EP1507184A2 - Vorrichtung zum Steuern durch Wechselwirkung mit der Hand einer Bedienungsperson - Google Patents

Vorrichtung zum Steuern durch Wechselwirkung mit der Hand einer Bedienungsperson Download PDF

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Publication number
EP1507184A2
EP1507184A2 EP04291838A EP04291838A EP1507184A2 EP 1507184 A2 EP1507184 A2 EP 1507184A2 EP 04291838 A EP04291838 A EP 04291838A EP 04291838 A EP04291838 A EP 04291838A EP 1507184 A2 EP1507184 A2 EP 1507184A2
Authority
EP
European Patent Office
Prior art keywords
hand
operator
interaction
palm
conformation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP04291838A
Other languages
English (en)
French (fr)
Other versions
EP1507184A3 (de
Inventor
Marcel-Claude Braud
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Manitou BF SA
Original Assignee
Manitou BF SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Manitou BF SA filed Critical Manitou BF SA
Publication of EP1507184A2 publication Critical patent/EP1507184A2/de
Publication of EP1507184A3 publication Critical patent/EP1507184A3/de
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/01—Arrangements of two or more controlling members with respect to one another
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
    • G05G1/10—Details, e.g. of discs, knobs, wheels or handles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2217/00—Facilitation of operation; Human engineering
    • H01H2217/048—Facilitation of operation; Human engineering adapted for operation by left- and right-handed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20018—Transmission control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20576—Elements
    • Y10T74/20732—Handles

