Control unit

Abstract

A control device (1) for a self-propelled operating machine (OM), the device (1) being of the type configured to be coupled to a frame (F) of the machine (OM), the device (1) comprising a first handle portion (10) and a second handle portion (12); a first spherical actuator (20) and a second spherical actuator (22), mounted on the first handle portion (10) and on the second handle portion (12) respectively and configured to generate electric control signals; the first handle portion (10) and second handle portion (12) are connected by a transverse portion (14) to form a handlebar (16) (16' ) with monolithic structure; and the first spherical actuator (20) is configured to generate control signals for the translation and steering of the machine (OM), while the second spherical actuator (22) is configured to generate said control signals for a work tool (T) of the machine (OM).

Description

[0001] CONTROL UNIT

[0002] DESCRIPTION

[0003] The present invention concerns a control device . In particular, the present invention refers to a control device for sel f-propelled operating machines . In further detail , the invention concerns a control device for machines in which an operator is supported on board, standing or sitting, at the rear of a drive as sembly of at least one tool such as , for example , in compact wal k-behind or stand-on machines .

[0004] DESCRIPTION OF STATE OF THE ART

[0005] In the field of compact operating machines , such as skid steer loaders or multipurpose vehicles , in which the operator drives the machine from a rear position, a problem connected with the coexistence of two conflicting requirements has been known for some time : stability of the operator and control of the machine functions .

[0006] It should be pointed out that to ensure safety and stability of the operator, especially during movements of the machine or on rough ground, he / she needs to firmly grip rigid handles or handlebars integral with the frame . However, the controls for movement of the machine , for example but without limitation the relative forward movement , orientation of the direction of forward movement , and the controls for operation of the relative equipment , for example but without limitation the li fting of an arm or the inclination of a bucket , are typically provided by means of levers or j oysticks with distinct functions . To operate said controls , operators have to release their firm grip on handles and handlebars , using their fingers in a non-ergonomic, unstable and therefore inaccurate manner . This compromise reduces safety, is detrimental to ergonomics and prevents the fluid and simultaneous execution of several manoeuvres , in addition to devaluing in operating terms the potential of the machine and ability of the operator .

[0007] In the past , some solutions have been proposed in an attempt to remedy these drawbacks . Of these , it is useful to mention the teachings for producing control devices as described above contained in the patent documents US 2022 / 0195697 Al and US 2021 / 0378171 . In particular, the document US 2022 / 0195697 Al describes a manual control device which comprises a fixed handle portion, designed to act as a stabili zation grip, and a control portion with actuators ( including a spherical member or thumb-stick) accessible to the thumb and index finger of the operator . Although this solution integrates the controls in the handle , it shows two separate and independent control pods , one per side , that do not of fer the same structural rigidity and the same feeling of safety as a single handlebar . Furthermore , it does not define an optimi zed control architecture for simultaneous management of the driving and working functions .

[0008] The document US 2021 / 0378171 Al describes a control interface for a stand-on lawn mower with fixed hand controls and integrated j oysticks . This solution, however, is based on a traditional skid-steer type control logic, in which each j oystick controls the wheels of one single side of the machine , making the manoeuvres that require simultaneous driving and working complex and non- intuitive . This document also mentions in abstract terms the possibility of "decoupling" the interface for autonomous or remote use , but without providing a concrete technical solution and without solving the problem of congruence of the man-machine interface between the on- board and remote modes .

[0009] None of the known documents , therefore, proposes an integrated solution that simultaneously provides a monolithic robust supporting structure , a structural control set-up which is ergonomic and allows the driving and working operating functions to be separated, in addition to presenting a work method that requires the operator to be always on board the machine in order to ensure optimal control thereof .

[0010] In view of the situation described above , a control device would be desirable which, in addition to limiting and possibly overcoming the drawbacks typical of the known art illustrated above , defines a new standard for said types of operating instruments .

