CONTROL DEVICE

Abstract: Manoeuvring arrangement, comprising a manoeuvring lever (1) and a manoeuvring console and provided with at least one pivot hinge by means of which the lever is articulated relative to the manoeuvring console for switching between a number of manoeuvring positions. The manoeuvring positions of the manoeuvring lever about the pivot hinge are intended to be converted to corresponding operational states of an arrangement which is to be manoeuvred. The pivot hinge (6) permits pivoting of the manoeuvring lever relative to the manoeuvring console about an unlimited number of spatial pivot axes. The arrangement includes a number of controllable devices (13-16) which are mechanically coupled to the manoeuvring lever and which limit the pivoting movement of the manoeuvring lever. A number of sensor members (31, 32, 33, 34, 48, 49) detect a manoeuvring force initiated on the lever and a manoeuvring position of the lever and control the devices so as to permit a selected movement as a function of control conditions established by means of a control unit (28).

Description: TITLE: CONTROL DEVICE TECHNICAL FIELD: The present invention relates to a manoeuvring arrangement, comprising a manoeuvring lever and a manoeuvring console and provided with at least one pivot hinge by means of which the lever is articulated relative to the manoeuvring console for switching between a number of manoeuvring positions, the manoeuvring positions of the manoeuvring lever about the said pivot hinge being intended to be converted to corresponding operational states of an arrangement which is to be manoeuvred. STATE OF THE ART: For a general type of manoeuvring arrangement, namely gear controls for motor vehicles, there are a number of known solutions. These are generally designed in principle for a specific movement pattern, such as, for example, the gear controls for manual gearboxes or for automatic transmissions. DESCRIPTION OF THE INVENTION: The object of the present invention is to provide a basic design for a manoeuvring arrangement which can be used for several different types of manoeuvring applications and movement patterns. The said object is achieved by means of a manoeuvring arrangement according to the present invention, which is characterized in that the said pivot hinge is arranged to permit pivoting of the manoeuvring lever relative to the manoeuvring console about an unlimited number of spatial pivot axes, in that the manoeuvring arrangement comprises, on the one hand, a number of controllable devices which are mechanically coupled to the manoeuvring lever and which limit the pivoting movement of the manoeuvring lever, and, on the other hand, a number of sensor members arranged to detec± a manoeuvring force initiated on the lever and a manoeuvring position of the lever and to control the said devices so as to permit a selected movement as a function of control conditions established by means of a control unit. SUMMARY OF THE FIGURES: The invention will be described in greater detail below on the basis of an illustrative embodiment and with reference to the attached drawings, in which: Figures 1 - 3 are diagrammatic representations of an illustrative embodiment of the manoeuvring arrangement according to the invention in three different positions, Figures 4 and 5 show perspective views of the manoeuvring arrangement in a practical illustrative embodiment, Figure 6 shows the manoeuvring arrangement from above, Figure 7 shows the manoeuvring arrangement in a perspective view, with a part cut away and lifted. Figure 8 shows the lower part of the cut-away manoeuvring arrangement, and Figure 9 shows four different examples of movement patterns which can be achieved using the manoeuvring arrangement according to the invention. PREFERRED EMBODIMENT: The underlying concept on which the present invention is based is that the manoeuvring lever included in the manoeuvring arrangement is mounted freely in the manoeuvring arrangement by a pivot hinge which is of such a type that the lever can be allowed to pivot in an unlimited number of directions, i.e. about _an unlimited number of pivot axes, but is limited by movement-limiting devices which are controllable, on the one hand, by means of a number of sensor members and, on the other hand, in accordance with an established movement pattern. These sensor members are arranged to detect a manoeuvring force initiated on the lever and the position of the lever, and to control the movement-limiting devices in such a way that the selected movement is permitted. Figures 1 - 3 thus show an example of an application of the principle according to the invention, in which the movement-limiting devices that have been chosen are a hydraulic system with hydraulic piston cylinders as the movement-limiting devices. The manoeuvring arrangement comprises in known manner a manoeuvring lever 1 which in the figure is shown diagrammatically from two directions, i.e. the two levers shown in one and the same figure are thus one and the same lever as viewed from two directions at right angles to each other. This is done in order to better illustrate the two directions in which the manoeuvring lever in the case shown is allowed to move under certain conditions upon application of the manoeuvring arrangement as a gear control for an automatic transmission of a motor vehicle. These two main directions are the so-called shift direction for shifting the gear lever between different gear change stages, shown by double arrow 2, and the so-called select direction for selecting between different gear change types, represented by double arrow 3. The gear lever has, in a conventional manner, a lever head generally called a lever knob 4, intended to be gripped by the manoeuvring person, i.e. the