hand controller

Abstract

Manual control unit (10) for controlling machines, containing a) a control lever (22) which is operated for steering, b) at least one control shaft (16, 18), - which is rotatably mounted in a mounting device (14), and - which is directly and / or via a gearbox (20) connected to the control lever (22), c) a rotary angle encoder (24 26) for detecting and outputting the rotation angle of the control shaft (16, 18), which is set with the control lever (22), d) a spring-loaded return mechanism (33) with which the control lever (22) is returned from a deflected position to a starting position, wherein the spring-loaded return mechanism (33) for the control lever (22) has a compression spring (36) and a tension spring (34) which returns the control lever (22) to its starting position, characterized in that e) the rotary angle encoder (24, 26) contains a Hall sensor (28) which is surrounded by a diametrically magnetized ring magnet (30), f) the compression spring (36) and the tension spring (34) are each provided opposite each other on the control shaft (16, 18) with a return lever (38, 42).

Description

Technical area

[0001] The invention relates to a hand control transmitter for controlling machines, comprising a) a control lever which is operated for steering, b) at least one control shaft, - which is rotatably mounted in a mounting device, and - which is connected directly and / or via a gear to the control lever, c) a rotary angle sensor for detecting and outputting the angle of rotation of the control shaft, which is set with the control lever, d) a spring-loaded return mechanism with which the control lever is returned from a deflected position to an initial position, wherein the spring-loaded return mechanism for the control lever has a compression spring and a tension spring which returns the control lever to its initial position. State of the art

[0002] Such handheld transmitters are often used to control heavy machinery. For example, they are used to control cranes, excavators, forklifts, or as speed controllers for rail vehicles and ships. They can be operated like a joystick. In principle, many types of manually operated machines can be controlled with a handheld transmitter. The modular design supports the use of a handheld transmitter in many machine control arrangements.

[0003] Control is achieved 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, using a coded disk. However, the angular position can also be determined electronically, for example, using a potentiometer.

[0004] There are one-dimensional handheld transmitters that operate via only one axis. Two-dimensional handheld transmitters are also used. These two-dimensional handheld transmitters have two non-parallel control shafts driven by a suitable gear.

[0005] The sensitivity of a hand control transmitter can be achieved with a suitable gear between the control lever and the control shaft.

[0006] DE 10 2008 022 850 A1 discloses a hand-held control transmitter for controlling machines. The hand-held control transmitter includes a control lever, which is operated for control. Furthermore, it has at least one control shaft, which is rotatably mounted in a mounting device and connected directly and / or via a gear to the control lever. An inductively operating angle sensor detects the angle of rotation, which is set with the control lever and transmitted to the control shaft, and outputs a corresponding signal.

[0007] The disadvantage of the inductively operating rotary encoder is that a signal is only generated when the control lever is moved, because only then is a current induced in a conductor or conductor coil.

[0008] DE 199 26 895 A1 describes a measuring device for determining the position of an actuator, such as a throttle valve in the intake duct of a motor vehicle. It comprises a programmable, temperature-resistant Hall sensor arranged in an open, round, diametrically opposed permanent magnet. The permanent magnet is connected to the actuator shaft. The Hall sensor, in turn, is connected to a circuit containing user-specific data for determining the position of the actuator. The device also includes a method for correcting measurement inaccuracies caused by temperature fluctuations.

[0009] US 2009 / 0 267 594 A1 describes a position sensor and a position sensor arrangement based on magnetic field-sensitive sensors. The invention comprises individual sensors that measure either the direction of the magnetic field or, in addition, the absolute value of the magnetic field. The specific designs depend on the desired diagnostic options, redundancy, and compensation possibilities, both with regard to interfering magnetic fields and sensor failures or implausible output signals from individual sensors. An evaluation unit can be provided to compensate for measurement deviations.

[0010] DE 197 36 086 A1 describes a device for manually controlling remote-controlled objects in real or virtual spaces, in particular a joystick device. The device is equipped with two complementary control mechanisms, each detecting a manual deflection in the x- and y-directions. The control mechanisms are coupled to each other in such a way that a relative displacement of the control mechanisms relative to each other in the z-direction can also be detected.