[0011] SUMMARY OF THE PRESENT INVENTION

[0012] The present invention concerns a control device . In particular, the present invention refers to a control device for sel f-propelled operating machines . In further detail , the invention concerns a control device for machines in which an operator is supported on board, standing or sitting, at the rear of a drive as sembly of at least one tool such as , for example , in compact wal k-behind or stand-on machines .

[0013] The obj ect of the present invention is therefore to overcome the drawbacks of the state of the art , providing a control device for operating machines that allows the operator to constantly maintain a stable posture and at the same time to have complete, intuitive and simultaneous control of all the main machine functions in the various operating phases , both those relative to the movement of the machine and those relative to operation of the respective work tool . A further obj ect of the present invention is to provide a control device that of fers users the possibility of modi fying their operating mode , maintaining the same identical physical interface and ergonomics in both modes . The above-mentioned drawbacks are solved by the present invention according to at least one of the following claims .

[0014] According to one embodiment of the present invention, a control device is actuated for a sel f-propelled operating machine , the device being of the type configured to be coupled with a machine frame , the device comprising a first handle portion and a second handle portion; a first spherical actuator and a second spherical actuator, mounted respectively on the first handle portion and on the second handle portion and configured to generate electric control signals ; the first handle portion and the second handle portion are connected by a transverse portion to form a handlebar with monolithic structure ; the first spherical actuator is configured to generate control signals for translation and steering of the machine , while the second spherical actuator is configured to generate control signals for a machine work tool .

[0015] According to the embodiment as described above , the handlebar is configured to be f ixed permanently to the frame .

[0016] According to the embodiment as described above , the handlebar is selectively removable from the frame to function as a remote control unit .

[0017] According to a first embodiment as described above , the device comprises a wireless transmission module for transmitting control signals to the machine .

[0018] According to a second preferred embodiment as described above , the device comprises a wired electric connection module configured to transmit control signals to the machine by means of a connection via flexible cable . According to any embodiment as described above , the transverse portion has a display .

[0019] According to any embodiment as described above , the device further comprises auxiliary control members that can be activated by the operator and are associated with each of first and second handle portion .

[0020] According to any embodiment as described above , the device comprises a consent sensor for each first handle portion and second handle portion located below the respective first / second push-button and first / second selector to prevent the unintentional control of movement and orientation members and / or of a work tool and / or other machine utilities .

[0021] According to a further embodiment of the present invention a control system for a sel f-propelled operating machine is implemented, the system comprising : a control device ; and electronic control unit configured to receive the electric control signals from the control device and to control , in response , movement and orientation members and a machine work tool respectively .

[0022] According to a further embodiment of the present invention a sel f-propelled operating machine is implemented, comprising a frame , movement and orientation members , a work tool and a control system . BRIEF DESCRIPTION OF THE FIGURES Further characteristics and advantages of the control device according to the present invention will appear clearer from the following description, provided with reference to the attached figures which illustrate at least one non-limiting embodiment example thereof , in which identical or corresponding parts of the device are identi fied by the same reference numbers . In particular :

[0023] - figure 1 is a schematic perspective view, with parts not shown for clarity, of a first preferred embodiment of a control device according to the present invention for a sel f-propelled machine ; figure 2 illustrates the device of figure 1 on an enlarged scale and with parts not shown for clarity;

[0024] - figure 3 illustrates a first detail of figure 2 on an enlarged scale and with parts not shown for clarity;

[0025] - figure 4 illustrates a second detail of figure 2 rotated by 180 ° on an enlarged scale and with parts not shown for clarity;

[0026] - figure 5 illustrates the sel f-propelled machine of figure 1 provided with a second preferred embodiment of the control device of figures 2-4 ; figure 6 illustrates the device of figure 5 on an enlarged scale and with parts not shown for clarity; figure 7 illustrates the device of figure 5 with a respective detail removed;

[0027] - figure 8 illustrates a variation of the embodiment of figure 6 .

[0028] DETAILED DISCLOSURE OF THE PRESENT INVENTION

[0029] Before describing in detail the preferred embodiments of the present invention or details thereof , it is useful to point out that the relative protective scope is not limited to the particular embodiments described below . The disclosure and description in the present document are illustrative and explanatory of one or more currently preferred embodiments and variations , and it will be clear to persons skilled in the art that various changes in the design, organi zation, order of functioning, means of functioning, structures of the equipment and position, methodology and use of mechanical equivalents can be made without departing from the spirit of the invention .

