Joystick device for a machine

Abstract

A joystick device for a machine, in particular an off-highway vehicle, is provided. The joystick device comprises a control lever (110), a lever support mechanism (120) configured to support the control lever (110) and to provide a two axes movement of the control lever (110), and a changeover mechanism (10). The changeover mechanism (10) has a guide structure (20) having a guide pattern (25) and a translation mechanism (30) operable to translate the guide structure (20) from a first position at which the control lever (110) is spaced apart from the guide pattern (25) to a second position at which the control lever (110) engages the guide pattern (25) to thereby restrict movement of the control lever (110) to the guide pattern (25). The guide structure (20) has a surface (24) that faces the control lever (110) and the guide pattern (25) extends in the surface (24). The translation mechanism (30) is configured to translate the guide structure (20) in a direction (11) perpendicular to the surface (24) of the guide structure (20) to engage the guide pattern (25) with the control lever (110).

Description

[0001] JOYSTICK DEVICE FOR A MACHINE

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to a joystick device for a machine, in particular a mobile machine, e.g. an off-highway machine. It further relates to a method of operating such joystick device. A machine comprising such joystick device is further provided.

[0004] BACKGROUND

[0005] Operating elements such as joysticks are regularly used to control functions of a machine, e.g. an off-highway mobile machine, such as a construction vehicle, agricultural vehicle, or industrial vehicle. Such machines often have a plurality of functions that need to be controlled. Therefore, such machine can comprise a large control panels with respective control elements and may further have control elements provided at the arm rests, e.g. a joystick on each arm rest. An excavator may for example be provided with a joystick for controlling its motion and a joystick for controlling hydraulic functions, e.g. an excavator arm. Thus, the operating elements take up a significant space within the cabin of such mobile machine. Further, the operator may become confused by being offered such large number of control elements.

[0006] A single operating element may be provided with plural functions. These configurations may however suffer from the control becoming less intuitive. Also, the risk of operating error may be increased when using such types of operating elements.

[0007] US 8 834272 B2 discloses a dynamically reconfigurable joystick assembly for restricting movement. The joystick assembly includes a joystick, an upper plate, and a lower plate. The joystick includes a handle and a shaft having a first portion and a second portion.

[0008] P 25049 PCT - Kahler Kack MollekopfFurthermore, the control often needs to be very precise, for example when controlling the positioning of an excavator arm or other machine functions. Therefore, it is desirable that such operating element, e.g. a joystick, provides a very reliable and repeatable positioning. In particular, the play in a default position should be small, and the operating limits (e.g. of joystick motion) should be well defined and should not change over time.

[0009] SUMMARY

[0010] Accordingly, there is a need to mitigate at least some of the drawbacks mentioned above and to provide an improved joystick device. It is particularly desirable to reduce space requirements and to improve repeatability and precision of the control provided by such joystick device.

[0011] This need is met by the features of the independent claims. The dependent claims describe embodiments of the invention.

[0012] According to an aspect of the invention, a joystick device for a machine, e.g. a mobile machine, preferably an off-highway machine or vehicle, is provided. The joystick device comprises a control lever and a lever support mechanism configured to support the control lever and to provide a two axes movement of the control lever. The joystick device further comprises a changeover mechanism configured to change an operation of the joystick device between a first operating mode and a second operating mode. The changeover mechanism comprises a guide structure having a guide pattern and a translation mechanism operable to translate the guide structure from a first position at which the control lever is spaced apart from the guide pattern to a second position at which the control lever engages the guide pattern to thereby restrict movement of the control lever to the guide pattern. The first position corresponds to the first operating mode and the second position corresponds to the second operating mode. The guide structure has a surface that faces the control lever and the guide pattern extends in the surface. The translation mechanism is configured to translate the guide structure in a direction perpendicular to the surface of the guide structure to engage the guide pattern with the control lever.

[0013] Such joystick device may provide a compact configuration with improved operability and improved operating precision. By providing the joystick device with two (or more) operating modes, only a single joystick device may be used to control different

[0014] P 25049 PCT - Kahler Kack Mollekopffunctions of the machine. Further, by providing a respective pattern in the second mode to which the movement of the control lever is restricted, the mechanics of the joystick device can be adapted to the actual function that is being controlled. Some applications may for example require only a one dimensional movement of the control lever, and other applications may require an H-shaped movement pattern. Accordingly, by providing a respective guide pattern, the movement of the control lever can be restricted to exactly the travel pattern that the controlled function requires. A precise and intuitive control may thereby be achieved.

[0015] Further, by engaging the control lever with the guide pattern by moving the guide structure towards the control lever, a very compact configuration may be achieved, since the travel distance can be kept rather small. Further, such type of engagement allows the use of a single piece guide structure. This has the advantage that the play may be kept small and may generally not change over time. Also, the position of the guide structure and the limits that the guide structure imposes on the movement of the control lever may be provided in a precise and repeatable way, and may in particular not change over time. Thus, an accurate control may be achieved by the joystick device that has a reduced play and benefits from stable and precise operating limits. A compact joystick device having improved control accuracy may thereby be provided.

[0016] Switching the joystick device from the first operating mode to the second operating mode may include the translation of the guide structure from the first position to the second position. The translation mechanism may further be configured to translate the guide structure from the second position to the first position to thereby disengage the guide structure from the control lever. The joystick device may thereby be switched back to the first operating mode.

[0017] The translation direction in which the translation mechanism translates the guide structure may correspond to a thickness direction of guide structure. A thickness direction may be a direction of the smallest extension of the guide structure, e.g. a direction perpendicular to two lateral directions in which the guide structure may extend.