driver, in order to move the lever part 5 of the lever in the desired direction so as to obtain the desired function, i.e. the desired gear change position, in an arrangement which is manoeuvred by the manoeuvring arrangement, in this case the gearbox. The manoeuvring lever 1 is mounted relative to the vehicle by means of a pivot hinge 6 which, in the example shown, is of the cardan suspension type with two axles set transverse to each other and arranged so that the hinge as such permits a free pivoting movement of the gear lever in an unlimited number of directions or movement planes. Its practical construction will be described in more detail hereinbelow. The manoeuvring lever 1 is thus rigidly connected to two lifting arms 7, 8 crosslaid at right angles and arranged, in the event of a pivoting movement of the manoeuvring lever, to generate forward and backward movements of the piston rods 9, 10, 11, 12 in a number of hydraulic piston cylinders 13, 14, 15, 16 or alternatively to limit or block pivoting movements of the lever. For this purpose, the piston cylinders 13 - 16 are in communication with each other in pairs via two hydraulically separate hydraulics systems, more precisely in such a way that the cylinder chamber 17 in the piston cylinder 13 is arranged to be in communication with the cylinder chamber 18 via a hydraulic line 19, while the cylinder chamber 20 is arranged to be in communication with the cylinder chamber 20' via a hydraulic line 21. The cylinder chambers 17, 18 and 20, 20', respectively, are identical by pairs so that one and the same volume of hydraulic fluid is transported in the closed hydraulics system between the two chambers according to the position of the respective pistons 22, 23, 24, 25 in the piston cylinders. In the communication line 19, 21 between the piston cylinders 13, 14, 15, 16 of each pair there is arranged, according to the invention, a flow-limiting or blocking member 26, 27, i.e. a valve which is electrically controlled, for example a solenoid valve. This is advantageously intended not only for on/off regulation, but also to be controlled steplessly, i.e. in analog fashion, or in small steps, in which analog or digital control can be used. The system includes an electrical control unit 28 in the form of a computer which is arranged to control the two valves 26, 27 via their respective control output 29, 30 as a function of incoming control signals at a number of inputs to the control unit. According to the invention, a number of sensors are included which are arranged to detect the manoeuvring person applying a force on the manoeuvring lever 1 in a certain direction in order to control the system such that this selected movement can be allowed if it lies within a programmed, established movement pattern. In the example shown, this is achieved by means of a number of pressure sensors which, in the example shown, consist of two pressure sensors 31, 32 for the hydraulics system for shift movements and two pressure sensors 33, 34 for the hydraulics system for select movements. The pressure sensors are situated on both sides of associated flow limiters 26, 27 and are arranged to detect the manoeuvring force in the lever 1 in a certain direction by detecting the pressure in the respective hydraulic line 19, 21 as a function of the state of the flow limiters. The control unit 28 has an input 35, 36 for each sensor and controls the valves 26, 27 so that the selected movement is permitted with the abovementioned proviso, namely on condition that it lies within the established movement pattern. A further condition for permitting movement of the lever is an approved position. This is detected by position sensors which are described in more detail hereinbelow. A further control input 37 leads to the central unit 28 from a switch 38 arranged in the manoeuvring lever knob 4, which switch 38 represents a lock that can be released by the driver, for example a lock for locking against unintentional movements in a certain direction. The established movement pattern is input as a control program in the control unit 28, which controls the flow limiters 26, 27 and thereby the movements of the lever. In the example shown, an alternative manoeuvring function is included, in which the manoeuvring lever can be permitted to spring back to a certain position, which represents a neutral position, from a movement forwards or backwards in the example shown in the shift direction according to the double arrow 2. This is achieved by means of the hydraulics system comprising two parallel circuits 39, 40 which each have double- acting piston cylinders 41, 42. These each have a piston 44 which is spring-loaded by a compression spring 43 in mutually opposite directions and which divides the cylinder into two chambers 45, 46. These two parallel circuits can be coupled in simultaneously by means of a valve 47 which is closed when changing gear according to the ordinary gear change type, but is switched to the open position by means of a signal from the central unit 28 which, for example, can be activated by a switch, at the same time as the valve 26 is closed. In the alternative manoeuvring function or manoeuvring mode, when the lever 5 is situated in the neutral position, as is shown in Fig. 1, the two pistons 44 in the piston cylinders 41, 42 are prestressed towards their end positions by their respective springs 45' . When the lever 5 is pushed forwards by the person manoeuvring it, see Fig. 2, the piston 22 is pressed downwards, whereupon hydraulic fluid is forced via the line 39 into the piston cylinder 41 and displaces the piston 44 counter to the action of the spring 45' . By way of position sensor 48, a position signal is sent to the control unit 28 concerning the position of the