[0030] Furthermore , it is important to understand that the attached figures and drawings have the purpose of clearly illustrating and disclosing embodiments currently preferred to a person skilled in the art , but they are not drawings that illustrate how these embodiments should be executed in practice , nor are they real representations of final products ; on the contrary, these figures can comprise simpli fied conceptual views to facilitate understanding or provide an easier quicker explanation . Furthermore , the relative dimensions and arrangement of the components can di f fer from those shown and stil l function in the spirit of the invention .

[0031] It will be seen that various directions such as "upper" , " lower" , " left" , " right" , " front" , " rear" and so on are carried out only with respect to the explanation in combination with the drawings and that the components can be oriented di f ferently, for example during transport and production, and during operation . Since many di f ferent and distinct embodiments are possible in the context of the concepts taught herein, and since multiple modi fications can be made to the embodiments described here , the details provided below shall be interpreted as illustrative and non-limitative of the spirit of the invention .

[0032] In figure 1 , the number 1 indicates overall a control device 1 according to the present invention, which has been designed to be installed on a sel f-propelled operating machine OM which carries at the front a work tool T such as , for example , at least one j ointed arm carrying a bucket in an end position, but without limitation depending on the sector of use of the operating machine OM . The device 1 is of the type configured to be coupled to a frame F of said machine OM supported indi f ferently by wheels or tracks which constitute the respective movement and orientation members 30 thereof , to allow forward movement , reverse movement and steering of the machine OM .

[0033] Here and below, for the sake of practicality, the machine OM is a stand-on machine which has at the rear of the work tool a platform P for transport of the operator .

[0034] According to a fundamental aspect of the invention, and with particular reference to figure 2 , the device 1 comprises a first handle 10 and a second handle 12 , designed to be gripped by the right and left hand respectively of an operator .

[0035] Again with reference to figure 2 , the first handle 10 and the second handle 12 are connected to each other by a transverse portion 14 , thereby forming a handlebar 16 having monolithic structure . This configuration of fers signi ficant technical advantages : firstly, it simpli fies installation on the frame F and guarantees a constant predetermined geometric alignment between the first handle 10 and the second handle 12 , at the same time favouring an optimal ergonomic posture for the operator .

[0036] With particular reference to figure 2 the handlebar 16 is configured to be fixed permanently to the frame F of the machine OM by means of two screw-tightening clamps 140 and 142 of known type . In this configuration, the device 1 acts as a fixed control interface and as a robust stabili zation member for the operator on board the machine OM .

[0037] With particular reference to figures 3 and 4 , a first electronic spherical control member 20 is mounted on the first handle 10 , and a second electronic spherical control member 22 is mounted on the second handle 12 . Said spherical members 20 , 22 are pos itioned so that they can be easily activated by the thumb of the operator while the rest of his / her hand keeps a firm grip on both the handles 10 , 12 .

[0038] Again with particular reference to figures 3 and 4 , the first handle 10 is associated with auxiliary control members comprising a first push-button 200a and a first two-position selector 202a, arranged in diametrically opposite positions below the first spherical member 20 ; said auxiliary control members can also be activated by the respective hand while gripping said first handle 10 ; analogously, and in a specular manner, taking account of the symmetry of human hands , the second handle 12 is associated with auxiliary control members like those described above and, in particular, a second push-button 200b and a second two-position selector 202b, structurally identical to the first , also arranged in diametrically opposite positions below the second spherical member 20 and which can be activated with the respective hand while firmly gripping said second handle 20 . In particular, the auxiliary control members are arranged to electronically control uses of the machine OM .

[0039] With particular reference to figure 1 , below the respective first / second push-button 200a / 200b and first / second selector 202a / 202b, the first handle 10 and second handle 12 are provided with a consent sensor 120a and 120b which allows operation of the machine OM to be enabled in order to prevent unintentional control of the movement and orientation members 30 and / or the work tool T and / or other utilities .