[0018] The translation mechanism may move the guide structure towards the lever support mechanism, in particular in a direction towards a handle of the control lever. The control lever may have an elongated shape in a longitudinal direction with an upper end having the handle and a lower end configured to engage the guide structure. The guide

[0019] P 25049 PCT - Kahler Kack Mollekopfstructure may be moved by the translation mechanism in the longitudinal direction of the control lever (e.g., in a direction parallel to the longitudinal direction), e.g. upwards towards the lower end of the control lever to engage the guide pattern with the lower end.

[0020] The guide pattern may have a planar extension (e.g. in two dimensions) on the surface of the guide structure, and the translation may be perpendicular to this planar extension. The control lever may for example extend in a Z-direction in a default position (e.g., initial position or equilibrium position), and the guide pattern on the surface of the guide structure may extend in X- and Y-directions (wherein X, Y, and Z are each perpendicular to one another). The translation mechanism may translate the guide structure in Z-direction.

[0021] That the joystick device provides a two axes movement of the control lever does not exclude that the control lever is movable about or along a further axis, i.e. it may mean that the joystick device provides at least a two axes movement. For example, the control lever may also be pushed to provide a further degree of movement.

[0022] In an embodiment, the movement of the control lever comprises a pivoting of the control lever about two orthogonal pivoting axis. The translation mechanism may be configured to translate the guide structure in a direction perpendicular to at least one, preferably to both pivoting axes (in particular when the control lever is in a default or initial position).

[0023] The translation provided by the translation mechanism may have at least a component in the respective direction, preferably a main component (e.g., more than 50% of the total translation may occur in the respective direction). Preferably, the translation provided by the translation mechanism occurs entirely in the respective direction.

[0024] Preferably, in the first position of the guide structure, the control lever does not engage the guide pattern. Preferably, in the first position of the guide structure, the movement of the control lever is not restricted by the guide pattern.

[0025] In an embodiment, the guide pattern is provided in an integrally formed part of the guide structure. The guide structure may be integrally formed. For example, it may consist of a single piece. This may reduce play in the restriction provided by the guide pattern of the guide structure compared to a situation in which the guide structure

[0026] P 25049 PCT - Kahler Kack Mollekopfcomprises plural parts. Further, this may enhance the repeatability of the ranges to which the movement is restricted by the guide pattern. Thus, the accuracy of the control may be improved.

[0027] The guide structure may be a guide plate, e.g. an integrally formed guide plate. Such integral guide plate may be a single piece.

[0028] The guide structure may be planar, and the translation may occur in a direction perpendicular to the planar extension of the guide structure. The guide structure does not need to be planar, but may be curved in other embodiments. For example, it may be a spherical segment or another shape. Such spherical shape may have the advantage that the guide pattern may better match the movement of the end of the control lever, which may move on a spherical surface when movement occurs about two pivoting axes.

[0029] The changeover mechanism may comprise a guiding arrangement that is configured to guide the translation of the guide structure. The guiding arrangement preferably restricts the translation of the guide structure to the direction of translation, e.g. to the direction perpendicular to the surface or to the direction perpendicular to two pivoting axes of the control lever (which may be the same). It may restrict the movement in any of the above-mentioned translation directions.

[0030] The guiding arrangement may comprise 1, 2, 3, 4, or more guiding posts. The guide structure may slide on the guiding posts. The guiding posts may be oriented in the translation direction, so that sliding may occur in the translation direction.

[0031] The changeover mechanism may comprise a spring arrangement comprising one or more springs. The one or more springs are arranged such that the translation of the guide structure from the first position to the second position occurs against a spring force of the one or more springs (e.g. the springs may be tensioned, in particular compressed, when moving from the first to the second position). This may allow a reliable return from the second position to the first position, e.g. under action of the spring force, when the operation is to be switched from the second operating mode to the first operating mode.

[0032] For example, 1, 2, 3, 4 or more coils springs may be provided, e.g. at respective corners of the guide structure, and / or 1, 2, 3, 4, or more leaf springs may be provided, e.g. at

[0033] P 25049 PCT - Kahler Kack Mollekopfedges of the guide structure. Preferably, between 1 and 4 guiding posts are provided, and a coil spring is provided on each guiding post.

[0034] The spring arrangement may comprise plural springs that are configured and arranged such that a respective spring force is applied to the guide structure during translation of the guide structure that causes the guide structure not to jam during the translation. In particularjamming on the guiding arrangement, e.g. on guiding posts, may be avoided by a respective arrangement of the springs. The spring arrangement may for example provide an equal spring force by each spring and / or may provide a symmetric application of the spring force to the guide structure (for example, at the comers of a rectangle or of a symmetric triangle). A jamming or shifting of the guide structure may thereby be prevented.

[0035] The control lever may comprise an engagement portion that is formed integrally with the control lever (e.g. with a part of the control lever) or that is mechanically coupled to a part of the control lever to move together with the control lever. The engagement portion may be configured to engage the guide pattern of the guide structure when in the second position. Any part that moves, e.g. pivots with the control lever may be considered to be part of the control lever. Such part that moves or pivots with the control lever may engage the guide structure.

[0036] For example, the control lever may having a first end including a handle portion and a second end opposite to the first end that comprises the engagement portion. The engagement portion and the handle may thus be provided at opposite longitudinal ends of the control lever (e.g. opposite with respect to the pivoting axes). For example, the control lever may have a pivotable lever element supported by the lever support mechanism, wherein the pivotable lever element has two protrusions (e.g. studs, pins, or bolts) extending in opposite directions. A handle of the joystick device may be provided by or coupled to one of the protrusions and the engagement portion may be provided by or coupled to the other opposite protrusion.

[0037] The guide pattern may comprises one or more recesses and / or slots in the guide structure. The guide pattern may be a one-dimensional guide pattern (e.g. a single slot) or a two-dimensional guide pattern (e.g. at least two crossing slots). The engagement portion may be pin, protrusion, lever end, or the like which engages the recess or slot.

