EP2991925A1 - Commutateur de commande pour une commande d'une machine, en particulier une télécommande d'une grue sans fil, portable et actionnable à la main - Google Patents

Commutateur de commande pour une commande d'une machine, en particulier une télécommande d'une grue sans fil, portable et actionnable à la main

Info

Publication number
EP2991925A1
EP2991925A1 EP14771886.0A EP14771886A EP2991925A1 EP 2991925 A1 EP2991925 A1 EP 2991925A1 EP 14771886 A EP14771886 A EP 14771886A EP 2991925 A1 EP2991925 A1 EP 2991925A1
Authority
EP
European Patent Office
Prior art keywords
sensor
control switch
operator
housing
electrode
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.)
Granted
Application number
EP14771886.0A
Other languages
German (de)
English (en)
Other versions
EP2991925B1 (fr
Inventor
Giuliano Persico
Wolfgang Krebs
Stefan Elspass
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.)
Demag Cranes and Components GmbH
Original Assignee
Terex MHPS GmbH
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 Terex MHPS GmbH filed Critical Terex MHPS GmbH
Publication of EP2991925A1 publication Critical patent/EP2991925A1/fr
Application granted granted Critical
Publication of EP2991925B1 publication Critical patent/EP2991925B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Definitions

  • Control switch for operating a machine, in particular a wireless, portable and hand-operated remote control for a crane
  • the invention relates to a control switch for operating a machine, in particular a wireless, portable and manually operable remote control for a crane, with a detection device, via which an operator can be detected, and with a safety circuit, via which the control switch is activated upon detection of an operator and is disabled when not detecting an operator.
  • German Offenlegungsschrift DE 10 2009 051 819 A1 discloses a
  • the Security circuit can be activated and deactivated.
  • the security circuit comprises an RFI D reader, which is arranged in the hanging switch, and an RFID transponder, which is carried in the form of a bracelet by an operator authorized to operate the crane.
  • the RFI D reader has a signal strength with a short range in the range of about 20 cm to 30 cm.
  • About the safety circuit ensures that the controls of the pendant switch are activated only as long and thus the crane remains operable only as long as an authorized operator is in sufficient proximity to the control switch, i. the Rl FD transponder is in the receiving range of the RFI D reader. As soon as the operator or their RFID transponder is too far away from the reception area of the RFI D reader, the
  • Safety circuit deactivates the controls of the pendant switch.
  • a wireless control switch for a crane which has a micro-joystick and a tilt sensor as operating elements.
  • Joystick is a so-called deadman button, which must be pressed with the thumb to work with the micro-joystick, this is to prevent inadvertent triggering of crane functions.
  • the tilt sensor in the control switch is pressed by a finger pressed by a forefinger on the When the release button is released, the inclination sensor is deactivated
  • the tilt sensor can be used to initiate lifting or lowering movements as well as traveling movements of a crane trolley.
  • a deadman circuit for a circular saw known.
  • the circular saw has a trolley which can be moved by means of a feed drive.
  • the feed drive can be controlled via a rotary handle.
  • the dead man's circuit is provided in the form of a capacitive, inductive, mechanical and / or electrical sensor in the region of the rotary handle. This ensures that at a touch of the
  • Turning handle is detected by an operator, the presence of the operator, which triggers a release of the feed drive by the dead man's circuit.
  • the invention has for its object to provide a control switch for operating a crane, in particular a wireless, portable and hand-operated
  • Remote control which provides an improved safety circuit for activating and deactivating the control switch.
  • a control switch for operating a crane in particular a wireless, portable and hand-operated remote control, with a detection device, via which an operator is detectable, and with a gripping area for an operator having housing and with a
  • Safety circuit via which the control switch is activated upon detection of an operator and can be deactivated when not detecting an operator, a
  • the detection device comprises at least one sensor which detects in a near field a hand holding the control switch in the gripping area of the operator, and the detection device comprises at least one further sensor which detects a use of the control switch.
  • the detection device comprises at least one sensor which detects in a near field a hand holding the control switch in the gripping area of the operator, and the detection device comprises at least one further sensor which detects a use of the control switch.
  • Control switch or a use of the control switch In ergonomically speaking, this leads to an improvement, since the operator does not have to actively operate a deadman button. In addition, unwanted interruptions in the operation are avoided because the activation of the control switch is not dependent on the permanent holding down a deadman button, but only on the fact that an operator holds the control switch in his hand. Also, the operation of the control switch changes or is not limited compared to known models, since the sensors are not perceived by the operator. Furthermore, these sensors are robust, so that a suitability for the operation of a crane is given. The use of two sensors increases the
  • a hand recognition could also take place indirectly in connection with a wireless solution and a transponder located on the hand or the body and to be recognized.
  • the at least one sensor and the further sensor are connected to a logic circuit which sends an activation signal to the safety circuit when the near-field sensor and the further sensor each detect an operator or a use of the
  • the near field starting from the gripping area, extends a maximum of 3 mm, preferably a maximum of 2 mm. This reliably ensures that inadvertent operation of the control switch can not take place. Also, the desired deadman function is achieved by this small close range.
  • the at least one first sensor is arranged in the interior of a housing of the control switch such that a
  • Control switch holding the operator's hand is recognizable by the sensor.
  • the sensors are thus integrated in the housing and are not perceived by the user and do not interfere with the operation of the control switch.
  • at least one further sensor is arranged in the interior of the housing, as a near-field sensor, an acceleration sensor, as an optical sensor or as
  • Tilt sensor is formed. An activation of the control switch is then only if in addition to the detection by the capacitive sensor and a detection by the other sensor is present.
  • the second sensor is designed as a near field sensor and the first sensor and the second sensor are arranged at a distance from each other in the housing. The spacing increases the
  • a second near-field sensor and a third near-field sensor in the interior of the housing of the
  • Control switch are arranged such that a hand holding the control switch of the operator of the second sensor or the third sensor in addition to the first sensor is recognizable.
  • the control switch can also on a