[0040] In addition, i f the transverse portion 14 is hollow, it delimits a protected duct for electrical wiring connecting the first spherical member 20 and the second spherical member 22 , in addition to providing an ideal seat for the assembly of auxiliary components known and not illustrated .

[0041] As can be seen in figure 2 , the transverse portion 14 of the handlebar 16 can advantageously carry a display 40 , the obj ect of which is to provide the operator with operating information on the state of the machine and / or on the surrounding environment , i f the machine OM is equipped with cameras known and not illustrated .

[0042] The control device 1 forms part of a control system 110 which comprises , in addition to the device 1 , an electronic control unit ECU installed on board the machine OM . The control unit ECU is configured to receive the electric signals transmitted by the device 1 , hence the consent signals from the sensors 120a and 120b and, secondarily, the signals generated by the first and second spherical members 20 , 22 , by the first and second push-buttons 200a, 200b and by the first and second selectors 202a, 202b to send activation signals to the movement and orientation members 30 of the machine OM, namely forward movement, reverse movement and steering, and control the work tool T and / or other utilities . The above signals can be transmitted via a wired connection or by means of a wireless transmission module . The control unit ECU is configured to receive and interpret these signals for the above purposes . Furthermore , the particular provision of the first and second handles 10 , 12 allows the respective controls to be functionally distributed .

[0043] This control IT architecture allows the operator to manage intuitively and simultaneously the driving and working functions while firmly gripping the first and second handles 10 and 12 .

[0044] With reference to use of the device 1 and the control system 110 described above , it is useful to point out that when the control system 10 is provided on the operating machine OM, it incorporates on the machine OM all the advantages of stability and ergonomics for the operator of fered by the handlebar 16, together with operating flexibility, of fered by the equipment described above of the control device 1 .

[0045] With particular reference to figure 5 a second embodiment of the device 1 is illustrated in which the handlebar 16 is replaced by a handlebar 16 ' which di f fers from the first in that it is designed to be fixed to the frame F in a selectively removable way . In this case , the display 40 can provide the operator with additional information on the environment surrounding the machine OM, on condition that it is provided with cameras known and not illustrated, particularly useful for remote control of the machine OM . In this regard, the handlebar 16 ' and the frame F have respective coupling interfaces described below .

[0046] In particular, the removable connection of the device 1 is implemented by providing the handlebar 16 ' and the frame F with appropriate mechanical connection elements , reciprocally j oined and arranged so as to maintain the transverse portion 14 ' centred on the frame F to guarantee the rigidity of the coupling to the frame F, when necessary . In particular, the transverse portion 14 ' of the handlebar 16 ' has a first end 160 provided with a fork 162 and a second end 166 , opposite the first one , provided with a T-shaped head 168 . The frame F carries , via a plate 149 , a coupling member 144 for coupling with the fork 162 . The coupling member 144 comprises a pair of brackets between which a pin 146 is carried, shaped to be form fit with the fork 162 . The brackets are folded and parallel to maintain the handlebar 16 ' in a position inclined towards the operator station / plat f orm P . On the opposite side the frame F carries , through the plate 149 , a locking member 148 provided with a housing of a shape complementary to that of the head 168 and a locking lever 169 ( shown in the opening position in figure 7 , 180 ° opposite the closing position not illustrated for the sake of economy of drawing) shaped to bilaterally close the head 168 inside the housing . The plate 149 facilitates the rigid assembly of the coupling member 144 and the locking member 148 with respect to the frame F via simple threaded connections not illustrated .

[0047] Proceeding from the above description, the provision of the coupling member 144 and the locking member 148 allows the handlebar 16 ' to be easily connected to and disconnected from the frame F to be used fixed or as a remote control unit . This dual functionality is a key aspect of the invention, since it allows the operator to use the same precise ergonomic interface both when he / she is on board and when it is necessary to remote-control the machine , for example for operations that could be di f ficult to carry out with the operator on board, or to avoid the operator having to work in conditions of risk .