[0038] P 25049 PCT - Kahler Kack MollekopfThe guide pattern may comprise at least one of a line shaped pattern, a cross shaped pattern, an H-shaped pattern, a T-shaped pattern, and a pattern having at least two straight sections both intersected by a third straight section. Any suitable pattern may be used that facilitates control of the associated machine function, including straight and / or curved sections.

[0039] Preferably, the first operating mode provides an unrestricted two axes movement of the control lever within a control lever operating range. Such control lever operating range may refer to the physical limits set by the joystick device, e.g. respective end stops of the movement of the control lever in both axis.

[0040] In another embodiment, the movement in the first operating mode may be restricted by a first guide pattern different from the guide pattern of the guide structure. The second guide pattern of the guide structure may overlap the first guide pattern but may provide more restricted movement of the control lever. For example, the first guide pattern may be an H-shaped pattern, and the second guide pattern may restrict movement to only one line or to a T-shape of the H-shape.

[0041] The translation mechanism may be a manually operated mechanical translation mechanism or the translation mechanism may comprise an electrically, hydraulically or pneumatically operated actuator that is controllable to move the guide structure from the first position to the second position (and back). A manually operated mechanism may reduce the complexity of the joystick device and may improve the reliability, in particular in harsh environments. Cabling may further be reduced. Using a driven actuator may on the other hand facilitate control and may allow an automatic change of the operating mode.

[0042] In an embodiment, the translation mechanism comprises a user operable handle. The handle may be movable from a first handle position at which the guide structure is located at the first position to a second handle position at which the guide structure is located at the second position. The handle may be mechanically coupled to the guide structure to move the guide structure when moving the handle. This may provide a robust and reliable way to change the operating mode. Further, such handle may be easily operated by an operator in harsh environments, also with gloves.

[0043] The translation mechanism may comprises a transmission mechanism that translates a (e.g. larger) motion of the handle into a (e.g. smaller) motion of the guide structure. The

[0044] P 25049 PCT - Kahler Kack Mollekopftransmission mechanism may be a manually operated lever mechanism. This may allow a larger travel and reduced force that needs to be applied by the operator, while the guide structure may be moved against a relatively large spring force and may be held in place reliably by using such mechanism.

[0045] Preferably, the translation mechanism comprises a rotatable shaft and at least one cam on the rotatable shaft. The rotatable shaft may be arranged to cause the cam to push the guide structure from the first position to the second position when the shaft is rotated. It may for example push the guide plate upwards against the spring force towards the control lever. A cam may be a protrusion on the shaft that rotates with the shaft. For example, the shaft may be rotated by at least 45, 80, preferably at least 90 degrees. A compact joystick device may be achieved by such configuration. With a 90 degree rotation, a maximal stroke of cam may be achieved.

[0046] For example, the translation mechanism may be configured such that when moving the guide structure from the first position to the second position, the shaft is rotated so as to increase an angle formed between a surface of the guide structure against which the cam rests and a line from a contact point of the cam and the guide structure to a rotation axis of the shaft, the line being perpendicular to the rotation axis of the shaft, wherein in the second position, the angle is at least 90 degrees. This may provide a stably locked position.

[0047] Such shaft may be rotated manually or by an actuator, as mentioned above. A respective transmission mechanism may be employed between the handle or actuator and the shaft. For example, the shaft may rotate by any of the respective angles (preferably by 90 degrees) when moving the handle from the first handle position to the second handle position.

[0048] A shaft lever may be provided on the shaft, wherein the shaft lever is pivotable about a rotation axis of the shaft to rotate the shaft. Such lever may be pivoted manually or by an actuator, either directly or indirectly.

[0049] The translation mechanism may comprise a changeover lever having a user operable handle (e.g. the above-mentioned handle). The changeover lever may be pivotably supported by a body of the joystick device. The changeover lever may be mechanically coupled to the shaft lever. This may provide a simple but efficient configuration that allows an operator to move the handle, which may be converter by the changeover lever

[0050] P 25049 PCT - Kahler Kack Mollekopfand the shaft lever into a rotational motion of the shaft that pushes the guide structure by means of the cam to engage the control lever.

[0051] The changeover lever and the shaft lever may form a mechanical linkage; they may provide a respective transmission mechanism. The lever length may be selected to adjust the force and stroke that needs to be applied by the operator to move the handle and to provide a secure positioning of guide structure.

[0052] The ends of the changeover lever and the shaft lever may be connected rotatably, e.g. by a pin or bolt. A slot may be provide in one of the changeover lever and the shaft lever to allow a sliding of such bolt or pin when pivoting about the two rotational axis. This may accommodate for the change the distance of at least one of the pivoting points (of the changeover lever and the shaft) to the connecting point during the actuation.

[0053] Other implementations of the translation mechanism are certainly conceivable. For example, a scissor linkage may be employed. Such scissor linkage may be extended manually (e.g. by a respective handle and lever) or by a respective actuator, e.g. by a respective piston that extends the scissor linkage by pushing at one of the linking points.

[0054] The second position of the guide structure may be a locked position in which the translation mechanism is in a locked state, or the translation mechanism may comprise a locking mechanism that is configured to lock the guide structure in the second position.

[0055] The translation mechanism may for example be self-locking. As an example, if a respective shaft with a cam is employed, the cam may be turned to or slightly over 90 degrees. A stop may be provided for rotation of the shaft and the cam so that the cam rotates to only 90 degrees or a predetermined (small, e.g. less than 10 or 5 degrees) angle beyond 90 degrees. Upon such rotation, the force exerted by the guide structure on the cam will no longer rotate the cam back towards the initial position (corresponding to the first position of the guide structure). The force may only push the cam or shaft towards the stop. The translation mechanism may thus have a self-locking property. This may ensure a stable position of the guide structure and thus an accurate operation of the joystick device, and may further result in reduced complexity and in a more compact design.