  • Near field sensor is a capacitive sensor or a radio sensor.
  • the first, second and third sensors are designed as capacitive sensors, each comprising a first, second and third electrode, the first electrode, the second electrode and the third electrode at a distance, preferably orthogonal in different spatial Layers are arranged to each other in the housing.
  • the spatial arrangement of the electrodes increases the
  • the first electrode in the region of a bottom of the housing, the second electrode in the region of a left longitudinal side of the housing and the third electrode in the region of a right longitudinal side of the housing is arranged. In order to allows both right- and left-handed operation.
  • the near-field sensor and the further sensor are connected to a logic circuit, which
  • Activation signal to the safety circuit sends when the near field sensor and the other sensor each detect an operator.
  • the first, second and third sensor are connected to a logic circuit, the
  • Activate signal sends to the safety circuit when the first sensor and one of the second and third sensors each detect an operator.
  • FIG. 1 shows a plan view of a control switch according to the invention
  • FIG. 2 shows a sectional view of the control switch according to FIG. 1,
  • FIG. 3 shows a schematic circuit diagram of a logic circuit in one
  • Safety circuit of the control switch of Figure 1 with three sensors and Figure 4 is a schematic diagram of a logic circuit in a
  • FIG. 1 shows a plan view of a wireless according to the invention
  • Control switch 1 which is designed as a radio-operated and portable manual control switch.
  • the control switch 1 consists in the usual way of an im
  • the shape and dimensions of the control switch 1 are dimensioned so that it can be easily gripped by a hand 13 of an operator (see FIG. 2) on a gripping area 2f and the operating elements 3 can be easily reached and actuated with the thumb.
  • the controls 3 are designed as single or multi-stage button or mini-joystick and wear in the usual way symbols, each corresponding to an operating function for a crane.
  • Control symbols 1 for an indoor crane show the symbols the functions lifting, lowering, crabbing right, crabbing left, crane forward, crane craning backwards as well as freely assignable special functions such as operation of a horn.
  • the mini-joysticks for example, control the travel movements of crane and cat.
  • the display 4 for example, the state of charge of a battery or operating states of the control switch 1 can be displayed.
  • By operating one of the controls 3 of the control switch 1 corresponding control signals are generated for the respective operating function and sent wirelessly to the crane and thus triggered the respective control process.
  • the housing 2 there is enough space to accommodate unillustrated components such as a rechargeable battery 5, mechanical and electrical parts of the controls 3, and a control circuit 6 for generating, processing, transmitting, and receiving control signals.
  • a rechargeable battery 5 for generating, processing, transmitting, and receiving control signals.
  • the battery 5 and the control circuit 6 are in the figure 2
  • safety circuit 7 is provided to prevent inadvertent operation of the control switch 1.
  • Safety circuit 7 the control switch 1 between a safety state and an operating state as needed switchable back and forth.
  • Control switch 1 does not come to an unwanted operation of the crane.
  • the housing 2 shows a sectional view of the control switch according to FIG 1.
  • the housing 2 consists of an upper part and a lower part, so that the figure 2, the cup-shaped base with a bottom 2b, a left longitudinal side 2c and a right longitudinal side 2d shows.
  • Inside 2e of the housing 2 are schematically next to the battery 6 at the lower end of the housing 2, the control circuit 6 and the safety circuit 7 at the upper end of
  • the safety circuit 7 is divided into a logic part 7a and a monitoring part 7b.
  • the monitoring part 7b cyclically checks the correct function of the sensors 8, 9, 10.
  • This monitoring function can also be implemented in the control circuit 6.
  • a first sensor 8, second sensor 9 and a third sensor 10 are disposed inside 2e of the housing 2.
  • Each of the sensors 8, 9 and 10 is designed as a near-field sensor with a near-field region of a maximum of 3 mm, preferably a maximum of 2 mm.
  • This near field area is located in the gripping area 2f of the control switch 2.
  • a hand 13 of an operator can be detected when it is in the near field area.
  • Near-field sensors can be sensors with capacitive electrodes or radio antennas.
  • the sensors 8, 9 and 10 are formed as touch-sensitive capacitive sensors, each having a flat plate-shaped and rectangular electrodes 8a, 9a and 10a, which are arranged in the longitudinal direction L of the housing 2 in the middle and thus in the gripping area 2f of a control switch 1 embracing hand 13 of an operator.
  • the electrodes 8a, 9a and 10a are plate-shaped or rod-shaped.
  • the first electrode 8a is aligned with its longitudinal extent in the longitudinal direction L of the housing 2 and arranged on the underside 2b of the housing 2 and thus is the center of a hand of an operator encompassing the control switch 1 opposite. Usually lies in the operation of the control switch 1, this with its bottom 2b in the palm of the operator.
  • the palm of his hand is on his hand from the outside on the right longitudinal side 2 d of the control switch 1 at.
  • the second electrode 9b is arranged and aligned with its longitudinal extension in the longitudinal direction L of the housing 2.
  • the second electrode 9b thus lies opposite the palm of the hand.
  • the third electrode 10 a is arranged opposite to the second electrode 9 b on the inside on the left longitudinal side 2 c of the housing 2 and also aligned with its longitudinal extent in the longitudinal direction L of the housing 2. With a closed hand, the fingers are only slightly or not from the outside on the left longitudinal side 2c, so that they are not the third sensor 10 opposite.
  • the third sensor 10 is thus used when the control switch 1 is held by a left-hander, since then the palm of your hand rests against the left longitudinal side 2c.
  • the rectangular electrodes 8a, 9a and 10a are made of a conductive material, preferably copper or a copper alloy.
  • the capacitance required for the electrodes 8a, 9a and 10a depends, inter alia, on the size and position of the electrodes 8a, 9a and 10a in the housing 2, the material of the housing 2 and the electrodes 8a, 9a and 10a.
  • the plate-like or rod-shaped shape of the electrodes 8a, 9a and 10a it is also conceivable that these to evaporate on the inside of the case.
  • the electrodes 8a, 9a and 10a of the sensors 8, 9 and 10 are in this case designed and within the housing 2 of the
  • Control switch 1 arranged that a touch on an outside of the
  • the sensors 8, 9 and 10 cooperate with a recognition circuit 8b, 9b and 10b (see FIG.
  • Essentially consists of an integrated circuit which, starting from a quiescent value, i. Capacity of the housing 2 without fitting hand 13 at
  • Capacitors and resistors constituted by the detection circuits 8b, 9b and 10b.
  • the quiescent value may change depending on environmental conditions. Since a predetermined change in capacitance leads to an output signal in the sense of a hand recognition, a corresponding adaptation of the associated absolute values takes place.