Definitions

  • the invention relates to a control device by interaction with the hand operator, including a driver of machinery, equipment or machinery multiple functions.
  • EP 1.283.535 A2 describes a hand control for a vehicle remote control.
  • This hand control for an underwater vehicle Remote controlled has left, right and vertical pushers. The command hand can be taken between the fingers and the palm of the hand.
  • An adjustable lever is mounted to be operated by the thumb, and is configured to provide command for the right and left thrust members of the vehicle ordered to distance.
  • a two-position button is mounted to be controlled by the index finger. The two positions respectively provide control signals to make up or down the remotely controlled vehicle.
  • Hand control handles of known type generally present the disadvantage of requiring a clamping or an interactive grip of the handle or the body of the control handle to enable effective actions of the operator.
  • a first object of the invention is to overcome the disadvantages of the technique known, by proposing a new device avoiding the clenching of the fingers of the operator.
  • DE 94 17 838 discloses an actuating control device manual, with multiple control channels, having a conformation to be grasped from above and adapted to the whole of the hand, and possessing a switching arranged and shaped to be operated by the thumb, when the hand holds or rests on said conformation.
  • the device of document DE 94 17 838 generally gives satisfaction, but not allow a fast interaction with the fingers of an operator driving a machine, equipment or machinery working continuously or at speeds high actuation.
  • a second object of the invention is to provide an ergonomic device enabling a quick release of the fingers, so as to quickly trigger functions multiples by action of several fingers of the hand.
  • a third object of the invention is to propose a new device allowing a natural interaction of the operator's hand in the performance of functions multiple.
  • the invention relates to a control device by interaction with the hand of a operator, including a driver of machinery, equipment or machinery multiple functions, with a conformation of interaction with the palm of the hand, so as to avoid clenching the operator's fingers on the device, while allowing an interaction of the palm and fingers of the operator with the device for performing multiple functions, characterized by the fact that the interaction conformation presents substantially oriented actuator means in the direction of the thumb and forefinger of the operator, so as to avoid any effort sideways on the thumb or forefinger and so as to avoid any movement of the palm of the hand during an actuation.
  • control device has a upper conformation substantially in the form of inclined saddle or substantially shaped hyperbolic paraboloid. This superior conformation allows a free support of the palm of the hand, to operate the whole device in a multitude of radial directions.
  • a zone 2 delimited in dashed lines, interaction with the thumb of the operator's hand.
  • Zone 2 thus makes it possible, in particular, to mount several actuator buttons. positions, self-adjusting thumbwheels, adjustment knobs proportional switches, multi-position switches or any other which can be controlled by an inch, for example displacement members linear slider type, with automatic recall or not.
  • the implementation of the actuator means in the zone 2 is carried out angularly, to allow thumb actuation by means of a movement of flexion / extension, without lateral effort on the thumb and without moving the palm of the hand.
  • tilting actuator means with several positions, the orientation substantially angular of these tilting means leads to predict one or more axes A pivoting or tilting oriented substantially transversely to the direction of the thumb being actuated.
  • the front of the conformation of the device according to the present invention a curved zone 3 delimited in dotted lines of interaction with the index of the operator, when the palm of the hand rests on the superior conformation of the device substantially in the form of an inclined saddle or substantially hyperbolic paraboloid form.
  • Zone 3 delimited in dashed lines also allows the assembly of all types of organs that can be controlled or actuated by an index: zone 3 allows and in particular the mounting of actuator buttons with several positions, recoil adjustment dials, proportional adjustment knobs, multi-position switches or any other controllable device by an index.
  • the implementation of the actuator means in zone 3 is carried out substantially longitudinally, so as to allow actuation by the index with the aid of a flexion / extension movement, without lateral effort on the index and without displacement from the palm of the hand.
  • tilting actuator means with several positions
  • the orientation substantially longitudinal implantation of these tilting means leads to provide one or more oriented pivoting or tilting axes B substantially transversely to the longitudinal direction of the device and to the direction of the index being actuated.
  • the device according to the invention has below the conformation resting the palm of the hand a hollow area 4 delimited in dashed lines, interaction with the middle finger of the operator's hand.
  • Zone 4 delimited by dashed lines allows the assembly of all types of organs which can be controlled by a major:: zone 4 allows, in particular, the assembly of multi-position actuator buttons, recoil adjustment knobs automatic, proportional adjustment knobs, position switches multiple or any other organ that can be controlled by a major.
  • the usually preferred embodiment of the device according to the invention is the embodiment providing the interaction of the palm of the hand with the device, and two or three fingers of the operator's hand with the device, these two or three fingers being usually selected from the group including thumb, forefinger and middle finger.
  • FIG. 4 the hand of an operator is shown in a position overlapping the saddle conformation of a device according to the invention.
  • the natural position of the thumb, forefinger and middle finger allows the hollow of the palm to build on the superior conformation and ensure an ergonomic balance of the hand of the operator on the device according to the invention.
  • the device according to the invention can be used independently, because no clenching or finger tightening fatigue is usually to fear.
  • an armrest for resting the forearm of the operator and filtering parasitic vibrations that can be transmitted to the forearm.
  • the table represented indicates by lines the functions intended to be performed by part of the hand of an operator, for example a driver of telehandler with telescopic arm.
  • the first line 10 indicates the functions performed by interaction of the palm of the operator with the device according to the invention.
  • the palm of the hand allows to switch the device according to the invention in an infinite number of directions presenting four main axes: the tilting of the device towards the front corresponds to the lowering of the telescopic arm, the tilting of the device to the rear corresponds when lifting the telescopic arm, tilting the device to the left corresponds to the receding of the apron, the tilting of the device to the right corresponds to the dumping of the apron, the tilting of the device according to a any direction corresponds to a combined action proportionally to the orientation of the device with respect to the main axes.
  • the second line 11 indicates the functions performed by interaction of the thumb of the operator with the device according to the invention.
  • the exit or re-entry movement of the telescope can in any case be adjusted to a desired exit or rewind speed with the help of a thumbwheel proportional to automatic return on release.
  • knob, knob or optional member may be provided, either for the command at a desired speed by the thumb of a first work accessory function placed at the top of the arrow and intended to complete the action of the working member carried by the telescopic arm, either for controlling a second accessory function additional placed at the top of the arrow.
  • This other button can lock the work accessory on the apron, or check the hydraulic flow of the corresponding accessory cylinder using a proportional electric control.
  • the third line 12 indicates the functions performed by interaction of the index of the operator with the device according to the invention.
  • the mobility functions of the machine are activated when the operator index operates on a three position stable changeover button to operate the machine in forward motion, stop it in a neutral position, or operate it in reverse.
  • the up and down speed control of the gearbox can be staged using another push button or other body command operated by the index, as shown on line 12.
  • This command staged shifting gearbox can be performed as well uphill only downhill speed, and preferably under load.
  • the fourth line 13 indicates the functions performed by interaction of the middle finger of the operator with the device according to the invention.
  • An optional button or command that can be operated by the middle finger ensures a distribution at will of the hydraulic flows between one or the other cylinders accessory placed at the top of the arrow, so as to activate the first function work accessory placed at the top of the arrow, actuated by the thumb, and indicated on line 11, or to activate the second additional accessory function placed at the top of the arrow, actuated by the thumb, and indicated on line 11.
  • Flow distributions and power functions or auxiliary functions can be modified simultaneously by combinations of the functions of the buttons or organs operated by the palm or fingers of the operator.
  • the device according to the invention can be combined with a table of edge illustrating the real-time operation of the machine and sending visual, vocal or acoustic messages to warn the operator of positions or critical situations, for example when there is a stability limit for the machine.
  • the operation of the device according to the invention can be limited by hardware stops or software commands that constantly ensure Safe operation of a machine controlled by a device according to the invention.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Control Devices (AREA)
  • Manipulator (AREA)
EP04291838A 2003-08-11 2004-07-19 Vorrichtung zum Steuern durch Wechselwirkung mit der Hand einer Bedienungsperson Ceased EP1507184A3 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0309814A FR2858861B1 (fr) 2003-08-11 2003-08-11 Dispositif de commande par interaction avec la main d'un operateur
FR0309814 2003-08-11

Publications (2)