[0056] The translation mechanism may be configured such that after leaving the locked position, the spring(s) return the guide structure to the first position.

[0057] P 25049 PCT - Kahler Kack MollekopfThe changeover mechanism may have an end stop for guide structure at the second position. A reliable and repeatable positioning may thus be achieved.

[0058] The joystick device may further comprise a sensor arrangement configured to detect that the guide structure is in the second position or has been brought into the second position. Such sensor arrangement may comprise an electrical, magnetic, or optical sensor, such as a Hall sensor, a photodiode or the like. It may further comprise a signal generator, such as a magnet, an optical marker or encoder, or the like.

[0059] For example, the sensor arrangement may comprise a magnet arranged on a movable part of the translation mechanism and may further comprise a magnetic sensor element, in particular a magnetic field sensor (e.g. Hall sensor) arranged to detect a movement of the guide structure to the second position by detecting a movement of the magnet. The movement to the second position may be detected at the end position or during the movement, e.g. when the magnet moves past the sensor. Detection of the end position is preferred.

[0060] The sensor may for example be mounted on a circuit board, or directly to a body or housing of the joystick device. The circuit board may be mounted to a body or housing of the joystick device. The magnet may be arranged on the translation mechanism or the guide structure such that the magnet moves past the sensor or may move in front of the sensor when the guide structure is brought into the second position.

[0061] The joystick device may be configured to control a first function of the machine in the first operating mode and to control a second function of the machine in the second operating mode. The second function is preferably different from the first function.

[0062] The joystick device may further comprising a controller. The controller may be configured to perform the steps of: operating the joystick device in the first operating mode to control a first function of the machine; detecting an input (e.g. user input) to change the operating mode of the joystick device from the first operating mode to the second operating mode; and upon detecting the input to change the operating mode to the second operating mode, operating the joystick device in the second operating mode to control a second function of the machine. Accordingly, the movement of the control lever may be restricted together with the change of the function that is being controlled by the joystick device.

[0063] P 25049 PCT - Kahler Kack MollekopfThe detection of the input may for example occur by detecting a user input made by the user using another operating element, e.g. pressing a button (on the joystick or separate therefrom), setting a rotary knob, actuating a touchscreen, etc.. The user may thus change the function of the joystick device by a simple push of a button or other operating element. In another example, detecting the user input may occur by a sensor arrangement that detects if the user manually switches from the first operating mode to the second operating mode, e.g. using a manually operated handle, as described above. In even further examples, the input may come for another function of the machine or from a remote location, e.g. via a data connection, such as a smartphone or the like.

[0064] According to a further aspect of the invention, a machine, in particular a mobile machine, e.g. an off-highway vehicle, comprising a joystick device having any of the configurations disclosed herein is provided. The joystick device is configured to control a first function of the machine in the first operating mode and to control a second different function of the machine in the second operating mode. Such machine may for example be an agricultural vehicle, a construction vehicle, an industrial vehicle, or the like.

[0065] The first function may for example control a movement of the machine and the second function may control a tool of the machine. In another example, the first function may control a first tool of the machine and the second function may control a second tool of the machine.

[0066] According to a further aspect of the invention, a method of operating a joystick device is provided. The joystick device is configured in accordance with any of the embodiments and examples described herein. The method comprises operating the joystick device in the first operating mode to control a first function of the machine; detecting an input to change the operating mode of the joystick device from the first operating mode to the second operating mode; and upon detecting the input to change the operating mode to the second operating mode, operating the joystick device in the second operating mode to control a second function of the machine.

[0067] By such machine or method, advantages may be achieved that correspond to the advantages outlined further above with respect to the joystick device.

[0068] P 25049 PCT - Kahler Kack MollekopfIt is to be understood that the features mentioned above and those yet to be explained below can be used not only in the respective combinations indicated, but also in other combinations or in isolation, without leaving the scope of the present invention. In particular, the features of the different aspects and embodiments of the invention can be combined with each other unless noted to the contrary.

[0069] BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The forgoing and other features and advantages of the invention will become further apparent from the following detailed description read in conjunction with the accompanying drawings. In the drawings, like reference numerals refer to like elements.

[0071] Fig. 1 is a schematic drawing showing a joystick device according to an embodiment.

[0072] Fig. 2 is a schematic drawing showing a perspective view of an implementation of the joystick device of Fig. 1 according to an embodiment, wherein some components have been removed for improved visibility.

[0073] Fig. 3 is a schematic drawing showing a side view of the joystick device of Fig. 2.

[0074] Fig. 4 is a schematic drawing showing a further perspective view of the joystick device of Fig. 2 with additional components.

[0075] Fig. 5 is a schematic drawing showing a further perspective view of the joystick device of Fig. 2 with additional components.

[0076] Fig. 6 is a flow diagram illustrating a method according to an embodiment.

[0077] DETAILED DESCRIPTION

[0078] In the following, embodiments of the invention will be described in detail with reference to the accompanying drawings. It is to be understood that the following description of the embodiments is given only for the purpose of illustration and is not to be taken in a limiting sense. It should be noted that the drawings are to be regarded as being schematic representations only, and elements in the drawings are not necessarily to scale with each other. Rather, the representation of the various elements is chosen such that their function and general purpose become apparent to a person skilled in the

[0079] P 25049 PCT - Kahler Kack Mollekopfart. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprising,” “having,” “including,” and “containing” are to be construed as open-ended terms (i.e., meaning “including, but not limited to,”) unless otherwise noted.

