EP1717187A2 - Industrial truck with a multifunction lever - Google Patents

Industrial truck with a multifunction lever Download PDF

Info

Publication number
EP1717187A2
EP1717187A2 EP06007152A EP06007152A EP1717187A2 EP 1717187 A2 EP1717187 A2 EP 1717187A2 EP 06007152 A EP06007152 A EP 06007152A EP 06007152 A EP06007152 A EP 06007152A EP 1717187 A2 EP1717187 A2 EP 1717187A2
Authority
EP
European Patent Office
Prior art keywords
truck
sensor
detecting
control device
designed
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
EP06007152A
Other languages
German (de)
French (fr)
Other versions
EP1717187A3 (en
EP1717187B1 (en
Inventor
Marek Szymanski
Roland Dr. Tiedemann
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.)
STILL GmbH
Original Assignee
STILL 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 STILL GmbH filed Critical STILL GmbH
Publication of EP1717187A2 publication Critical patent/EP1717187A2/en
Publication of EP1717187A3 publication Critical patent/EP1717187A3/en
Application granted granted Critical
Publication of EP1717187B1 publication Critical patent/EP1717187B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • G05G2009/0474—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 characterised by means converting mechanical movement into electric signals
    • G05G2009/04762—Force transducer, e.g. strain gauge
    • 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
    • Y10T74/20037—Occupant propelled vehicle

Definitions

  • the invention relates to an industrial truck with a multi-function lever for controlling the movement of a load-receiving means of the truck, wherein the multi-function lever has a handle element.
  • a plurality of individual levers or a multi-function lever are provided for operating the numerous functions of a truck by the operator.
  • Prior art multi-function levers typically have a handle that can be tilted about a transverse axis and about a longitudinal axis of the truck.
  • a plurality of fingers operable switch are arranged on the handle.
  • the functions that can be controlled with a multi-function lever are usually the vertical movement of a load handler, the tilting of the load handler and the lateral displacement of the load handler.
  • the direction of travel of the truck can also be specified with some multi-function levers.
  • the present invention is therefore based on the object to provide an industrial truck with a multi-function lever, in which the risk of damage to the health of the operator is significantly reduced.
  • the gripping element is essentially immovable and the stylus element is assigned at least one sensor for detecting an actuating force exerted on the gripping element and / or an actuating torque exerted on the gripping element, the sensor having an electric control device of the industrial truck is in active connection.
  • the multi-function lever is designed as a so-called isometric control element and performs at an operation-apart from, for example, elastic deformations-no movement.
  • those controls are to be considered, which can be deflected by a maximum of 5 mm, preferably at most 3 mm from a neutral position out.
  • the sensor detects the force exerted by the operator on the multi-function lever.
  • the multi-function lever can be optimally positioned and aligned ergonomically. Since the multi-function lever is not moved out of this optimized position, the hand of the operator never takes an ergonomically disadvantageous position.
  • the detection of the actuating force is carried out by suitable force measuring sensors, which may be based for example on the technology of strain gauges. For measuring moments special moment measuring sensors can be provided. It is also possible to detect an actuating torque by means of two spaced force measuring sensors. The output signals of the sensors are evaluated in the electrical control device, which then controls the load-receiving means of the truck accordingly.
  • control device is designed such that the speed of movement of the load-receiving means is set as a function of the size of the actuating force or the size of the actuating torque.
  • the speed of movement of the load receiving means can thus be steplessly controlled by the operator.
  • the actuation force or the actuating torque exerted by the operator is thereby detected continuously or in a finely graduated manner by the at least one relevant sensor.
  • At least one sensor is arranged in the region of an attachment point of the grip element on a main body of the multi-function lever.
  • the sensor measures the total acting on the handle element in the direction in question force.
  • Several sensors can be arranged in the region of the fastening point of the grip element on the base body, with each sensor then measuring the force acting in a specific direction.
  • At least one sensor is arranged in the region of a contact surface of the grip element. In this case, the force exerted on the grip element is measured directly at the point at which the operator initiates the force into the grip element.
  • An expedient embodiment of the invention is that the gripping element has a sensor for detecting a vertical actuation force and the electrical control device is designed such that in response to the output signal of the sensor for detecting the vertical actuation force, a movement of the load-receiving means is driven in the vertical direction.
  • the control of the vertical movement of the load-receiving means so for example, the raising and lowering of the lifting device takes place by an upward or downward force is exerted on the handle element in meaningful direction.
  • the gripping element has a sensor for detecting a horizontal actuating force in the transverse direction of the industrial truck and the electrical control device is designed such that in dependence on the output signal of the sensor for detecting an actuating force in the transverse direction of the truck, a movement of the load-receiving means in the transverse direction of the truck is controlled.
  • a movement of the load-receiving means in the transverse direction of the truck so to the left or to the right, for example, by means of a side thruster.
  • the operator exerts a force on the handle element in the appropriate direction.
  • a steering device of the truck is controllable, wherein the handle member has a sensor for detecting a horizontal actuating force in the transverse direction of the truck and the electrical control device is designed such that in response to the output signal of the sensor for Detecting an actuating force in the transverse direction of the truck, a steering device of the truck is driven.
  • the exercise of a left or right directed force on the handle element thus causes a steering of the truck to the left or to the right.
  • the gripping element has a sensor for detecting a horizontal actuating force in the longitudinal direction of the truck and the electrical control device is designed such that in response to the output signal of the sensor for detecting the actuating force in the longitudinal direction of the truck, a movement of the load receiving means is driven in the longitudinal direction of the truck.
  • the activation of this function is also evident by the force applied to the handle element in the desired direction of movement of the load-receiving means.
  • a direction of travel and / or a driving speed of the truck is controllable with the handle element, wherein the handle member has a sensor for detecting a horizontal operating force in the longitudinal direction of the truck and the electric control device is designed such that in dependence on the output signal of the sensor for detecting the actuating force in the longitudinal direction of the truck, the direction of travel and / or the driving speed of the industrial truck is controlled.
  • the direction of travel ie forward or reverse travel
  • the driving speed is controlled via a separate operating element, for example via a foot pedal.
  • both the direction of travel and the driving speed are predetermined with the grip element, in which case the driving speed is set in the corresponding direction as a function of the actuating force of the grip element.
  • the grip element has a sensor for detecting an actuating torque about a transverse axis of the truck and the electrical control device is designed such that in response to the output signal of the sensor for detecting the actuating torque about the transverse axis of the truck movement of the Lifting device is driven by a transverse axis of the truck.
  • a forward and backward tilting of the load-receiving means is thus controlled by the fact that a torque in the corresponding direction is exerted on the handle member.
  • the gripping element comprises a sensor for detecting an actuating torque about a longitudinal axis of the truck and the electrical control device is designed such that in response to the output signal of the sensor for detecting the operating torque about the longitudinal axis of the truck movement of the lifting device to a longitudinal axis of the truck is controlled.
  • a device for rotating the load-receiving means about a truck longitudinal axis is often present when the load-carrying means is designed as a bale or drum clamp. This function is activated by applying torque to the handle element about a rectified axis.
  • Figure 1 shows a designed as a forklift truck in a schematic representation.
  • a vehicle frame 1 an aligned in the vehicle longitudinal direction driver's seat 2, arranged in front of the driver's seat 2 mast 3 and along the mast 3 vertically movable, designed as a load lifting device 4.
  • the driver's seat is assigned an operating unit 5 with a multi-function lever for various functions the truck, in particular the load-receiving means 4, a traction drive and a steering device.
  • the directions of movement of the load receiving means 4 and the corresponding actuating directions of the multi-function lever are described below with reference to the drawn rectangular coordinate system.
  • the coordinate axis x corresponds to the longitudinal direction of the truck, the coordinate axis y of the transverse direction of the truck and the coordinate axis z a vertical direction.
  • a base body 10 of the multi-function lever is part of a driver's seat 2 associated armrest 11.
  • a handle member 12 of the multi-function lever is relative to the Main body 10 substantially immovable.
  • the forces exerted on the grip element 12 by an operator are detected by a plurality of sensors. It is possible here to detect the forces exerted in the direction of all three coordinate axes x, y, z. In addition, torques around all three coordinate axes x, y, z could be detected.
  • the coordinate system of the multi-function lever thereby corresponds at least approximately to the coordinate system of the industrial truck according to FIG. 1. Overall, therefore, up to six functions of the industrial truck can be controlled by exerting forces and moments on the grip element 12.
  • further control elements can be arranged on the multi-function lever or in the immediate vicinity thereof, whereby further functions can then be activated by the operator with the same hand.
  • the movements of the handle member 12 other or other functions can be assigned.
  • the grip element can be arbitrarily shaped, for example, according to ergonomic considerations.