[0011] US 4,795,952 A describes a joystick controller for triaxial control. A mounting allows tiltable movements along two orthogonal horizontal X and Y axes and movement along a vertical Z axis. Movements are sensed by potentiometers connected to the mounting, which generate control signals. These signals can control a drive element of a coordinate measuring machine along the X, Y, and Z axes. Disclosure of the invention

[0012] The object of the invention is therefore to avoid the disadvantages of the prior art and to create a robust and less susceptible to failure, as well as cost-effective hand control transmitter for controlling machines, wherein the rotary angle transmitter always provides a signal for a rotary angle.

[0013] According to the invention, the object is achieved by a hand control transmitter for controlling machines of the type mentioned at the beginning, in which e) the rotary encoder contains a Hall sensor which is surrounded by a diametrically magnetized ring magnet f) the compression and tension springs are provided with a return lever opposite each other on the control shaft.

[0014] The Hall sensor is a sensor for detecting magnetic fields. Its functionality is based on the Hall effect. In principle, the Hall effect involves placing a current-carrying conductor or conductor loop into a magnetic field. This creates an electric field. The electric field is perpendicular to the current direction and the magnetic field. Due to the Lorentz force, an electrical voltage is generated. A Hall sensor therefore delivers a signal even when the magnetic field in which it is located is constant. This is a decisive advantage over an inductive sensor, which consists, for example, of a magnet and coil. When the magnet and coil are not moving relative to each other, the voltage induced in the coil is zero and the magnet is not detected. Therefore, the rotary encoder of the hand control transmitter according to the invention always delivers a signal, even when the control lever is not moved.

[0015] In an advantageous embodiment of the hand control transmitter according to the invention for controlling machines, the Hall sensor is spatially fixed in the mounting device. The diametrically magnetized ring magnet is provided so that it can rotate together with the control shaft. The magnetic field ultimately moves with the rotation of the control shaft over the diametrically aligned ring magnet. The rotatable and diametrically aligned ring magnet and the Hall sensor are then used to evaluate a deflection of the control lever. For this purpose, the Hall sensor is preferably arranged centrally in the hole of the ring magnet and in the zero position so that it detects the field as zero in the center, or how parallel the field is. When the control lever is deflected, the Hall voltage increases for evaluation.

[0016] A preferred embodiment of the hand control according to the invention consists in providing a spring-loaded return mechanism with which the control lever is returned from a deflected position to its original position. This measure is achieved by automatically returning the control lever to its original position after a deflection.

[0017] Preferably, the spring-loaded return mechanism for the control lever comprises a compression spring and a tension spring, which return the control lever to its original position. The compression and tension springs provide twofold return forces. With identical springs, the deflection forces of the control lever are approximately equal in all directions. This further provides redundancy to the return mechanism. If a spring breaks when the control lever is deflected, the control lever is still returned to its original position or zero position. The return mechanism also ensures a good and consistent feel when operating the hand control device.

[0018] In a further embodiment of the hand control according to the invention, the compression spring and the tension spring are each provided with a return lever opposite one another on the control shaft. This arrangement can be implemented relatively compactly. The compression and tension springs do not interfere with each other during their operation. The return levers are each coupled to the control shaft. One spring is always pulled, the tension spring, and one spring is compressed, the compression spring. These are preferably coil springs. When the control lever is deflected, the return levers transfer the spring forces of the compression and tension springs to the control shaft. The control lever can therefore only be deflected against the spring forces.

[0019] In a preferred aspect, at least two control shafts arranged perpendicular to each other are provided for the control lever in the hand control transmitter according to the invention. This allows for a wide variety of adjustment options for the control lever in a two-dimensional plane. Each control shaft is coupled to one of the angle sensors in order to detect the angle of rotation of each control shaft and thus the respective deflection of the control lever. The angle sensors are preferably provided redundantly on each control shaft in order to still provide an analyzable signal for a rotation angle even in the event of a failure of one angle sensor.