[0080] Figure 1 schematically illustrates a joystick device 100 comprising a control lever 110 that is supported by a lever support mechanism 120. The lever support mechanism allows movement of the control lever 110 in two (orthogonal) directions, namely in the drawing place (as indicated by the arrow) and perpendicular to the drawing plane. The first movement may be a pivoting about the first pivoting axis 121 (i.e. pivoting perpendicular to the drawing plane) and the second movement may be a pivoting about the second pivoting axis 122, which may be perpendicular to the drawing plane and thus perpendicular to the first axis 121.

[0081] The lever support mechanism may be implemented in any known way to allow a two axes movement of the control lever 110. It may for example be implemented as a gimbal mount, wherein a pivoting frame 123 is pivotable about the axis 122, and the pivoting fame 123 comprises a shaft that allows pivoting of the control lever about the axis 121. In other implementations, a first spherical segment may be provided as a support, and the lever may be coupled to a second complementary spherical segment that engages the first spherical segment and that allows pivoting of the control lever with two degrees of freedom. Any other know support may be employed that allows the control lever 110 to pivot with two degrees of freedom, e.g. in two orthogonal directions.

[0082] The joystick device 100 may allow the reaching of any position in these two pivoting directions by control lever 110 within the operational range of the joystick, e.g. between respective end stops that limit a deflection in the respective direction. Such operating mode may allow a free movement of the control lever 110 in two dimensions. Such operation may correspond to a first operating mode of joystick device 100. For example, the joystick device 100 may control directi on / speed of movement of a vehicle in one pivoting direction (e.g. about axis 121) and may control the direction of movement in the other pivoting direction (e.g. about axis 122). Free movement of control lever 110 may thus allow controlling both parameters independently.

[0083] Other machine functions may only control a single parameter, or may control two parameters, wherein control of one parameter is restricted when controlling another

[0084] P 25049 PCT - Kahler Kack Mollekopfparameter. The joystick device 100 is provided with a second operating mode that restricts the movement of control lever 110 to allow secure and accurate operation of such second control function with the same joystick.

[0085] The joystick device 100 comprises a changeover mechanism 10 that can be operated to bring the joystick device 100 from a first operating mode into a second operating mode. The changeover mechanism 10 comprises a guide structure 20 and a translation mechanism 30. The guide structure 20 has a guide pattern 25.

[0086] The control lever 110 comprises a first end 111 and a second end 112 that is opposite to the first end 111. At the first end 111, a joystick handle 114 is provided. Such joystick handle may comprise a grip for a user of the joystick. At the other end 112, an engagement portion 115 is provided. The engagement portion 115 is configured to engage the guide pattern 25 of the guide structure 20.

[0087] In the first operating mode (not shown in figure 1), the guide structure 20 is spaced apart from the control lever 110, in particular from its second end 112. The motion of the second end 112 is thus not restricted so that the control lever 110 may freely move in both directions, e.g. pivot about both axes 121, 122. The translation mechanism 30 is operable to bring the guide structure 20 from a first position in the first operating mode into a second position for operating in the second operating mode. In the second position, the engagement portion 115 engages the guide pattern 25 of the guide structure 20. Figure 1 illustrates the guide structure at the second position, i.e. in the second operating mode of the joystick device 100. The guide pattern may be a slot through which the engagement portion 115 can extend (as shown), or may be a recess which the engagement portion 115 engages.

[0088] The movement of the guide structure by means of the translation mechanism 30 occurs in a direction 11. The guide pattern 25 is provided in a surface 24 of the guide structure 20 that faces the control lever 110, that in particular faces the engagement portion 115 when the control structure 20 is in the first position. The direction 11 of movement is preferably perpendicular to the surface 24. Thus, engagement of the guide pattern 25 by the engagement portion 115 may be facilitated, for example as the respective protrusion may easily enter the slot or recess of the guide pattern 25. Further, such arrangement allows the guide pattern to be a closed pattern in a single piece, i.e. the part of the guide structure that provides the guide pattern 25 may be made of a single piece of material.

[0089] P 25049 PCT - Kahler Kack MollekopfThe guide pattern may for example be cut, milled, or machined into the guide structure 20, or the guide structure 20 may be cast in a mold to form the guide pattern 25.

[0090] The guide structure 20 may be or may comprise a guide plate 21. The guide plate 21 may be planar and extend in two lateral directions. The direction 11 of movement by the translation mechanism may thus be in thickness direction of such guide plate 21. In other implementations, the guide structure may be curved; it may for example include a spherical segment or the like.

[0091] The translation mechanism 30 may comprise a transmission mechanism 31 that can be actuated to effect the movement. The present example shows a scissor-type linkage, but other implementations are conceivable, as described further below. The translation mechanism 30 may comprise a handle to manually operate the transmission mechanism 31. In the present example, an actuator 32 is provided that can be electrically, hydraulically, or pneumatically driven. The actuator 32 may for example extend, as indicated by arrows, and may thus cause the translation mechanism 30 to move the guide structure 20 from the first position to the second position, as illustrated in figure 1, and vice versa. In some embodiments, movement in both directions may occur by manual or automatic actuation, while in other embodiments, movement in at least one direction occurs using spring generated force.

[0092] The translation mechanism 30 further comprises the guiding arrangement 40 to guide the movement from the first position to the second position. The guiding arrangement 40 may comprise 1, 2 or more posts 41 that can be oriented parallel to the direction of movement 11 and that can guide the guiding structure 20. For example, the guiding structure 20 may comprise holes through which the posts 41 extend to allow a sliding movement. Thus, the positioning accuracy of the guide structure 20 may be improved.