Abstract

The lever has a grip portion (12) that is moved to control the movement of the load receiving portion of an industrial truck. The grip portion has a sensor on its base (10) or on its contact surface for detecting the actuation force or amount of actuation applied to the grip portion. The sensor is connected to an electronic control device which regulates the movement of the load receiving portion based on the output of the sensor. An independent claim is included for the industrial truck using the multifunctional lever.

Description

Die Erfindung betrifft ein Flurförderzeug mit einem Multifunktionshebel zur Steuerung der Bewegung eines Lastaufnahmemittels des Flurförderzeugs, wobei der Multifunktionshebel ein Griffelement aufweist.The invention relates to an industrial truck with a multi-function lever for controlling the movement of a load-receiving means of the truck, wherein the multi-function lever has a handle element.

Üblicherweise sind zum Bedienen der zahlreichen Funktionen eines Flurförderzeugs durch die Bedienperson entweder mehrere Einzelhebel oder ein Multifunktionshebel vorgesehen. Multifunktionshebel des Standes der Technik weisen in der Regel einen Handgriff auf, der um eine Querachse und um eine Längsachse des Flurförderzeugs geneigt werden kann. Zusätzlich sind an dem Handgriff noch mehrere mit den Fingern betätigbare Schalter angeordnet. Bei den Funktionen, die mit einem Multifunktionshebel gesteuert werden können, handelt es sich in der Regel um das vertikale Bewegen eines Lastaufnahmemittels, das Neigen des Lastaufnahmemittels und das seitliche Verschieben des Lastaufnahmemittels. Zusätzlich kann mit manchen Multifunktionshebeln auch die Fahrtrichtung des Flurförderzeugs vorgegeben werden.Usually, either a plurality of individual levers or a multi-function lever are provided for operating the numerous functions of a truck by the operator. Prior art multi-function levers typically have a handle that can be tilted about a transverse axis and about a longitudinal axis of the truck. In addition, a plurality of fingers operable switch are arranged on the handle. The functions that can be controlled with a multi-function lever are usually the vertical movement of a load handler, the tilting of the load handler and the lateral displacement of the load handler. In addition, the direction of travel of the truck can also be specified with some multi-function levers.

Bekannte Multifunktionshebel erfordern im praktischen Einsatz sich fortlaufend wiederholende Bewegungen der Hand der Bedienperson. Infolge der Bewegbarkeit des Multifunktionshebels befindet sich die Hand dabei zum Teil in ergonomisch ungünstigen Stellungen. Dies begünstigt das Auftreten von gesundheitlichen Beeinträchtigungen der Bedienperson, insbesondere der so genannten "Repetitive Stress Injury (RSI)".Known multi-function levers in practical use require repeated repetitive movements of the hand of the operator. Due to the mobility of the multi-function lever, the hand is partly in ergonomically unfavorable positions. This favors the occurrence of health impairments of the operator, in particular the so-called "Repetitive Stress Injury (RSI)".

Der vorliegenden Erfindung liegt daher die Aufgabe zu Grunde, ein Flurförderzeug mit einem Multifunktionshebel zur Verfügung zu stellen, bei dem die Gefahr einer gesundheitlichen Beeinträchtigung der Bedienperson deutlich verringert ist.The present invention is therefore based on the object to provide an industrial truck with a multi-function lever, in which the risk of damage to the health of the operator is significantly reduced.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass das Griffelement im Wesentlichen nicht bewegbar ist und dem Griffelelement mindestens ein Sensor zum Erfassen einer auf das Griffelement ausgeübten Betätigungskraft und/oder eines auf das Griffelement ausgeübten Betätigungsmoments zugeordnet ist, wobei der Sensor mit einer elektrischen Steuervorrichtung des Flurförderzeugs in Wirkverbindung steht.This object is achieved according to the invention in that the gripping element is essentially immovable and the stylus element is assigned at least one sensor for detecting an actuating force exerted on the gripping element and / or an actuating torque exerted on the gripping element, the sensor having an electric control device of the industrial truck is in active connection.