[0020] In a further advantageous embodiment of the invention, a third dimension is utilized. The control lever, or a portion of the control lever, is designed to be movable on its axis. This movement can be sensed, for example, by an axially arranged potentiometer, a switch actuated in this way, or by optically reading the movement.

[0021] Preferably, this mobility of the control lever, or the part of the control lever on its axis, is designed with a spring-loaded vertical return mechanism, so that a deflected movement always returns to its original position. This allows the control lever to always be returned to its original starting position.

[0022] In an advantageous variant, the return mechanism has a compression spring and a tension spring, which return the control lever to its original position. The compression and tension springs provide double the return force. With identical springs, the deflection forces of the control lever are then approximately equal in all directions. This redundantly returns the control lever of the hand control to its original position. If a spring breaks during axial movement of the control lever, the control lever is still returned to its original position or a zero position.

[0023] A further advantageous embodiment of the hand-held control transmitter is provided with control electronics with a microprocessor, which digitally processes the detected angle of rotation of the rotary encoder. The control electronics processes the voltage signals generated by the rotary encoders. Typically, an analog-to-digital converter converts the analog voltage signals into digital values. These can then be processed by the microprocessor and output to the controller.

[0024] Further advantages and embodiments of the invention are the subject of the dependent claims. An exemplary embodiment is explained in more detail below with reference to the accompanying drawings. Short description of the drawing Fig. 1 shows a schematic diagram of a first side view of the hand control transmitter according to the invention. Fig. 2 shows a schematic diagram of a second side view of the hand control transmitter according to the invention. Fig. 3 shows a plan view of the hand control transmitter according to the invention according to Fig. 1 or Fig. 2. Fig. 4 shows an exploded view of the inner part of the hand control transmitter according to the invention. Fig. 5 shows a three-dimensional schematic diagram of the hand control transmitter according to the invention. Fig. 6 shows a schematic diagram of a Hall sensor in a diametrically aligned ring magnet of the hand control transmitter according to the invention. Preferred embodiment

[0025] In Fig. 1 shows a schematic diagram of a first side view of the hand control transmitter 10 according to the invention. The hand control transmitter 10 has a housing 12 in which a mounting device 14 is provided. Reference numeral 16 denotes a first control shaft. The control shaft 16 is arranged perpendicular to a second control shaft 18 (see Fig. 2). The control shafts 16, 18 are provided with rotatable bearings in the mounting device 14. The control shafts 16, 18 are connected via a gear 20 (see Fig. 4) is connected to a control lever 22. The control lever 22 can be deflected around both the first control shaft 16 and the second control shaft 18. The control shafts have eccentric thrust pieces 23 to facilitate setting the control lever 22 to a zero or initial position.

[0026] To detect the respective deflection around the control shafts 16, 18, two rotary encoders 24, 26 are provided on each control shaft 16, 18. The rotary encoders 24, 26 each contain a Hall sensor 28 (see Fig. 2). The Hall sensor 28 is provided in a fixed position relative to the mounting device 14. The Hall sensor 28 is surrounded by a ring magnet 30. The ring magnet 30 is magnetized diametrically (see Fig. 6). The ring magnet 30 is connected to the rotatably mounted control shaft 16, 18, so that it rotates accordingly.

[0027] Fig. 2 shows the hand control 10 in a Fig. 1 is a side view rotated by 90°. Identical components therefore have identical reference numerals. A cap 32 with the Hall sensor 28 is fixed relative to the mounting device 14, placed over the end of the control shaft 18. The Hall sensor 28 projects inward into the ring magnet 30.

[0028] Fig. 3 shows a plan view of the hand control transmitter 10 according to the invention according to Fig. 1 or Fig. 2. Identical components therefore have identical reference symbols here too.