  • the sensors 8, 9 and 10 cooperate with the safety circuit 7 to activate and deactivate the control switch 1 in the manner of a dead man's circuit.
  • the detection circuits 8b, 9b and 10b are connected to the safety circuit 7 via first, second and third signal lines 8c, 9c and 10.
  • the detection circuits 8b, 9b and 10b are not shown. These can also be arranged together on a circuit board with the safety circuit 7, so that the first, second and third signal lines 8c, 9c and 10c then
  • Tracks are. About the safety circuit 7 and the sensors 8, 9 and 10 is detected, whether the control switch 1, in particular the bottom 2b and one of the long sides 2c and 2d with an object, which is usually the hand 13 of an operator in contact. If the hand of an operator is detected, the control circuit 1 is activated by the safety circuit 7. The control switch 1 remains activated only as long as such an applied hand is detected. For this purpose, the safety circuit 7 continuously queries the state of the sensors 8, 9 and 10. Accordingly, the safety circuit 2 deactivates the control switch 1, when no operator's hand is detected anymore. This deactivation is usually associated with a locking of the controls 3, so that all crane functions come to a standstill with the exception of the stop button. Since not only touches of a hand, but also touches by any, both electrically conductive and dielectric material can be detected via the sensors 8, 9 and 10, it must be ruled out that the
  • Control switch 1 is already activated by mere resting example, on a workbench. Therefore, the first electrode 8a is offset from the second or third electrode 9a, 10a by approximately 90 degrees so that they do not lie in a common plane of the housing 2 of the control switch 1.
  • FIG. 3 shows a schematic circuit diagram of the logic circuit 7a within the safety circuit of the control switch 1. Via this logic circuit 7a, the sensors 8, 9 and 10 with their electrodes 8a, 9a and 10a and
  • Detection circuits 8b, 9b and 10b connected to each other with the goal that for activation of the control switch 1 at least two sensors 8, 9 and 10 must reach a detection state.
  • first, second and third signal lines 8c, 9c and 10c of the sensors 8, 9 and 10 are provided on the output side of their detection circuits 8b, 9b and 10b.
  • the logic circuit is designed as a two-channel system, the first electrode 8a on the underside 2b of the housing 2 being associated with a first channel and the second and third electrodes 9a, 10a on the longitudinal sides 2c, 2d of the housing 2 being associated with a second channel ,
  • the output signals of the first and the second channel are linked via an AND circuit 1 1, so that the palm and palms of the operator must be detected by the sensors 8, 9 and 10 for activation of the control switch 1.
  • the two opposing sensors 9 and 10 are provided, of which corresponding manner only one of the palm of the operator is detected, is a link via an OR circuit 12 in the second Channel provided. Accordingly, the security circuit 7 activates the
  • Control switch 1 only if both channels of the safety circuit 7 detect an applied hand.
  • the output signals of the OR circuit 12 and the detection circuit 8b are monitored by the monitoring circuit 7b.
  • the logic circuit 7a and / or the monitoring circuit 7b can also by Microcomputer technology can be realized.
  • two micro-controllers are then preferably required. Both receive the sensor information and compare the respective output signals. Only if they match the controls 3 are unlocked.
  • FIG. 4 shows a circuit diagram substantially corresponding to the schematic circuit diagram according to FIG. 3, so that essentially the previous one is used
  • the main difference is that only two sensors 8, 9 are used.
  • the first sensor 8 is designed as a capacitive sensor and the second sensor 9 as a tilt sensor.
  • a two-channel signal processing is used, but the OR circuit 12 can be omitted, since the inclination sensor operates independently of the operation of the control switch 1 by a right or left-handed. Accordingly, the output signals of the two detection circuits 8b and 9b are monitored by the monitoring circuit 7b.
  • control switch 1 it is alternatively also possible for the control switch 1 to be designed as a conventional hanging control switch and for the control signals to be connected to the crane via a suspension control switch
  • Control line to be sent to be sent.
  • the present invention enables operation of machines in general, in the event the control switch is used. Also, the sensors 8, 9 and 10 as
  • Acceleration sensor be designed as an optical sensor or as a tilt sensor. These sensors can be arranged at any location in or on the housing 2 of the control switch 1. From a safety point of view, a combination of different sensor technologies, for example, a capacitive first sensor 8 with only one further inclination sensor, which are connected to one another via an AND circuit, would be preferred.
  • the side electrodes 9a and 10a may be replaced by portions of EMC gaskets consisting essentially of an elastic support and an electrically conductive wire mesh.
  • the electrodes 8a, 9a and 10a be damped or glued electrodes. These sections then each assume the function of a capacitive sensor. Further, in the present
  • the near-field sensor can also be designed as a radio sensor with an antenna, which is then arranged in the housing instead of the electrode.
  • An RF sensor or radio sensor generally consists of an antenna and an RF module, both of which are arranged in the housing of the control switch and usually adjacent.
  • the RF module has a transmitter (transmitter) with which electrical signals are converted into electromagnetic waves and transmitted via the antenna.
  • the antenna dimensions are at the frequency of the electromagnetic waves to be transmitted and received or at their
  • a transponder in particular Rl FD transponder is then arranged, which is then detected.
  • the near field sensor can also be designed as an IR transmitting diode and I R receiver diode, which is then arranged in the housing instead of the electrodes or radio sensors.
  • IR transmitter diode and I R receiver diode are arranged opposite each other licht jacketenroom, so that the I R light path interrupted by the operator to generate the required signal "handle occupied".
  • reflex photoelectric sensors can be used: IR transmitters and I R receivers are not arranged opposite each other but next to one another.
  • the operator's hand when approaching, reflects the I R light, so in this case the "handle busy" signal is generated when the receiver receives the reflected I R light.
  • the body-com technology uses bidirectional communication between a base unit that is installed in the housing of the switch and a mobile detection chip that is carried by the operator on the body or in the clothing.
  • the signals to be transmitted are capacitively transmitted and received by the base unit and the detection chip, the human body serving as a communication channel.
  • This technology implicitly recognizes the hand of an operator as the communication channel is established. For the purposes of the invention, this also means a hand recognition.
  • an RFI D transponder can also be worn by the operator near his thumb. LIST OF REFERENCE NUMBERS