Der Multifunktionshebel ist dabei als so genanntes isometrisches Bedienelement ausgeführt und führt bei einer Betätigung―abgesehen beispielsweise von elastischen Verformungen―keine Bewegung aus. Als im Wesentlichen nicht bewegbar sind im Zusammenhang mit der Erfindung auch solche Bedienelemente anzusehen, die um höchstens 5 mm, vorzugsweise um höchstens 3 mm aus einer Neutralstellung heraus ausgelenkt werden können. Anstelle einer ausladenden Bewegung des Multifunktionshebels erfasst der Sensor die von der Bedienperson auf den Multifunktionshebel ausgeübte Kraft. Der Multifunktionshebel kann ergonomisch optimal positioniert und ausgerichtet werden. Da der Multifunktionshebel aus dieser optimierten Stellung nicht heraus bewegt wird, nimmt die Hand der Bedienperson zu keiner Zeit eine ergonomisch nachteilige Stellung ein. Das Erfassen der Betätigungskraft erfolgt durch geeignete Kraftmesssensoren, die beispielsweise auf der Technologie der Dehnungsmessstreifen beruhen können. Zur Messung von Momenten können spezielle Momentenmesssensoren vorgesehen sein. Ebenfalls möglich ist es, ein Betätigungsmoment mittels zweier beabstandeter Kraftmesssensoren zu erfassen. Die Ausgangssignale der Sensoren werden in der elektrischen Steuervorrichtung ausgewertet, welche daraufhin das Lastaufnahmemittel des Flurförderzeugs entsprechend ansteuert.The multi-function lever is designed as a so-called isometric control element and performs at an operation-apart from, for example, elastic deformations-no movement. As substantially not movable in the context of the invention, those controls are to be considered, which can be deflected by a maximum of 5 mm, preferably at most 3 mm from a neutral position out. Instead of a sweeping movement of the multi-function lever, the sensor detects the force exerted by the operator on the multi-function lever. The multi-function lever can be optimally positioned and aligned ergonomically. Since the multi-function lever is not moved out of this optimized position, the hand of the operator never takes an ergonomically disadvantageous position. The detection of the actuating force is carried out by suitable force measuring sensors, which may be based for example on the technology of strain gauges. For measuring moments special moment measuring sensors can be provided. It is also possible to detect an actuating torque by means of two spaced force measuring sensors. The output signals of the sensors are evaluated in the electrical control device, which then controls the load-receiving means of the truck accordingly.

Besondere Vorteile ergeben sich, wenn die Steuervorrichtung derart ausgeführt ist, dass die Geschwindigkeit der Bewegung des Lastaufnahmemittels in Abhängigkeit von der Größe der Betätigungskraft bzw. der Größe des Betätigungsmoments eingestellt wird. Die Bewegungsgeschwindigkeit des Lastaufnahmemittels kann damit von der Bedienperson stufenlos gesteuert werden. Die von der Bedienperson ausgeübte Betätigungskraft bzw. das Betätigungsmoment wird dabei von dem mindestens einen betreffenden Sensor stufenlos oder feinstufig erfasst.Particular advantages arise when the control device is designed such that the speed of movement of the load-receiving means is set as a function of the size of the actuating force or the size of the actuating torque. The speed of movement of the load receiving means can thus be steplessly controlled by the operator. The actuation force or the actuating torque exerted by the operator is thereby detected continuously or in a finely graduated manner by the at least one relevant sensor.

Zweckmäßigerweise ist mindestens ein Sensor im Bereich einer Befestigungsstelle des Griffelements an einem Grundkörper des Multifunktionshebels angeordnet. Der Sensor misst dabei die auf das Griffelement in die betreffende Richtung insgesamt wirkende Kraft. Im Bereich der Befestigungsstelle des Griffelements am Grundkörper können mehrere Sensoren angeordnet sind, wobei dann jeder Sensor die in eine bestimmte Richtung wirkende Kraft misst.Conveniently, at least one sensor is arranged in the region of an attachment point of the grip element on a main body of the multi-function lever. The sensor measures the total acting on the handle element in the direction in question force. Several sensors can be arranged in the region of the fastening point of the grip element on the base body, with each sensor then measuring the force acting in a specific direction.

Alternativ ist es möglich, dass mindestens ein Sensor im Bereich einer Berührungsfläche des Griffelements angeordnet ist. Hierbei wird die auf das Griffelement ausgeübte Kraft direkt an der Stelle gemessen, an der die Bedienperson die Kraft in das Griffelement einleitet.Alternatively, it is possible that at least one sensor is arranged in the region of a contact surface of the grip element. In this case, the force exerted on the grip element is measured directly at the point at which the operator initiates the force into the grip element.

Eine zweckmäßige Ausgestaltung der Erfindung besteht darin, dass das Griffelement einen Sensor zum Erfassen einer vertikalen Betätigungskraft aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen der vertikalen Betätigungskraft eine Bewegung des Lastaufnahmemittels in vertikaler Richtung angesteuert wird. Die Steuerung der vertikalen Bewegung des Lastaufnahmemittels, also beispielsweise das Anheben und Absenken des Lastaufnahmemittels erfolgt, indem auf das Griffelement in sinnfälliger Richtung eine nach oben bzw. nach unten gerichtete Kraft ausgeübt wird.An expedient embodiment of the invention is that the gripping element has a sensor for detecting a vertical actuation force and the electrical control device is designed such that in response to the output signal of the sensor for detecting the vertical actuation force, a movement of the load-receiving means is driven in the vertical direction. The control of the vertical movement of the load-receiving means, so for example, the raising and lowering of the lifting device takes place by an upward or downward force is exerted on the handle element in meaningful direction.