[0093] Figure 2 shows a particular implementation of the joystick device 100 of figure 1. The above explanations thus apply correspondingly, and only differences are explained. The control lever 110 comprises a pivotable lever element 116, which extends in a longitudinal direction 113 of the control lever. The pivotable lever element 116 has a first protrusion at a first end 117 to which the handle 114 may be mounted, directly or indirectly via further intermediate pieces. The pivotable lever element 116 further has a second protrusion at a second end 118. The second end 118 may provide the engagement portion 115, or the engagement portion 115 may be coupled to the second

[0094] P 25049 PCT - Kahler Kack Mollekopfend 118, either directly or indirectly. It should be clear that the control lever 110 may have any other suitable configuration.

[0095] The longitudinal axis 113 of the pivotable lever element 116 may be orthogonal to the pivoting axes 121, 122, at least in a default or initial position of the control lever 110 as shown in figure 2. The pivotable lever element 116 may have a through hole by which it may be mounted on a shaft for pivoting about axis 121.

[0096] The guide structure 20 is provided as a guide plate 21. Figure 2 shows the guide plate 21 at the first position. The surface 24 and the guide pattern 25 are visible. In the present example, the guide pattern has the shape or two parallel line segments of different length intersected (orthogonally) by a third line segment. Any other shape is possible, for example, a single line segment, an H-shape, a T-shape, a cross shape and the like.

[0097] In the initial position of figure 2, the engagement section 115 is disengaged from the guide pattern 25. The control lever 110 is thus freely movable in two axes. Movement by translation mechanism 30 to bring the guide plate 21 into the second position occurs in a direction perpendicular to the surface 24, towards the engagement portion 115 in a direction perpendicular to axes 121, 122, or substantially parallel to the longitudinal axis 113, e.g. in thickness direction of the plate 21. In the second position (figure 3), the engagement portion 115 engages the guide pattern 25, in particular reaches into or through a recess or slot that forms part of the guide pattern.

[0098] Figure 2 further shows springs 42 that may form part of the guiding arrangement 40. The movement occurs so as to compress the springs 42. The springs 42 may thus move the plate 21 back into the first position and may hold the plate 21 in the first position during operation in the first operating mode.

[0099] The translation mechanism 30 comprises a handle 33 that is user operable. It further comprises a shaft 35 with a cam 36 that extends from the shaft. When the shaft 35 is rotated, the cam 36 is rotated and pushes the guide structure 20 into the second position (please see figure 3). The handle 33 and the shaft 35 are connected by a transmission mechanism that includes the changeover lever 35 connected to or formed integrally with the handle 33 and the shaft lever 37 connected to or formed integrally with the shaft 35. The changeover lever 34 is hinged to the shaft lever 37, for example by a rotatable connection using a pin or bolt 38. The changeover lever 34 and the shaft lever 37 thus

[0100] P 25049 PCT - Kahler Kack Mollekopfform a mechanical linkage that transmits the motion of the handle 33 by a user to a rotary motion of shaft 35. The lever sizes and pivoting points may be chosen in accordance with the mechanical configuration of joystick device 100 and in accordance with the desired operating force and stroke.

[0101] During operation of the handle 33, the distance of at least one of the pivoting axis 51 or shaft axis of shaft 35 to the connection via pin 38 changes. To accommodate this change, a slot 39 is provided in at least one of the changeover lever 34 and the shaft lever 37 and the pin 38 is allowed to slide within the slot 39.

[0102] Figure 3 illustrates the joystick device of figure 2 in the second operating mode in which the plate 21 has been brought into the second position. The shaft 35 is rotated by 90 degrees or more and the cam 36 has pushed the guide plate 21 into engagement with the control lever 110 (in particular engagement portion 115). The springs 42 have been compressed by the movement. The handle 33 is now on the other side of the control lever 110 and so is the point 38 of the linkage (in figure 3, the changeover lever 34 is behind the control lever 110, so figure 3 corresponds to a view from the left side in figure 2).

[0103] The second position of the guide structure 20 may be a locked position. In figure 3, the locking is achieved by the cam 36 reaching a position of 90 or more degrees (relative to the lateral surface of the plate 21). The spring force that acts via plate 21 onto the cam thus acts in a direction that does not generate a momentum that turns back the shaft towards the first position. Rather, at 90 degrees, the force acts so as to have no component in either direction of rotation, and slightly above 90 degrees, the force generates a momentum on the shaft that tries to turn the shaft further. However, further rotation of the shaft 35 is not possible, since the linkage provided by changeover lever 34 and the shaft lever 37 cannot be moved further; in particular, the pin 38 has reached the end of slot 39. Additionally or alternatively, a stop can be provided for at least one of the cam 36, the shaft 35, the shaft lever 37, or the changeover lever 34 to prevent further movement of the cam. Thus, the mechanical system is in a locked position. Movement of the handle in the opposite direction will unlock the system again.

[0104] Other implementations are certainly conceivable, such as providing a dedicated locking mechanism, optionally with a manual or automatic release. Further, besides using a manually operated handle 33, the shaft 35 and / or the levers 34, 37 may be operated by

[0105] P 25049 PCT - Kahler Kack Mollekopfmeans of an actuator. For example, a motor and gear may be used to rotate the shaft 35, or a hydraulic or pneumatic piston may be used to push / pull one of the levers.

[0106] The joystick device 100 may optionally comprise a sensor arrangement 60 to detect that the joystick device has been brought into the second operating mode, in particular that the guiding structure has been brought into the second position. The sensor arrangement may comprise a sensor 61 mounted to a fixed part, e.g. a housing or body of the joystick device 100, and a signal generator 62, e.g. mounted to a movable part of the changeover mechanism 10, e.g. to the guide structure 20 or the translation mechanism 30. Sensor 61 and signal generator 62 may alternatively be mounted in a reverse way. Preferably, they are mounted such that the signal generator 62 generates a signal in the sensor 61 when the guide structure 20 is in the second position. Thus, the change to the second position can be detected reliably, and the joystick state is well-defined when a signal is detected. Alternatively, the sensor arrangement may be arranged to generate a signal during the transition from the first position to the second position, or in the first position.