Publication Number Publication Date
EP1507184A2 true EP1507184A2 (de) 2005-02-16
EP1507184A3 EP1507184A3 (de) 2005-03-16

Family

ID=33561160

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04291838A Ceased EP1507184A3 (de) 2003-08-11 2004-07-19 Vorrichtung zum Steuern durch Wechselwirkung mit der Hand einer Bedienungsperson

Country Status (3)

Country Link
US (1) US20050034549A1 (de)
EP (1) EP1507184A3 (de)
FR (1) FR2858861B1 (de)

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FR2895534A1 (fr) 2005-12-23 2007-06-29 Noremat Sa Dispositif formant support reglable de commande manuelle
FR2903204A1 (fr) 2006-06-30 2008-01-04 Noremat Sa "dispositif formant support reglable de commande manuelle"
EP1926016A4 (de) * 2005-07-29 2009-07-15 Honda Motor Co Ltd Schnittstelleneinrichtung
EP2277369A1 (de) * 2009-07-20 2011-01-26 CLAAS Selbstfahrende Erntemaschinen GmbH Multifunktionsgriff
FR2976689A1 (fr) * 2011-06-15 2012-12-21 Assist Publ Hopitaux De Paris Joystick de pointage a haut degre de precision
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USD767457S1 (en) 2015-02-06 2016-09-27 Crown Equipment Corporation Vehicle palm rest
US9777461B2 (en) 2015-10-22 2017-10-03 Deere & Company Distributed operator control for work vehicles
US9797114B2 (en) 2015-10-22 2017-10-24 Deere & Company Work vehicle operator control with increment adjust
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FR3062662B1 (fr) 2017-02-03 2019-03-15 Manitou Bf Engin de travaux, notamment de chantier, et procede de commande d'un tel engin
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USD922279S1 (en) 2018-10-17 2021-06-15 Crown Equipment Corporation Control pod
JP7126934B2 (ja) * 2018-12-06 2022-08-29 株式会社クボタ 作業車両の操作レバー及び作業車両
JP7163158B2 (ja) * 2018-12-06 2022-10-31 株式会社クボタ 作業車両の操作レバー及び作業車両
CN110772327A (zh) * 2019-02-21 2020-02-11 深圳市精锋医疗科技有限公司 手柄及主操作台
FR3096698B1 (fr) 2019-06-03 2021-04-30 Manitou Bf Engin de manutention de charge
FR3096979B1 (fr) 2019-06-07 2021-06-25 Manitou Bf Engin de manutention de charge, pelleteuse mécanique, chargeuse à godet ou autre et procédé de commande d'un engin de manutention de charge
FR3096978B1 (fr) 2019-06-07 2021-06-25 Manitou Bf Engin de manutention de charge et procédé de commande d’un engin de manutention de charge
US12545564B2 (en) 2019-06-07 2026-02-10 Manitou Bf Load handling machine, mechanical shovel, bucket loader or the like, and method for controlling a load handling machine
FR3101867B1 (fr) 2019-10-10 2021-10-08 Manitou Bf Engin de manutention de charge équipé d'un moteur thermique et procédé de commande de la vitesse en rotation du moteur thermique d'un tel engin
RU202708U1 (ru) * 2020-12-01 2021-03-03 Общество с ограниченной ответственностью "Опытно-конструкторское бюро УЗГА" Джойстик для управления подвижным объектом
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JP1727626S (ja) * 2021-12-28 2022-10-18 作業機の操作レバー用グリップ
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1926016A4 (de) * 2005-07-29 2009-07-15 Honda Motor Co Ltd Schnittstelleneinrichtung
CN101233478B (zh) * 2005-07-29 2011-07-20 本田技研工业株式会社 接口装置
US8102384B2 (en) 2005-07-29 2012-01-24 Honda Motor Co., Ltd. Interface device
FR2895534A1 (fr) 2005-12-23 2007-06-29 Noremat Sa Dispositif formant support reglable de commande manuelle
EP1818752A1 (de) 2005-12-23 2007-08-15 Noremat Handbediente, verstellbare Einrichtung
FR2903204A1 (fr) 2006-06-30 2008-01-04 Noremat Sa "dispositif formant support reglable de commande manuelle"
EP2277369A1 (de) * 2009-07-20 2011-01-26 CLAAS Selbstfahrende Erntemaschinen GmbH Multifunktionsgriff
FR2976689A1 (fr) * 2011-06-15 2012-12-21 Assist Publ Hopitaux De Paris Joystick de pointage a haut degre de precision
FR2981095A1 (fr) * 2011-10-11 2013-04-12 Manitou Bf Dispositif de commande a fonctions multiples comportant une conformation d'interaction avec la paume de la main d'un operateur

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FR2858861B1 (fr) 2007-06-22
US20050034549A1 (en) 2005-02-17
FR2858861A1 (fr) 2005-02-18
EP1507184A3 (de) 2005-03-16

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