[0048] With particular reference to figure 6 , the device 1 ' can comprise a wireless transmission module 100 coupled preferably but without limitation to the display 40 and connected to the control unit ECU to communicate when the device 1 of the machine OM has been removed from the frame F . In this configuration, both the control device 1 ' and the control unit ECU are provided with respective wireless communication modules that allow control signals to be exchanged .

[0049] Alternatively, with particular reference to figure 8 , the device 1 ' can comprise an electric connection module 102 which maintains the communication between the control unit ECU via a flexible cable 104 when the device 1 ' has been removed from the frame F.

[0050] In the claims, any reference sign in brackets shall not be interpreted as a limitation of the claim. The words "which comprises" do not exclude the presence of other elements or phases in addition to those listed in a claim. Furthermore, the term "one", as used in this context, is defined as one or more than one. Furthermore, the use of introductory expressions such as "at least one" and "one or more" in the claims shall not be interpreted in the sense that the introduction of another claim element identified using the indefinite article "a" or "an" limits any particular claim in which said claim element appears singly, even when said claim comprises introductory expressions such as "one or more" or "at least one" and indefinite articles like "a" or "an". The same applies to the use of definite articles. Unless established otherwise, terms such as "first" and "second" are used to arbitrarily distinguish the elements which said terms describe. Therefore, these terms are not necessarily intended to indicate a time-related or other priority of said elements. The simple fact that some measures are given in reciprocally different claims does not indicate that a combination of these measures cannot be used to advantage.

Claims

CLAIMS1. A control device (1) for a self-propelled operating machine (OM) , said device (1) being of the type configured to be coupled to a frame (F) of said machine (OM) , said device (1) comprising a first handle portion (10) and a second handle portion (12) ; a first spherical actuator (20) and a second spherical actuator (22) , mounted respectively on the first handle portion (10) and on the second handle portion (12) and configured to generate electric control signals; characterized in that: said first handle portion (10) and second handle portion (12) are connected by a transverse portion (14) to form a handlebar (16) (16' ) with monolithic structure; and in that said first spherical actuator (20) is configured to generate said control signals for the translation and steering of said machine (OM) , while said second spherical actuator (22) is configured to generate said control signals for a work tool (T) of said machine (OM) .

2. The control device (1) according to claim 1, characterized in that said handlebar (16) is configured to be permanently fixed to said frame (F) .

3. The control device (1) according to claim 1, characterized in that said handlebar (16' ) is selectively removable from said frame (F) to function as a remote control unit.

4. The control device (1) according to claim 3, characterized in that it comprises a wireless transmission module (100) to transmit said control signals to said machine (OM) .

5. The control device (1) according to claim 3, characterized in that it comprises an electric connection module (102) of cabled type configured to transmit said control signals to said machine (OM) by means of aconnection via flexible cable (104) .

6. The control device (1) according to any one of the claims from 3 to 5, characterized in that said transverse portion (14) carries a display (40) .

7. The control device (1) according to any one of the preceding claims, characterized in that it further comprises, associated with each of said first (10) and second (12) handle portions, auxiliary control members (200a, 202a; 200b, 202b) that can be activated by the operator .

8. The control device (1) according to any one of the preceding claims, characterized in that it comprises a consent sensor (120a) and (120b) for each said first handle portion (10) and second handle portion (12) located below the respective said first / second push-button (200a, 200b) and first / second selector (202a, 202b) to prevent the unintentional control of movement and orientation members (30) and / or of a work tool (T) and / or other utilities of said machine (OM) .

9. A control system (110) for a self-propelled operating machine (OM) , said system comprising: a control device (1) according to any one of the preceding claims; and an electronic control unit (ECU) configured to receive said electric control signals from said control device (1) and to control, in response, movement and orientation members (30) and a work tool (T) of said machine (OM) respectively.

10. A self-propelled operating machine (OM) , comprising a frame (F) , movement and orientation members (30) , a work tool (T) , and characterized in that it comprises a control system (110) according to claim 9.

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