[0107] The sensor 61 can be a Hall sensor or other magnetic sensor, an optical sensor and the like. The signal generator 62 can be a magnet, an optical structure or marker, and the like. Upon the magnet being moved over the Hall sensor, the reaching of the second position can be detected from the sensor signal.

[0108] The joystick device 100 may further comprise a control system 70, which may include a processing unit 71 and a memory 72. Processing unit 71 may be a micro-processor, a digital signal processor, an application-specific integrated circuit, or the like. Memory 72 may comprise RAM, ROM, Flash-Memory, a hard disk drive and other types of memory. Memory 72 may store control instructions which, when executed by processing unit 71, cause the control system 70 to perform any of the methods disclosed herein. In particular, control system 70 may control a first function of a machine (e.g. off-highway vehicle) when the joystick device 100 is operated in the first operating mode, and may control a second different function of the machine when the joystick device 100 is operated in the second operating mode. Upon detecting the switching from the first operating mode to the second operating mode via the sensor arrangement 60, the control system 70 may switch from controlling the first function to controlling the second function.

[0109] In other implementations, in which the switching does not occur manually, the user may make a user input for switching from the first operating mode to the second operating

[0110] P 25049 PCT - Kahler Kack Mollekopfmode. A input element, which may be provided on the joystick device 100 or remote therefrom, may be provided to effect such switching. When the user provides the input to change to the second operating mode, the control system 70 may operate the actuator 32 to move the guide structure from the first position to the second position, and may at the same time change from controlling the first function by the joystick device 100 to controlling the second function of the machine by the joystick device 100.

[0111] Operation may occur in the reverse way for changing from the second operating mode into the first operating mode.

[0112] Figure 4 is a perspective view of the joystick device 100 of figures 2 and 3, wherein additional components are shown. As can be seen, two cams 36 are provided on the shaft 35. Thus, improved stability may be reached at the second position. Additional cams can certainly be provided. Further, the pivoting frame 123 is visible, wherein the pivotable lever element 116 is rotatably suspended in the pivoting frame 123 about the rotation axis 121. The pivoting frame 123 is pivotably supported in a housing 130 (not shown in figure 4) of the joystick device 100 about the axis 122. Figure 4 also shows the second operating mode in which the engagement portion 115 reaches into the guide pattern 25 of the guide structure 20.

[0113] Figure 5 is a perspective view of the joystick device 100 of figures 2, 3 and 4, wherein additional components are shown. In particular, a housing 130 of the joystick device 100 is shown, in which the pivoting frame 123 and the pivotable lever element 116 are pivotably supported, e.g. to form a gimbal mount (or cardan mount). It should be clear that this is only an exemplary implementation of such lever support mechanism, and other mounts for the control lever 110 that allow a two axis movement may likewise be employed. Figure 5 further shows that the rotation axis 51 of changeover lever 34 may be provided by a pin or bolt that extends from the body or housing of the joystick device 100. The shaft 35 may be supported by respective openings in protrusions that protrude from a body or housing of the joystick device. The openings may form a sliding or friction bearing for the shaft (e.g. journal bearing), or additional bearings may be provided.

[0114] As can further be recognized from figure 5, the additional space that is required by the changeover mechanism 10 is rather small. The width of the joystick device in both directions is hardly changed, only by the small space required by the levers 34, 37. Further, the additional space required underneath the joystick device 100 is likewise

[0115] P 25049 PCT - Kahler Kack Mollekopfsmall, because the changeover mechanism can operate with only a small displacement of the guide structure and since the mechanical solution for effecting the movement of the guide structure is rather space-efficient and compact.

[0116] Figure 6 is a flow diagram illustrating a method that may be carried out by the joystick device 100 having any of the configurations described herein. The method may in particular be carried out by the control system 70. In step S10, the joystick device 100 is operated in the first operating mode to control a first function of the (mobile) machine. The first mode may allow a free (unrestricted) two axis movement of the control lever, or may already provide a restriction according to a predefined pattern. In step SI 1, a user input to change the operating mode (in particular to the second operating mode) is detected. In a manual implementation, this may occur by detecting a manual changeover by the user (e.g. by actuation of handle 33) using for example the sensor arrangement 60. Alternatively, such user input may be detected by the user actuating a control element to effect the changeover. In the latter case, the method may further comprise a step of operating an actuator of the changeover mechanism to bring the guide structure 20 into the second position.

[0117] In step S12, the joystick device is then operated in the second operating mode with the guide structure 20 in the second position. In the second operating mode, the joystick device 100 may control a second function of the machine that is different from the first function.

[0118] While specific embodiments are disclosed herein, various changes and modifications can be made without departing from the scope of the invention. The present embodiments are to be considered in all respects as illustrative and non-restrictive, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.

[0119] P 25049 PCT - Kahler Kack MollekopfList of reference si

[0120]

[0121] 10 changeover mechanism

[0122] 11 direction of movement of guide structure 20 guide structure

[0123] 21 guide plate

[0124] 24 surface of guide structure

[0125] 25 guide pattern

[0126] 30 translation mechanism

[0127] 31 transmission mechanism

[0128] 32 actuator

[0129] 33 handle

[0130] 34 changeover lever

[0131] 35 shaft

[0132] 36 cam on shaft

[0133] 37 shaft lever

[0134] 38 pin

[0135] 39 slot

[0136] 40 guiding arrangement

[0137] 41 guiding post

[0138] 42 spring

[0139] 51 rotation axis of changeover lever

[0140] 60 sensor arrangement

[0141] 61 sensor (e.g. Hall sensor)

[0142] 62 signal generator (e.g. magnet)

