Device for gripping and controlling steered vehicles and machines

Abstract

A gripping device (1) which is attached to a steering device (4) and is movably mounted about at least one axis (3), wherein the gripping device (1) is driven by a motor about the at least one axis (3), characterized in that the gripping device (1) is fixed at a fixing point (8) in space outside the steering device (4) by means of a length-variable push rod (7) and thereby transmits a torque to a rotational axis (6) of the steering device (4).

Description

State of the art (StdT)

[0001] Historically, there has been a rotating knob as a steering aid, with the help of which you can turn the steering wheel several revolutions without changing tires and can apply the necessary power even without assisting power steering.

[0002] Here are • JP 2013-43 531 A • JP 2007-45 413 A (generic) • DE 10 2004 040 975 A1.

[0003] In the area of ​​steering assistants in vehicles or machines, there is the possibility • to directly influence the steering axle using an electric motor • to drive the actual steering wheel by means of a friction wheel (agriculture) • to provide sensory feedback to the driver of a car or truck to advise them to stay in their lane. Problem

[0004] Previous steering assistance systems intervene directly in the steering system. To overcome this, the driver must either overcome the force applied by the steering system or deactivate the steering assistance. Both are inadequate ways to safely give the driver full steering control of the machine in the event that manual intervention is necessary.

[0005] Also, with the known devices, the operator cannot switch at will between independent and preset steering without, for example, having to operate a switch / button or without feeling a force from the steering wheel that contradicts his action.

[0006] Based on the prior art, the invention is based on the object of creating an improved steering assistance system. Solution to the problem

[0007] The object is achieved according to the invention with a gripping device having the features of patent claim 1. Advantageous embodiments of the invention are the subject of the dependent claims. This invention enables the operator / driver of a machine or vehicle to specify and follow the direction in which he should steer via a rotating knob on a steering device (4) (e.g. steering wheel, steering horn, steering rod).

[0008] Vibration can be used to transmit additional instructions for operating the machine or vehicle. For example, initiating a turning maneuver for a road roller in asphalt construction or error messages from the surroundings of the work equipment.

[0009] The transition to autonomous driving is thus seamless. When the driver grasps the rotating knob, the rotary movement (2) of the knob translates into a rotary movement (5) of the steering mechanism (4). The vehicle then steers automatically. If the driver releases the rotating knob and grasps the steering mechanism at any other point, the control effect of the knob is ineffective and the driver is the sole steerer. A first preferred embodiment of the invention

[0010] Describes a road roller (10) used in asphalt construction. A motor-driven knob is located on the roller's steering mechanism (4).

[0011] The steering drive consists of a crank mechanism, with the push rod (7) corresponding to the operator's arm. The operator inhibits the rotary movement (2) of the knob relative to his hand, but allows its rotary movement (5) around the steering mechanism (4). This manual fixation creates a gear that converts the rotary movement (2) of the knob into a rotary movement (5) of the steering mechanism.

[0012] In this automatic control mode, a control unit specifies a specific steering angle. A controller compares this target value with a measured steering angle and calculates a steering movement, which is then transmitted to the steering system via the knob and the operator as torque and speed. In this case, the machine can only be steered automatically if a driver holds the knob firmly, thus inhibiting its rotation. The system therefore requires the driver to continuously monitor the machine's steering movements.

[0013] The driver is completely involved in the movement and can perform any steering movements he or she wishes by either overcoming the low torque applied by the knob, deactivating the rotational movement using a switch, or gripping the steering device at any other point instead of the knob.

[0014] If the driver is replaced by a mechanical system consisting of a push rod (7) and an attachment point, the roller can be steered completely autonomously via the control unit. A second preferred embodiment of the invention

[0015] also describes a road roller (10) for asphalt construction. In addition to the functions of the knob described in the first preferred embodiment, messages or instructions are transmitted to the driver of the vehicle via vibration of the knob.

[0016] A road roller in asphalt construction must have a defined rolling pattern ( Fig. 4) to ensure uniform compaction of the hot asphalt across the entire area. This rolling pattern consists of predefined paths and, in addition, turning points (11, 12) at which the machine's direction of travel is changed and, if necessary, simultaneously steered onto a parallel path (12).

[0017] If this so-called rolling pattern is specified by a computer unit, the driver must be given real-time guidance signals during the execution of the rolling process to ensure correct, track-true driving as well as instructions to reverse the roller.

[0018] The knob transmits vibration signals as instructions for turning maneuvers at the turning points (11, 12) without the driver having to take his eyes off the road.

[0019] In addition, the knob can provide the driver with support in the steering movement by slight turning movements (2), so that although the knob provides guidance, the essential steering force comes from the machine operator. legend 1 device for touching 2 Rotational movement of the device for grasping (1) 3 Rotary axis of the knob with motor drive 4 Steering device 5 Rotation of the steering device (4) 6 Rotation axis of the steering device (4) 7 Push rod 8 Fixation point 9 pavers 10 Road roller or vehicle in general 11 Turning point 12 Turning point with lane change

Claims

[1] A gripping device (1) which is attached to a steering device (4) and is mounted to be movable about at least one axis (3), the gripping device (1) being motor-driven about the at least one axis (3), characterized by that the gripping device (1) is fixed by means of a length-adjustable push rod (7) at a fixing point (8) in the space outside the steering device (4) and thereby transmits a torque to a rotational axis (6) of the steering device (4). [2] Device for grasping (1) according to claim 1 characterized by that the length-adjustable push rod (7) is replaced by a rigid push rod which is moved linearly by the fixing point (8). [3] Device for grasping (1) according to claim 1 characterized bythat the combination of fixation point (8) and push rod (7) is represented by a human shoulder and an arm and a fixation of the device is represented by a human hand.

Images