Ebenso vorteilhaft ist es, wenn das Griffelement einen Sensor zum Erfassen einer horizontalen Betätigungskraft in Querrichtung des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen einer Betätigungskraft in Querrichtung des Flurförderzeugs eine Bewegung des Lastaufnahmemittels in Querrichtung des Flurförderzeugs angesteuert wird. Eine Bewegung des Lastaufnahmemittels in Querrichtung des Flurförderzeugs, also nach links oder nach rechts, erfolgt beispielsweise mittels einer Seitenschubvorrichtung. Zur Ansteuerung dieser Funktion übt die Bedienperson in der entsprechenden Richtung eine Kraft auf das Griffelement aus.It is equally advantageous if the gripping element has a sensor for detecting a horizontal actuating force in the transverse direction of the industrial truck and the electrical control device is designed such that in dependence on the output signal of the sensor for detecting an actuating force in the transverse direction of the truck, a movement of the load-receiving means in the transverse direction of the truck is controlled. A movement of the load-receiving means in the transverse direction of the truck, so to the left or to the right, for example, by means of a side thruster. To control this function, the operator exerts a force on the handle element in the appropriate direction.

Alternativ hierzu ist es möglich, dass mit dem Griffelement zusätzlich eine Lenkvorrichtung des Flurförderzeugs steuerbar ist, wobei das Griffelement einen Sensor zum Erfassen einer horizontalen Betätigungskraft in Querrichtung des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen einer Betätigungskraft in Querrichtung des Flurförderzeugs eine Lenkvorrichtung des Flurförderzeugs angesteuert wird. Die Ausübung einer nach links oder rechts gerichteten Kraft auf das Griffelement bewirkt damit eine Lenken des Flurförderzeugs nach links bzw. nach rechts.Alternatively, it is possible that with the handle element in addition a steering device of the truck is controllable, wherein the handle member has a sensor for detecting a horizontal actuating force in the transverse direction of the truck and the electrical control device is designed such that in response to the output signal of the sensor for Detecting an actuating force in the transverse direction of the truck, a steering device of the truck is driven. The exercise of a left or right directed force on the handle element thus causes a steering of the truck to the left or to the right.

Schubmaststapler und Schubgabelstapler besitzen eine Vorrichtung zum Verschieben des Lastaufnahmemittels in Längsrichtung. Bei diesen Flurförderzeugtypen ist es zweckmäßig, wenn das Griffelement einen Sensor zum Erfassen einer horizontalen Betätigungskraft in Längsrichtung des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen der Betätigungskraft in Längsrichtung des Flurförderzeugs eine Bewegung des Lastaufnahmemittels in Längsrichtung des Flurförderzeugs angesteuert wird. Die Ansteuerung dieser Funktion erfolgt ebenfalls sinnfällig, indem auf das Griffelement eine in die gewünschte Bewegungsrichtung des Lastaufnahmemittels gerichtete Kraft ausgeübt wird.Reach trucks and forklift trucks have a device for moving the load-carrying device in the longitudinal direction. In these truck types, it is expedient if the gripping element has a sensor for detecting a horizontal actuating force in the longitudinal direction of the truck and the electrical control device is designed such that in response to the output signal of the sensor for detecting the actuating force in the longitudinal direction of the truck, a movement of the load receiving means is driven in the longitudinal direction of the truck. The activation of this function is also evident by the force applied to the handle element in the desired direction of movement of the load-receiving means.

Bei Flurförderzeugen, die keine Schubvorrichtung für die Last in Flurförderzeuglängsrichtung aufweisen, ist es vorteilhaft, dass mit dem Griffelement zusätzlich eine Fahrtrichtung und/oder eine Fahrgeschwindigkeit des Flurförderzeugs steuerbar ist, wobei das Griffelement einen Sensor zum Erfassen einer horizontalen Betätigungskraft in Längsrichtung des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen der Betätigungskraft in Längsrichtung des Flurförderzeugs die Fahrtrichtung und/oder die Fahrgeschwindigkeit des Flurförderzeugs gesteuert wird. In einer ersten Variante wird mit dem Griffelement lediglich die Fahrtrichtung, also Vorwärts- oder Rückwärtsfahrt, vorgegeben und die Steuerung der Fahrgeschwindigkeit erfolgt über ein separates Bedienelement, beispielsweise über ein Fußpedal. In der zweiten Variante werden mit dem Griffelement sowohl Fahrtrichtung als auch Fahrgeschwindigkeit vorgegeben, wobei dann die Fahrgeschwindigkeit in Abhängigkeit von der Betätigungskraft des Griffelements in die entsprechende Richtung eingestellt wird.In industrial trucks, which have no thrust device for the load in the truck longitudinal direction, it is advantageous that in addition a direction of travel and / or a driving speed of the truck is controllable with the handle element, wherein the handle member has a sensor for detecting a horizontal operating force in the longitudinal direction of the truck and the electric control device is designed such that in dependence on the output signal of the sensor for detecting the actuating force in the longitudinal direction of the truck, the direction of travel and / or the driving speed of the industrial truck is controlled. In a first variant, only the direction of travel, ie forward or reverse travel, is predetermined with the grip element, and the driving speed is controlled via a separate operating element, for example via a foot pedal. In the second variant, both the direction of travel and the driving speed are predetermined with the grip element, in which case the driving speed is set in the corresponding direction as a function of the actuating force of the grip element.

Eine Weiterbildung der Erfindung besteht darin, dass das Griffelement einen Sensor zum Erfassen eines Betätigungsdrehmoments um eine Querachse des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen des Betätigungsdrehmoments um die Querachse des Flurförderzeugs eine Bewegung des Lastaufnahmemittels um eine Querachse des Flurförderzeugs angesteuert wird. Ein Vor- und Zurückneigen des Lastaufnahmemittels wird also dadurch gesteuert, dass auf das Griffelement ein Drehmoment in entsprechender Richtung ausgeübt wird.A development of the invention is that the grip element has a sensor for detecting an actuating torque about a transverse axis of the truck and the electrical control device is designed such that in response to the output signal of the sensor for detecting the actuating torque about the transverse axis of the truck movement of the Lifting device is driven by a transverse axis of the truck. A forward and backward tilting of the load-receiving means is thus controlled by the fact that a torque in the corresponding direction is exerted on the handle member.