lever 1 for a control command to the gearbox to change up a gear for each swing movement. The spring returns the piston to its starting position and thus the lever to the neutral position as soon as the manoeuvring force on the lever ceases. With the piston in its end position in the second piston cylinder 42, the flow in the associated hydraulic line 40 is blocked until the lever 5 is moved from the neutral position backwards to the position shown in Fig. 3 for changing down gear. In this case, the piston 44 in the piston cylinder 42 is instead displaced counter to the action of its spring 45' , and the control unit 28 receives a position signal from the position sensor 48 which in turn gives a control command to the gearbox for changing down. In order to create distinct manoeuvring positions for the lever 1, the control unit 28 can be pre-programmed for controlling the valve or valves 26, 27 as a function of the lever position, not only for controlling the movement direction. For example, it is possible to create force thresholds for movements between all positions, and in addition higher force thresholds between certain positions, for example for a reverse position, for creating distinct lever positions and avoiding unintentional movements. The system described above thus has the purpose of controlling the manoeuvring movements of the gear lever, which is mechanically mounted in its pivot hinge 6 for an unlimited number of movement directions. For controlling the lever and the gearbox, the arrangement is thus provided with the said position sensors 48, 49 which consist, for example, of angle sensors on the manoeuvring lever 1, in the example shown one sensor for each movement direction. The information on the position of the lever in the chosen movement pattern is fed to the inputs 50 of the control unit, which at its main output 51 emits control instructions to, on the one hand, the flow limiters 26, 27, 47 and, on the other hand, the gearbox for gear changing, suitably via the main computer of the vehicle. Figures 4 - 8 show an example of a practical design of the manoeuvring arrangement according to the invention. It will be seen from these that the manoeuvring lever 1 of the manoeuvring arrangement is mounted via the pivot hinge 6 so as to pivot in a manoeuvring console 52 which bears the piston cylinders 13 - 16. These are arranged with their cylinders 53 in the console and are coupled to the lifting arms 7, 8 via their piston rods 9 - 12. In the example shown, the pivot hinge 6 is mechanically designed as a joint cross with the lever 1 pivotably mounted about a first axle 56, which is in turn pivotably suspended in a transverse axle 57 mounted in two console arms 54, 55 in the manoeuvring console 52. The position sensors 48, 49 are arranged on the two crosslaid axles of the pivot hinge 6. The flow limiters 26, 27, 47 are mounted on one of the two console arms 54, 55. As is illustrated in Figure 7, a portion of the joint cross is shown cut away for the sake of clarity so that, as shown in Figure 8, the geometric configuration is clearer. It will be seen from this that the shift direction 2 and the select direction 3 extend at 45° angles relative to the two pivot axles 56, 57 of the pivot hinge 6. It will be appreciated that in this example the lifting arms 7, 8 are represented by diagonally situated arm portions 7', 7'', 8', 8'' in the joint cross. As is illustrated in Figure 9, the arrangement according to the invention can be used to create an unlimited number of movement patterns by programming the control unit 28 within an outer frame of movement which is shown diagrammatically in the figure by a margin line 58 around each illustrated pattern. The movement pattern can, for example, have a step ladder shape with, therefore, gear changing between shift and select movements for each gear change position including a special position for the alternative gear change type with spring return to a neutral position M from a plus position with changing up for each lever movement and a minus position for changing down for each lever movement. Alternatively, the movement pattern can have essentially an L shape with addition of the special spring return movement or, as in manual gearboxes, a pattern similar to a double H, or alternatively a completely rectilinear movement pattern. The movement pattern does not have to be rectilinear either, and instead curved movement patterns are also possible by means of controlling the flow limiters. In the case of a manoeuvring arrangement programmed for a movement pattern with an L shape, see Figure 9, i.e. a rectilinear shift movement in a first gear change mode and a laterally directed select movement for a second mode, the following takes place. When the lever 1 is situated in the N position (neutral position) and is not activated by any manoeuvring force, all the flow limiters 26, 27 and 47 are closed. A manoeuvring force in the direction towards the R position (reverse) which is detected by the pressure sensors 31, 32, combined with a separate activation signal initiated by the switch 38 on the lever knob 4, sends a signal to the flow limiter 26 for opening. The driver is allowed to move the lever 1 to the R position and, when the R position has been reached, the flow limiter 26 is closed by a signal from the position sensors 48, 49, as a result of which the manoeuvring lever is locked against continued movement. In the case of a manoeuvring force in the opposite direction, which is detected by the pressure sensors 31, 32, the flow limiter 26 opens first partially and then completely, which provides a threshold effect, i.e. a resistance that has to be overcome. When the N position has been reached, which is detected by the position sensors, a signal is emitted