductive joystick
US11255697B2 (en) * 2019-12-17 2022-02-22 Infineon Technologies Ag Control stick including a single magnetic sensor for twist angle and tilt angle detection

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN104898764A (en) * 2015-06-11 2015-09-09 中南大学 Digital adjustable damping handle device and zero point positioning method therefor
EP3232295A3 (en) * 2016-04-13 2018-01-31 MAKERSAN Makina Otomotiv Sanayi Ticaret Ltd. Sti. A control lever for precise operation
WO2020145914A1 (en) * 2019-01-10 2020-07-16 Makersan Makina Otomotiv Sanayi Ticaret Anonim Sirketi A joystick with increased endurance

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DE102008022850A1 (en) 2009-05-28
EP2065782A3 (en) 2010-01-20
EP2065782B1 (en) 2012-07-25

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