Weiter ist es möglich, dass das Griffelement einen Sensor zum Erfassen eines Betätigungsdrehmoments um eine Längsachse des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen des Betätigungsdrehmoments um die Längsachse des Flurförderzeugs eine Bewegung des Lastaufnahmemittels um eine Längsachse des Flurförderzeugs angesteuert wird. Eine Vorrichtung zum Drehen des Lastaufnahmemittels um eine Flurförderzeuglängsachse ist häufig dann vorhanden, wenn das Lastaufnahmemittel als Ballen- oder Fassklammer ausgeführt ist. Die Ansteuerung dieser Funktion erfolgt, indem auf das Griffelement ein Drehmoment um eine gleichgerichtete Achse ausgeübt wird.Further, it is possible that the gripping element comprises a sensor for detecting an actuating torque about a longitudinal axis of the truck and the electrical control device is designed such that in response to the output signal of the sensor for detecting the operating torque about the longitudinal axis of the truck movement of the lifting device to a longitudinal axis of the truck is controlled. A device for rotating the load-receiving means about a truck longitudinal axis is often present when the load-carrying means is designed as a bale or drum clamp. This function is activated by applying torque to the handle element about a rectified axis.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in den schematischen Figuren dargestellten Ausführungsbeispiels näher erläutert. Dabei zeigt

Figur 1
ein als Gabelstapler ausgeführtes Flurförderzeug,
Figur 2
einen erfindungsgemäßen Multifunktionshebel.
Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in the schematic figures. It shows
FIG. 1
a truck designed as a forklift,
FIG. 2
a multi-function lever according to the invention.

Figur 1 zeigt ein als Gabelstapler ausgeführtes Flurförderzeug in schematischer Darstellung. Zu erkennen sind ein Fahrzeugrahmen 1, ein in Fahrzeuglängsrichtung ausgerichteter Fahrersitz 2, ein vor dem Fahrersitz 2 angeordnetes Hubgerüst 3 und ein entlang des Hubgerüsts 3 vertikal bewegbares, als Lastgabel ausgeführtes Lastaufnahmemittel 4. Dem Fahrersitz zugeordnet ist eine Bedieneinheit 5 mit einem Multifunktionshebel für verschiedene Funktionen des Flurförderzeugs, insbesondere des Lastaufnahmemittels 4, eines Fahrantriebs und einer Lenkvorrichtung. Die Bewegungsrichtungen des Lastaufnahmemittels 4 und die entsprechenden Betätigungsrichtungen des Multifunktionshebels werden im Folgenden anhand des eingezeichneten rechtwinkligen Koordinatensystems beschrieben. Dabei entspricht die Koordinatenachse x der Längsrichtung des Flurförderzeugs, die Koordinatenachse y der Querrichtung des Flurförderzeugs und die Koordinatenachse z einer vertikalen Richtung.Figure 1 shows a designed as a forklift truck in a schematic representation. Evident are a vehicle frame 1, an aligned in the vehicle longitudinal direction driver's seat 2, arranged in front of the driver's seat 2 mast 3 and along the mast 3 vertically movable, designed as a load lifting device 4. The driver's seat is assigned an operating unit 5 with a multi-function lever for various functions the truck, in particular the load-receiving means 4, a traction drive and a steering device. The directions of movement of the load receiving means 4 and the corresponding actuating directions of the multi-function lever are described below with reference to the drawn rectangular coordinate system. The coordinate axis x corresponds to the longitudinal direction of the truck, the coordinate axis y of the transverse direction of the truck and the coordinate axis z a vertical direction.

In Figur 2 ist ein erfindungsgemäßer Mulifunktionshebel dargestellt. Ein Grundkörper 10 des Multifunktionshebels ist Bestandteil einer dem Fahrersitz 2 zugeordneten Armlehne 11. Ein Griffelement 12 des Multifunktionshebel ist relativ zu dem Grundkörper 10 im Wesentlichen unbeweglich. Die auf das Griffelement 12 von einer Bedienperson ausgeübten Kräfte werden jedoch mittels mehrerer Sensoren erfasst. Möglich ist es hierbei, die in Richtung aller drei Koordinatenachsen x, y, z ausgeübten Kräfte zu erfassen. Zusätzlich könnten Drehmomente um alle drei Koordinatenachsen x, y, z erfasst werden. Das Koordinatensystem des Multifunktionshebels entspricht dabei zumindest annähernd dem Koordinatensystem des Flurförderzeugs gemäß Fig. 1. Insgesamt können also durch das Ausüben von Kräften und Momenten auf das Griffelement 12 bis zu sechs Funktionen des Flurförderzeugs gesteuert werden. Zusätzlich können auf dem Multifunktionshebel oder in unmittelbarer Nähe desselben noch weitere Bedienelemente angeordnet sein, womit dann von der Bedienperson mit derselben Hand noch weitere Funktionen ansteuerbar sind.2 shows an inventive multi-function lever is shown. A base body 10 of the multi-function lever is part of a driver's seat 2 associated armrest 11. A handle member 12 of the multi-function lever is relative to the Main body 10 substantially immovable. However, the forces exerted on the grip element 12 by an operator are detected by a plurality of sensors. It is possible here to detect the forces exerted in the direction of all three coordinate axes x, y, z. In addition, torques around all three coordinate axes x, y, z could be detected. The coordinate system of the multi-function lever thereby corresponds at least approximately to the coordinate system of the industrial truck according to FIG. 1. Overall, therefore, up to six functions of the industrial truck can be controlled by exerting forces and moments on the grip element 12. In addition, further control elements can be arranged on the multi-function lever or in the immediate vicinity thereof, whereby further functions can then be activated by the operator with the same hand.