[0029] Fig. Figure 4 shows an exploded view of the inner part of the hand control transmitter 10 according to the invention. The control lever 22 is coupled to the control shafts 16, 18 via the gear 20. The control lever 22 is always returned to an initial position after a deflection by a spring-loaded return mechanism 33. The return mechanism 33 contains tension springs 34 and compression springs 36 for this purpose. The tension springs 34 and compression springs 36 each actuate a return lever 38, 40 of the return mechanism 33. The return levers 38, 40 are pivotally mounted on the mounting device 14 via pivot axes 42. The return levers 38, 42 are spring-loaded by the tension springs 34 and compression springs 36. For this purpose, they are each connected to spring levers 44 of the reset mechanism 33, which are provided on the mounting device 14 and the reset levers 38, 42.The return levers 38, 40 are coupled to the control shafts 16, 18 in such a way that they return the control shafts 16, 18 to an initial position.

[0030] Fig. Figure 5 shows a three-dimensional schematic diagram of the hand-held control transmitter 10 according to the invention. The hand-held control transmitter 10 has control electronics 46 with a microprocessor. The microprocessor digitally processes the detected rotation angles of the rotation angle transmitters 24, 26. The control electronics 46 processes the voltage signals generated by the rotation angle transmitters 24, 26. For this purpose, an analog-to-digital converter converts the analog voltage signals into digital values. These can then be processed by the microprocessor and output to control the machine via an output 48, which is preferably formed by a data cable. For the third dimension, the control lever 22 is designed to be movable on its axis. This movement is sensed by a switch 50. The mobility of the control lever 22 on its axis is also spring-loaded, so that a deflected movement always returns to an initial position.The control lever 22 also has a return mechanism 52, which is formed by a compression spring 54 and a tension spring 56. The control lever 22 is returned to its initial position, or zero position, by its return mechanism 52. The control lever 22 is covered with an elastic protective cover 58 and protects it from environmental influences such as dirt.

[0031] Fig. Figure 6 shows a schematic diagram of a Hall sensor 28 in a diametrically aligned ring magnet 30 of the hand control 10 according to the invention. The ring magnet 30 rotates selectively in one or the other direction when the control lever 22 is deflected. The Hall voltage follows a sine wave, which has its zero point in the initial position. The sign of the Hall voltage can therefore also be used to determine the direction of the angle of rotation.

Claims

[1] Hand control transmitter (10) for controlling machines, comprising a) a control lever (22) which is operated for steering, b) at least one control shaft (16, 18), - which is rotatably mounted in a mounting device (14), and - which is connected directly and / or via a gear (20) to the control lever (22), c) a rotary angle sensor (24 26) for detecting and outputting the angle of rotation of the control shaft (16, 18), which is set with the control lever (22), d) a spring-loaded return mechanism (33) with which the control lever (22) is returned from a deflected position to a starting position, wherein the spring-loaded return mechanism (33) for the control lever (22) has a compression spring (36) and a tension spring (34) which returns the control lever (22) to its starting position, characterized by , that e) the rotary encoder (24, 26) contains a Hall sensor (28) which is surrounded by a diametrically magnetized ring magnet (30), f) the compression spring (36) and the tension spring (34) are provided with a return lever (38, 42) each opposite one another on the control shaft (16, 18). [2] Hand control transmitter (10) for controlling machines according to claim 1, characterized by that the Hall sensor (28) is spatially fixed in the mounting device (14) and the diametrically magnetized ring magnet (30) is provided so as to be rotatable with the control shaft (16, 18). [3] Hand control transmitter (10) for controlling machines according to one of claims 1 or 2, characterized by that at least two control shafts (16, 18) arranged perpendicular to each other are provided for the control lever (22). [4] Hand control transmitter (10) for controlling machines according to one of claims 1 to 3, characterized bythat the control lever (22) or a part of the control lever (22) is designed to be movable on its axis. [5] Hand control transmitter (10) for controlling machines according to claim 4, characterized by that the mobility of the control lever (22) or the part of the control lever (22) on its axis is designed with a spring-loaded vertical return mechanism (52) so that a deflected movement always returns to an initial position. [6] Hand control transmitter (10) for controlling machines according to claim 5, characterized by that the vertical return mechanism (52) has a compression spring (54) and a tension spring (56) which returns the control lever (22) to its initial position. [7] Hand control transmitter (10) for controlling machines according to one of claims 1 to 6, characterized by a control electronics unit (46) with a microprocessor which digitally processes the detected angle of rotation of the angle sensor (24, 26).

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