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Switches That Are Operated By Magnetic Or Electric Fields (AREA)
  • Control And Safety Of Cranes (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

L'invention concerne un commutateur de commande (1) destiné à une commande d'une machine, en particulier une télécommande d'une grue sans fil, portable et actionnable à la main, comprenant un boîtier (2) comportant une zone de préhension (2f) destinée à un opérateur et un dispositif de détection au moyen duquel un opérateur peut être détecté, et un circuit de sécurité (7) au moyen duquel le commutateur de commande (1) peut être activé lorsqu'un opérateur est détecté et désactivé lorsqu'aucun opérateur n'est détecté. Selon l'invention, pour produire un commutateur de commande qui comporte un circuit de sécurité amélioré pour l'activation et la désactivation du commutateur de commande, le dispositif de détection comprend au moins un capteur (8, 9, 10) qui détecte dans un champ proche une main de l'opérateur tenant le commutateur de commande (1) dans la zone de préhension (2f) et le dispositif de détection comprend au moins un autre capteur (9, 10) qui détecte une utilisation du commutateur de commande (1).
EP14771886.0A 2013-09-26 2014-09-22 Commutateur de commande pour une commande d'une machine, en particulier une télécommande d'une grue sans fil, portable et actionnable à la main Active EP2991925B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013110681.1A DE102013110681A1 (de) 2013-09-26 2013-09-26 Steuerschalter für eine Bedienung einer Maschine, insbesondere eine drahtlose, tragbare und handbetätigbare Fernbedienung für einen Kran
PCT/EP2014/070151 WO2015044093A1 (fr) 2013-09-26 2014-09-22 Commutateur de commande pour une commande d'une machine, en particulier une télécommande d'une grue sans fil, portable et actionnable à la main