Den verschiedenen Richtungen der auf das Griffelement 12 ausgeübten Kräfte und Moments sind dabei folgende Funktionen des Flurförderzeugs zugeordnet:

  • Betätigungskraft in z-Richtung: Heben oder Senken des Lastaufnahmemittels 4 in z-Richtung;
  • Betätigungsdrehmoment um die y-Achse: Neigen des Lastaufnahmemittels 4 oder des Hubgerüsts 3 um die y-Achse;
  • Betätigungsdrehmoment um die x-Achse: Drehen eines beispielsweise als Rollenklammer ausgeführten Lastaufnahmemittels 4 um die x-Achse;
  • Bewegen des Griffelements in y-Richtung: Verschieben des Lastaufnahmemittels 4 in y-Richtung oder Lenken des Flurförderzeugs;
  • Drehen des Griffelements 12 um die z-Achse: Öffnen oder Schließen eines beispielsweise als Rollenklammer ausgeführten Lastaufnahmemittels;
  • Bewegen des Griffelements 12 in x-Richtung: Festlegen der Fahrtrichtung und/oder der Fahrgeschwindigkeit des Flurförderzeugs in Vorwärts- bzw. Rückwärtsrichtung oder bei Schubmaststaplern: Bewegen des Lastaufnahmemittels in x-Richtung
The various directions of the force exerted on the handle member 12 forces and moments are associated with the following functions of the truck:
  • Actuating force in the z-direction: lifting or lowering of the load-receiving means 4 in the z-direction;
  • Actuating torque about the y-axis: tilting the load-carrying means 4 or the mast 3 about the y-axis;
  • Actuating torque about the x-axis: rotating a load receiving means 4, for example, designed as a roller clamp around the x-axis;
  • Moving the grip element in the y-direction: Moving the load-bearing device 4 in the y-direction or steering the truck;
  • Rotating the grip element 12 about the z-axis: opening or closing of a lifting device, for example designed as a roller clamp;
  • Moving the grip element 12 in the x-direction: Determining the direction of travel and / or the forward speed of the truck in the forward or backward direction or with reach trucks: Moving the load-bearing device in the x-direction

Bei anderen Ausführungen und Ausstattungen des Flurförderzeugs können den Bewegungen des Griffelements 12 weitere oder andere Funktionen zugeordnet werden. Darüber hinaus kann das Griffelement beliebig, beispielsweise nach ergonomischen Gesichtspunkten geformt sein.In other designs and equipment of the truck, the movements of the handle member 12 other or other functions can be assigned. In addition, the grip element can be arbitrarily shaped, for example, according to ergonomic considerations.

Claims (11)

Flurförderzeug mit einem Multifunktionshebel zur Steuerung der Bewegung eines Lastaufnahmemittels (4) des Flurförderzeugs, wobei der Multifunktionshebel ein Griffelement (12) aufweist, dadurch gekennzeichnet, dass das Griffelement (12) im Wesentlichen nicht bewegbar ist und dem Griffelement (12) mindestens ein Sensor zum Erfassen einer auf das Griffelement (12) ausgeübten Betätigungskraft und/oder eines auf das Griffelement (12) ausgeübten Betätigungsmoments zugeordnet ist, wobei der Sensor mit einer elektrischen Steuervorrichtung des Fturförderzeugs in Wirkverbindung steht.Truck with a multi-function lever for controlling the movement of a load-carrying means (4) of the truck, wherein the multi-function lever has a handle element (12), characterized in that the handle element (12) is substantially not movable and the handle element (12) at least one sensor for Detecting a force exerted on the handle member (12) actuating force and / or an applied to the handle member (12) actuating torque is assigned, wherein the sensor is in operative connection with an electrical control device of the Fturförderzeugs. Flurförderzeug nach Anspruch 1, dadurch gekennzeichnet, dass die Steuervorrichtung derart ausgeführt ist, dass die Geschwindigkeit der Bewegung des Lastaufnahmemittels (4) in Abhängigkeit von der Größe der Betätigungskraft bzw. der Größe des Betätigungsmoments eingestellt wird.Truck according to claim 1, characterized in that the control device is designed such that the speed of movement of the load receiving means (4) in dependence on the size of the actuating force or the size of the actuating torque is set. Flurförderzeug nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass mindestens ein Sensor im Bereich einer Befestigungsstelle des Griffelements (12) an einem Grundkörper des Multifunktionshebels angeordnet ist.Truck according to claim 1 or 2, characterized in that at least one sensor in the region of an attachment point of the grip element (12) is arranged on a main body of the multi-function lever. Flurförderzeug nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass mindestens ein Sensor im Bereich einer Berührungsfläche des Griffelements (12) angeordnet ist.Truck according to claim 1 or 2, characterized in that at least one sensor in the region of a contact surface of the grip element (12) is arranged. Flurförderzeug nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass das Griffelement (12) einen Sensor zum Erfassen einer vertikalen Betätigungskraft aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen der vertikalen Betätigungskraft eine Bewegung des Lastaufnahmemittels (4) in vertikaler Richtung angesteuert wird.Truck according to one of claims 1 to 4, characterized in that the grip element (12) has a sensor for detecting a vertical actuation force and the electrical control device is designed such that in response to the output signal of the sensor for detecting the vertical actuation force movement of the Lifting device (4) is driven in the vertical direction. Flurförderzeug nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass das Griffelement (12) einen Sensor zum Erfassen einer horizontalen Betätigungskraft in Querrichtung (y) des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen einer Betätigungskraft in Querrichtung (y) des Flurförderzeugs eine Bewegung des Lastaufnahmemittels (4) in Querrichtung (y) des Flurförderzeugs angesteuert wird.Truck according to one of claims 1 to 5, characterized in that the grip element (12) has a sensor for detecting a horizontal actuating force in the transverse direction (y) of the truck and the electrical control device is designed such that in dependence on the Output signal of the sensor for detecting an actuating force in the transverse direction (y) of the truck, a movement of the load-receiving means (4) in the transverse direction (y) of the truck is driven. Flurförderzeug nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass mit dem Griffelement (12) zusätzlich eine Lenkvorrichtung des Flurförderzeugs steuerbar ist, wobei das Griffelement (12) einen Sensor zum Erfassen einer horizontalen Betätigungskraft in Querrichtung (y) des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen einer Betätigungskraft in Querrichtung (y) des Flurförderzeugs eine Lenkvorrichtung des Flurförderzeugs angesteuert wird.Truck according to one of claims 1 to 5, characterized in that the handle element (12) additionally a steering device of the truck is controllable, wherein the handle member (12) has a sensor for detecting a horizontal operating force in the transverse direction (y) of the truck and the electrical control device is designed such that in response to the output signal of the sensor for detecting an actuating force in the transverse direction (y) of the truck, a steering device of the truck is driven. Flurförderzeug nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass das Griffelement (12) einen Sensor zum Erfassen einer horizontalen Betätigungskraft in Längsrichtung (x) des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen der Betätigungskraft in Längsrichtung (x) des Flurförderzeugs eine Bewegung des Lastaufnahmemittels (4) in Längsrichtung (x) des Flurförderzeugs angesteuert wird.Truck according to one of claims 1 to 7, characterized in that the grip element (12) comprises a sensor for detecting a horizontal actuating force in the longitudinal direction (x) of the truck and the electrical control device is designed such that in dependence on the output signal of the sensor for Detecting the actuating force in the longitudinal direction (x) of the truck, a movement of the load-receiving means (4) in the longitudinal direction (x) of the truck is driven. Flurförderzeug nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass mit dem Griffelement (12) zusätzlich eine Fahrtrichtung und/oder eine Fahrgeschwindigkeit des Flurförderzeugs steuerbar ist, wobei das Griffelement (12) einen Sensor zum Erfassen einer horizontalen Betätigungskraft in Längsrichtung (x) des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen der Betätigungskraft in Längsrichtung (x) des Flurförderzeugs die Fahrtrichtung und/oder die Fahrgeschwindigkeit des Flurförderzeugs gesteuert wird.Truck according to one of claims 1 to 7, characterized in that the handle element (12) additionally a direction of travel and / or a driving speed of the truck is controllable, wherein the handle element (12) has a sensor for detecting a horizontal actuating force in the longitudinal direction (x) of the truck and the electrical control device is designed such that in dependence on the output signal of the sensor for detecting the actuating force in the longitudinal direction (x) of the truck, the direction of travel and / or the driving speed of the truck is controlled. Flurförderzeug nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass das Griffelement (12) einen Sensor zum Erfassen eines Betätigungsdrehmoments um eine Querachse (y) des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen des Betätigungsdrehmoments um die Querachse (y) des Flurförderzeugs eine Bewegung des Lastaufnahmemittels (4) um eine Querachse (y) des Flurförderzeugs angesteuert wird.Truck according to one of claims 1 to 9, characterized in that the grip element (12) has a sensor for detecting an actuating torque about a transverse axis (y) of the truck and the electrical control device is designed such that in dependence on the Output signal of the sensor for detecting the operating torque about the transverse axis (y) of the truck, a movement of the load-receiving means (4) is driven about a transverse axis (y) of the truck. Flurförderzeug nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass das Griffelement (12) einen Sensor zum Erfassen eines Betätigungsdrehmoments um eine Längsachse (x) des Flurförderzeugs aufweist und die elektrische Steuervorrichtung derart ausgeführt ist, dass in Abhängigkeit von dem Ausgangssignal des Sensors zum Erfassen des Betätigungsdrehmoments um die Längsachse (x) des Flurförderzeugs eine Bewegung des Lastaufnahmemittels (4) um eine Längsachse (x) des Flurförderzeugs angesteuert wird.Industrial truck according to one of claims 1 to 10, characterized in that the grip element (12) has a sensor for detecting an actuating torque about a longitudinal axis (x) of the truck and the electrical control device is designed such that in dependence on the output signal of the sensor for Detecting the actuating torque about the longitudinal axis (x) of the truck, a movement of the load-receiving means (4) about a longitudinal axis (x) of the truck is driven.
EP06007152A 2005-04-26 2006-04-04 Industrial truck with a multifunction lever Not-in-force EP1717187B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005019321A DE102005019321A1 (en) 2005-04-26 2005-04-26 Truck with a multi-function lever