[0143] 70 control system

[0144] 71 processing unit

[0145] 72 memory

[0146] 100 joystick device

[0147] 110 control lever

[0148] 111 first end

[0149] 112 second end

[0150] 113 longitudinal extension

[0151] 114 handle

[0152] 115 engagement portion

[0153] 116 pivotable lever element

[0154] 117 first end

[0155] P 25049 PCT - Kahler Kack Mollekopf118 second end

[0156] 120 lever support mechanism 121 first pivoting axis

[0157] 122 second pivoting axis 123 pivoting frame

[0158] 130 joystick housing

[0159] S10-S12 method steps

[0160] P 25049 PCT - Kahler Kack Mollekopf

Claims

CLAIMS:

1. A joystick device for a machine, comprising:a control lever (110);a lever support mechanism (120) configured to support the control lever (110) and to provide a two axes movement of the control lever (110); anda changeover mechanism (10) configured to change an operation of the joystick device (100) between a first operating mode and a second operating mode, wherein the changeover mechanism (10) comprises:a guide structure (20) having a guide pattern (25); anda translation mechanism (30) operable to translate the guide structure (20) from a first position at which the control lever (110) is spaced apart from the guide pattern (25) to a second position at which the control lever (110) engages the guide pattern (25) to thereby restrict movement of the control lever (110) to the guide pattern (25), the first position corresponding to the first operating mode and the second position corresponding to the second operating mode, wherein the guide structure (20) has a surface (24) that faces the control lever (110) and the guide pattern (25) extends in the surface (24), wherein the translation mechanism (30) is configured to translate the guide structure (20) in a direction (11) perpendicular to the surface (24) of the guide structure (20) to engage the guide pattern (25) with the control lever (110).

2. The joystick device according to claim 1, wherein the guide pattern (25) is provided in an integrally formed part of the guide structure (20).

3. The joystick device according to claim 1 or 2, wherein the movement of the control lever (110) comprises a pivoting of the control lever (110) about two orthogonal pivoting axes (121, 122), wherein the translation mechanism (30) is configured to translate the guide structure (20) in a direction (11) perpendicular to at least one, preferably to both pivoting axes (121, 122).P 25049 PCT - Kahler Kack Mollekopf4. The joystick device according to any of the preceding claims, wherein the changeover mechanism (10) comprises a spring arrangement comprising one or more springs (42), wherein the one or more springs (42) are arranged such that the translation of the guide structure (20) from the first position to the second position occurs against a spring force of the one or more springs (42).

5. The joystick device according to any of the preceding claims, wherein the control lever (110) comprises an engagement portion (115) that is formed integrally with the control lever or that is mechanically coupled to a part (116) of the control lever to move together with the control lever, wherein the engagement portion (115) is configured to engage the guide pattern (25) of the guide structure (20) when in the second position.

6. The joystick device according to any of the preceding claims, wherein the first operating mode provides a two axis movement that is not restricted by the guide pattern (25) of the guide structure (20), in particular an unrestricted two axes movement of the control lever (110) within a control lever operating range or a movement of the control lever restricted by a guide pattern different from the guide pattern of the guide structure.

7. The joystick device according to any of the preceding claims, wherein the translation mechanism (30) is a manually operated mechanical translation mechanism or wherein the translation mechanism (30) comprises an electrically, hydraulically, or pneumatically operated actuator (32) that is controllable to move the guide structure (20) from the first position to the second position.

8. The joystick device according to any of the preceding claims, wherein the translation mechanism (30) comprises a user operable handle (33), wherein the handle (33) is movable from a first handle position at which the guide structure (20) is located at the first position to a second handle position at which the guide structure (20) is located at the second position, wherein the handle (33) is mechanically coupled to the guide structure (20) to move the guide structure (20) when moving the handle.

9. The joystick device according to any of the preceding claims, wherein the translation mechanism (30) comprises a rotatable shaft (35) and at least one cam (36) on the rotatable shaft (35), wherein the rotatable shaft (35) is arranged to cause the camP 25049 PCT - Kahler Kack Mollekopf(36) to push the guide structure (20) from the first position to the second position when the shaft is rotated.

10. The joystick device according to claim 9, wherein a shaft lever (37) is provided on the shaft (35), wherein the shaft lever (37) is pivotable about a rotation axis of the shaft to rotate the shaft.

11. The joystick device according to claim 10, wherein the translation mechanism (30) comprises a changeover lever (34) having a user operable handle (33), the changeover lever (34) being pivotably supported by a body or housing of the joystick device (100), wherein the changeover lever (34) is mechanically coupled to the shaft lever (37).

12. The joystick device according to any of the preceding claims, wherein the second position is a locked position in which the translation mechanism (30) is in a locked state, or wherein the translation mechanism (30) comprises a locking mechanism that is configured to lock the guide structure (20) in the second position.

13. The joystick device according to any of the preceding claims, further comprising a sensor arrangement (60) configured to detect that the guide structure (20) is in the second position or has been brought into the second position.

14. The joystick device according to any of the preceding claims, further comprising a controller (70), wherein the controller (70) is configured to perform the steps of: operating the joystick device (100) in the first operating mode to control a first function of the machine;detecting an input to change the operating mode of the joystick device (100) from the first operating mode to the second operating mode; and- upon detecting the input to change the operating mode to the second operating mode, operating the joystick device (100) in the second operating mode to control a second function of the machine.

15. A method of operating a joystick device, wherein the joystick device (100) is configured in accordance with any one of the preceding claims, wherein the method comprises:operating the joystick device (100) in the first operating mode to control a first function of the machine;P 25049 PCT - Kahler Kack Mollekopfdetecting an input to change the operating mode of the joystick device (100) from the first operating mode to the second operating mode; and- upon detecting the input to change the operating mode to the second operating mode, operating the joystick device (100) in the second operating mode to control a second function of the machine.P 25049 PCT - Kahler Kack Mollekopf

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