Publications (2)

Publication Number Publication Date
EP2991925A1 true EP2991925A1 (fr) 2016-03-09
EP2991925B1 EP2991925B1 (fr) 2017-03-22

Family

ID=51589312

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14771886.0A Active EP2991925B1 (fr) 2013-09-26 2014-09-22 Commutateur de commande pour une commande d'une machine, en particulier une télécommande d'une grue sans fil, portable et actionnable à la main

Country Status (6)

Country Link
US (1) US9776839B2 (fr)
EP (1) EP2991925B1 (fr)
CN (1) CN203877772U (fr)
DE (1) DE102013110681A1 (fr)
ES (1) ES2627637T3 (fr)
WO (1) WO2015044093A1 (fr)

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TR2021017876A2 (tr) * 2021-11-17 2021-12-21 Elfatek Elektronik Makina Ve Otomasyonu Sanayi Ticaret Ltd Sirketi Halat Salınım Emniyet Sistemi
USD1023981S1 (en) * 2022-03-15 2024-04-23 Stellar Industries, Inc. Crane remote control device
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DE102022115160A1 (de) 2022-06-17 2023-12-28 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein Einhand-Bedieneinrichtung
CN116425034B (zh) * 2023-03-09 2025-09-30 广州大学 一种起重设备的作业前安全隐患排除方法及装置
DE102023129470A1 (de) * 2023-10-25 2025-04-30 B. Braun New Ventures GmbH Medizinischer Joystick mit Freigabesensor, medizinisches System und computerimplementiertes Steuerverfahren

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Also Published As

Publication number Publication date
EP2991925B1 (fr) 2017-03-22
US9776839B2 (en) 2017-10-03
ES2627637T3 (es) 2017-07-28
US20160236914A1 (en) 2016-08-18
DE102013110681A1 (de) 2015-03-26
WO2015044093A1 (fr) 2015-04-02
CN203877772U (zh) 2014-10-15

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