Publications (3)

Publication Number Publication Date
EP1717187A2 true EP1717187A2 (en) 2006-11-02
EP1717187A3 EP1717187A3 (en) 2007-05-30
EP1717187B1 EP1717187B1 (en) 2013-01-09

Family

ID=36649594

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06007152A Not-in-force EP1717187B1 (en) 2005-04-26 2006-04-04 Industrial truck with a multifunction lever

Country Status (3)

Country Link
US (1) US20060283280A1 (en)
EP (1) EP1717187B1 (en)
DE (1) DE102005019321A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014167287A3 (en) * 2013-04-08 2015-03-12 Deregallera Holdings Ltd Controller

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160313758A1 (en) * 2013-12-17 2016-10-27 Red Milawa Pty Ltd Device and system for controlling a transport vehicle
US11294415B2 (en) 2013-12-17 2022-04-05 Red Milawa Pty Ltd Device and system for controlling a transport vehicle
US10544022B2 (en) 2016-10-13 2020-01-28 The Raymond Corporation Handle position sensing systems and methods for a material handling vehicle
US11828043B2 (en) * 2020-12-21 2023-11-28 Caterpillar Inc. Manual input device and method
DE102021133430B3 (en) 2021-09-30 2023-01-19 Grammer Aktiengesellschaft Device for vehicles for performing a steering movement