from these to the flow limiter _26, which is again throttled and creates a certain resistance to continued movement, which in the case of a manoeuvring force for movement to the D position (drive position) is reduced by opening of the flow limiter 26, until the D position has been reached. The position is detected by the position sensors 48, 49 which via the control unit 28 close the flow limiter 26, whereupon the lever 1 is locked against continued shift movement in the same direction. In the D position, the flow limiter 27 instead is opened at first partially in the case of a manoeuvring force in the select direction, by detection of the hydraulic pressure by means of the pressure sensors 33, 34 which via the control unit 28 emit a signal to the flow limiter, and then completely in order to allow the select movement in the direction of the arrow 3 for switching to the alternative gear change mode. When the M position has been reached, the flow limiter 27 is closed, whereupon the lever is locked against continued select movement in the same direction. In the M position, the flow limiter 26 is kept continuously closed, while at the same time the flow limiter 47 is opened by means of a signal from the control unit 28, which is controlled by the position sensors 48, 49 and the pressure sensors 31, 32. The flow is thus opened to the piston cylinders 41, 42 arranged in parallel but the opposite way round. With a manoeuvring force in the shift direction, in this case in the direction from the M position to the - or + position, the hydraulic flow is forced into one or other of the piston cylinders 41, 42 counter to the action of associated springs 45 which have been described above. In this movement too, the lever movement is limited by the position sensors. The invention is not limited to the illustrative embodiment described above and shown in the drawing,- and instead it can be varied within the scope of the attached patent claims. For example, the system described above can be realized by means of electrical setting devices, for example servo-controlled ball and nut bolts with position sensors which are combined with force sensors, for example strain gauges, which are applied at a suitable location, for example the manoeuvring lever, in order to detect the applied manoeuvring force. The force sensors should be of the analog type for analog control of the setting devices for a proportioned manoeuvring movement. The term analog is in this context also meant to include the technique of simulating an analog technique using a digital technique in small steps.

Claims: PATENT CLAIMS: 1. Manoeuvring arrangement, comprising a manoeuvring lever (1) and a manoeuvring console (52) and provided with at least one pivot hinge (6) by means of which the lever is articulated relative to the manoeuvring console for switching between a number of manoeuvring positions, the manoeuvring positions of the manoeuvring lever about the said pivot hinge being intended to be converted to corresponding operational states of an arrangement which is to be manoeuvred, characterized in that the said pivot hinge (6) is arranged to permit pivoting of the manoeuvring lever relative to the manoeuvring console about an unlimited number of spatial pivot axes, in that the manoeuvring arrangement comprises, on the one hand, a number of controllable devices (13 - 16) which are mechanically coupled to the manoeuvring lever and which limit the pivoting movement of the manoeuvring lever, and, on the other hand, a number of sensor members (31, 32, 33, 34, 48, 49) arranged to detect a manoeuvring force initiated on the lever and a manoeuvring position of the lever and to control the said devices so as to permit a selected movement as a function of control conditions established by means of a control unit (28) . 2. Manoeuvring arrangement according to Patent Claim 1, characterized in that the said movement-limiting devices consist of at least two hydraulic piston cylinders (13 - 16) which are arranged to communicate in pairs via a hydraulic line (19, 21) in which there is arranged a flow limiter (26, 27), and in that the manoeuvring lever (1) is mechanically coupled to the respective piston (22, 23) in the piston cylinders so that the pivoting movement of the lever is converted into a reciprocal movement of the pistons. 3. Manoeuvring arrangement according to Patent Claim 2, characterized in that the number of piston cylinders (13, 16) is four, and these are mechanically coupled to the manoeuvring lever (1) via a joint cross which is mounted so as to pivot in the manoeuvring console (52) by means of two pivot axles (56, 57) set at right angles to each other. 4. Manoeuvring arrangement according to Patent Claim 3, characterized in that the said sensor members (31-34, 48, 49) consist of position sensors (48, 49) for detecting the position of the manoeuvring lever, and of pressure sensors (31 - 34) arranged to detect the hydraulic pressure in the said hydraulic line (19, 21) on both sides of the said flow limiter (26, 27) . 5. Manoeuvring arrangement according to Patent Claim 2, in which the manoeuvring lever (9) can be switched between an ordinary manoeuvring mode and an alternative manoeuvring mode, in which the lever can be automatically set to a neutral position from two end positions, characterized in that two hydraulic cylinders (41, 42) which are coupled in parallel and face in opposite directions can be connected in parallel to the said hydraulic line (19, 21) and are provided with spring-loaded pistons (44) facing in opposite directions.

Inventors: SKOGWARD KENNETH, SKOGWARD, KENNETH
Applicants: KONGSBERG AUTOMOTIVE AB, SKOGWARD KENNETH, SKOGWARD, KENNETH
Application year: 1998
Main classification: F16H61
IPC codes: F15B7, F16H61, G05G5, G05G25