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3098543A (en) * 1959-06-08 1963-07-23 Clark Equipment Co Multi-purpose control means for industrial trucks and the like
US3100548A (en) * 1960-07-11 1963-08-13 Yale & Towne Mfg Co Steering controller for industrial truck
US4216467A (en) * 1977-12-22 1980-08-05 Westinghouse Electric Corp. Hand controller
DE3033541A1 (en) * 1980-09-05 1982-04-22 Still Gmbh, 2000 Hamburg DRIVE UNIT FOR A MOTOR VEHICLE, CIRCUIT FOR SUCH A AND METHOD FOR OPERATING SUCH A
US4755100A (en) * 1985-11-12 1988-07-05 Clark Equipment Company Operator control system
US4811608A (en) * 1985-12-18 1989-03-14 Spatial Systems Pty Limited Force and torque converter
US4742468A (en) * 1986-06-16 1988-05-03 Yamate Industrial Co., Ltd. Lift truck control system
US4962448A (en) * 1988-09-30 1990-10-09 Demaio Joseph Virtual pivot handcontroller
US5335557A (en) * 1991-11-26 1994-08-09 Taizo Yasutake Touch sensitive input control device
CA2084033A1 (en) * 1991-12-04 1993-06-05 Isaac Avitan Ergonometric control system for swing reach vehicles
DE4204223A1 (en) * 1992-02-13 1993-08-19 Zahnradfabrik Friedrichshafen CONTROL STICK FOR SWITCHING OR OPERATING COMPONENTS OF A COMMERCIAL VEHICLE
US5261291A (en) * 1992-08-17 1993-11-16 Schoch Paul T Ergonomic apparatus for controlling a vehicle
US5576704A (en) * 1994-12-01 1996-11-19 Caterpillar Inc. Capacitive joystick apparatus
DE19625497C1 (en) * 1996-06-26 1997-10-30 Daimler Benz Ag Operating element arrangement for control of longitudinal and transverse movement of motor vehicle
US6115028A (en) * 1996-08-22 2000-09-05 Silicon Graphics, Inc. Three dimensional input system using tilt
DE19816682A1 (en) * 1998-04-15 1999-10-21 Still Gmbh Multifunction lever
US6148593A (en) * 1998-06-17 2000-11-21 New Holland North America, Inc. Multifunctional handle for controlling an agricultural combine
USH1822H (en) * 1998-12-16 1999-12-07 Caterpillar Inc. Miniature joystick mounted on a joystick
US6664666B2 (en) * 1998-12-23 2003-12-16 Engineering Matters, Inc. Motor assembly allowing output in multiple degrees of freedom
US6429849B1 (en) * 2000-02-29 2002-08-06 Microsoft Corporation Haptic feedback joystick
DE50113363D1 (en) * 2000-10-20 2008-01-24 Deere & Co operating element
US20020157498A1 (en) * 2001-04-26 2002-10-31 Black Phillip John Split grip control lever for heavy machinery
US20020174736A1 (en) * 2001-05-24 2002-11-28 Chapman Leonard T. Precision control joystick unit
EP1408001B1 (en) * 2001-07-17 2014-04-09 Kabushiki Kaisha Toyota Jidoshokki Industrial vehicle equipped with material handling work controller
AU2003224982A1 (en) * 2002-04-12 2003-10-27 Fritz H. Obermeyer Multi-axis joystick and transducer means therefore
US6948398B2 (en) * 2002-07-22 2005-09-27 Deere & Company Joystick with enabling sensors
DE10344029A1 (en) * 2003-09-23 2005-04-14 Still Gmbh Multifunction lever and operating unit for a truck

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014167287A3 (en) * 2013-04-08 2015-03-12 Deregallera Holdings Ltd Controller
GB2526997A (en) * 2013-04-08 2015-12-09 Deregallera Holdings Ltd Controller
GB2526997B (en) * 2013-04-08 2018-01-17 Deregallera Holdings Ltd Controller

Also Published As

Publication number Publication date
EP1717187A3 (en) 2007-05-30
US20060283280A1 (en) 2006-12-21
EP1717187B1 (en) 2013-01-09
DE102005019321A1 (en) 2006-11-02

Similar Documents

Publication Publication Date Title
EP1199622B1 (en) Operating element
EP1717187B1 (en) Industrial truck with a multifunction lever
EP1980441B1 (en) Control lever for a vehicle
EP1772344B1 (en) Steering input means for a vehicle, in particular industrial truck
WO2013153048A1 (en) Operating unit for a vehicle component
DE102006053408A1 (en) Pedal e.g. brake pedal, for vehicle i.e. motor vehicle, has pedal lever supported around rotational axis in rotatable manner, where distance between pad and rotation axis is varied based on characteristic curve during operation of pedal
DE19625497C1 (en) Operating element arrangement for control of longitudinal and transverse movement of motor vehicle
DE19623792A1 (en) Control element for a drawbar-controlled industrial truck
EP1775254B1 (en) Control panel with a thumb controlled joystick for an industrial truck
DE102011103214A1 (en) Industrial truck, particularly counterbalance forklift truck, reach truck, racking truck and pickers or pedestrian controlled warehouse forklift truck, comprises control unit with movable control element, particularly control lever
EP1518819B1 (en) Multifunction lever and operating unit for an industrial truck
DE102011004963A1 (en) Concept for moving an object
EP1247765B1 (en) Load monitoring device for foot boards
DE102007047838A1 (en) Drive for industrial truck, has sensor element deformed by load, where sensor element detects deformation and stays in connection with motor so that sensor element is activated depending on recognized deformation
EP1747964B1 (en) Operating element with mini lever
EP4159587A1 (en) Device for vehicles for carrying out a steering movement
DE19956870B4 (en) Hand-operated steering mechanism for vehicles
DE19615168B4 (en) Low-level order picker with a steering control for a standing driver
DE102015006575B4 (en) Operating element for a motor vehicle
EP2138445A1 (en) Operating console for an industrial truck
DE102006008035B4 (en) handlebars
DE10118436A1 (en) Combined accelerator and brake pedal for use in motor vehicle has foot contact surface with one or more associated sensors for detecting changes in rotation angle of foot contact surface
DE102021133430B3 (en) Device for vehicles for performing a steering movement
WO2024013187A1 (en) Bicycle comprising a steering unit
DE102004017859A1 (en) Pedestrian guided fork lift truck has steering bar with sensor linked to rate-regulated steering actuator

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK YU

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK YU

17P Request for examination filed

Effective date: 20071022

17Q First examination report despatched

Effective date: 20071123

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: AT

Ref legal event code: REF

Ref document number: 592635

Country of ref document: AT

Kind code of ref document: T

Effective date: 20130115

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502006012394

Country of ref document: DE

Effective date: 20130314

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20130109

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130420

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130409

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130509

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130509

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130410

BERE Be: lapsed

Owner name: STILL G.M.B.H.

Effective date: 20130430

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

26N No opposition filed

Effective date: 20131010

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20130409

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502006012394

Country of ref document: DE

Effective date: 20131010

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130430

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130430

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130430

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130409

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20131231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130430

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130404

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 592635

Country of ref document: AT

Kind code of ref document: T

Effective date: 20130404

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130404

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130404

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20060404

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20150422

Year of fee payment: 10

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502006012394

Country of ref document: DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502006012394

Country of ref document: DE

Representative=s name: PATENTSHIP PATENTANWALTSGESELLSCHAFT MBH, DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161101

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502006012394

Country of ref document: DE

Representative=s name: PATENTSHIP PATENTANWALTSGESELLSCHAFT MBH, DE