Abstract:
Apparatus is disclosed for controlling the operational states of a motor vehicle comprising a maneuvering console including a maneuvering lever, a pivot hinge for the maneuvering lever so that the maneuvering lever can be actuated into a number of positions corresponding to the operational states of the motor vehicle, the pivot hinge being mounted to permit pivoting of the maneuvering lever with respect to the maneuvering console about an unlimited number of spatial pivot axes, a plurality of hydraulic pistons and cylinders mechanically coupled to the maneuvering lever for selectively limiting the pivoting movement of the maneuvering lever, a plurality of sensors for detecting a maneuvering force applied to the maneuvering lever and the position of the maneuvering lever so that the pivoting movement of the maneuvering lever can be selectively limited by the plurality of hydraulic pistons and cylinders based upon those detections, and a controller for controlling the plurality of hydraulic pistons and cylinders thereby permitting selective movement of the maneuvering lever based on control conditions set by the controller.

Description:
FIELD OF THE INVENTION 
     The present invention relates to maneuvering apparatus comprising a maneuvering lever and a maneuvering console and provided with at least one pivot hinge by means of which the lever is articulated relative to the maneuvering console for switching between a number of maneuvering positions intended to be converted to corresponding operational states of a device which is to be maneuvered. 
     BACKGROUND OF THE INVENTION 
     For a general type of maneuvering apparatus, namely gear controls for motor vehicles, there are a number of known arrangements. 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. 
     The object of the present invention is to provide a basic design for such maneuvering apparatus which can be used for several different types of maneuvering applications and movement patterns. 
     SUMMARY OF THE INVENTION 
     In accordance with the present invention, this and other objects have now been realized by the invention of apparatus for the control of the operational states of a device comprising a maneuvering console including a maneuvering lever, a pivot hinge for the maneuvering lever whereby the maneuvering lever can be actuated into a plurality of positions corresponding to the operational states of the device, the pivot hinge being mounted to permit pivoting of the maneuvering lever with respect to the maneuvering console about an unlimited number of spatial pivot axes, a plurality of controllable units mechanically coupled to the maneuvering lever for selectively limiting the pivoting movement of the maneuvering lever, a plurality of sensors for detecting a maneuvering force applied to the maneuvering lever and the position of the maneuvering lever, whereby the pivoting movement of the maneuvering lever can be selectively limited by the plurality of controllable units based on the detections, and a controller for controlling the plurality of controllable units thereby permitting selected movement of the maneuvering lever based on control conditions set by the controller. In a preferred embodiment, the plurality of controllable units comprises at least two hydraulic pistons and cylinders, a first hydraulic line connecting the at least two hydraulic pistons and cylinders and a first flow limiter disposed in the first hydraulic line, the maneuvering lever being mechanically coupled to each of the at least two hydraulic pistons and cylinders, whereby the pivoting movement of the maneuvering lever is converted into reciprocal movement of the hydraulic pistons within the cylinders. In accordance with a preferred embodiment, the plurality of controllable units comprises four hydraulic pistons and cylinders, and includes a second hydraulic line connecting at least two other of the hydraulic pistons and cylinders, a second flow limiter disposed in the second hydraulic line, and a joint cross for mechanically coupling the maneuvering lever to the four hydraulic pistons and cylinders, the joint cross being mounted with respect to the maneuvering console for pivoting about a pair of pivot axes set at right angles with respect to each other. 
     In accordance with a preferred embodiment of the apparatus of the present invention, the plurality of sensors includes a plurality of position sensors for detecting the position of the maneuvering lever and a plurality of pressure sensors for detecting the hydraulic pressure in the first and second hydraulic lines on both sides of the first and second flow limiters. 
     In accordance with another embodiment of the apparatus of the present invention, the apparatus includes a plurality of hydraulic control cylinders coupled in parallel to each other and connected to the first hydraulic line, and a pair of spring-loaded control pistons disposed within the pair of hydraulic control cylinders in opposite directions, whereby the maneuvering lever can be switched between a first mode and a second mode wherein the maneuvering lever can be automatically set to a neutral position. 
     The objects of the present invention can be achieved by means of a maneuvering apparatus, which includes a pivot hinge arranged to permit pivoting of the maneuvering lever relative to the maneuvering console about an unlimited number of spatial pivot axes, and in which the maneuvering apparatus comprises, on the one hand, a number of controllable devices which are mechanically coupled to the maneuvering lever and which limit the pivoting movement of the maneuvering lever, and, on the other hand, a number of sensor members arranged to detect a maneuvering force initiated on the lever and a maneuvering position of the lever and to control the devices so as to permit a selected movement as a function of control conditions established by means of a control unit. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The present invention will be more readily understood with reference to the following detailed description which, in turn, refers to the attached drawings, in which: 
     FIG. 1 is a diagrammatic representation of one embodiment of the maneuvering apparatus according to the present invention; 
     FIG. 2 is a diagrammatic representation of the embodiment of the maneuvering apparatus shown in FIG. 1 in a different position; 
     FIG. 3 is a diagrammatic representation of the embodiment of the maneuvering apparatus shown in FIG. 1 in yet a different position; 
     FIG. 4 is a front, perspective view of one embodiment of the maneuvering apparatus of the present invention; 
     FIG. 5 is a front, perspective view of the embodiment of the maneuvering apparatus shown in FIG. 4 in a different position; 
     FIG. 6 is a top, elevational view of the embodiment of the maneuvering apparatus of the present invention shown in FIG. 4; 
     FIG. 7 is a front, perspective, partially cut-away exploded view of the embodiment of the maneuvering apparatus of the present invention shown in FIG. 4; 
     FIG. 8 is a top, elevational view of the lower portion of the embodiment of the maneuvering apparatus shown in FIG. 7; and 
     FIG. 9 are diagrammatical representations of four different movement patterns which can be achieved using the maneuvering apparatus of the present invention. 
    
    
     DETAILED DESCRIPTION 
     The underlying concept on which the present invention is based is that the maneuvering lever included in the maneuvering apparatus is mounted freely in the maneuvering apparatus by a pivot hinge which is of a type such 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 maneuvering 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. 
     FIGS. 1-3 thus show an example of an application of the principle according to the present invention, in which the movement-limiting devices are a hydraulic system with hydraulic/piston cylinders as the movement-limiting devices. The maneuvering apparatus comprises, in a known manner, a maneuvering lever  1  which in the figure is shown diagrammatically from two directions, i.e. the two levers shown in 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 maneuvering lever in the embodiment shown therein is allowed to move under certain conditions upon application of the maneuvering apparatus 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 denoted as a lever knob  4 , intended to be gripped by the maneuvering 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 maneuvered by the maneuvering apparatus, in this case the gearbox. The maneuvering 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 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 maneuvering lever  1  is thus rigidly connected to two lifting arms,  7  and  8 , crosslaid at right angles and arranged, in the event of a pivoting movement of the maneuvering lever, to generate forward and backward movements of the piston rods,  9 ,  10 ,  11 , and  12 , in a number of hydraulic piston cylinders,  13 ,  14 ,  15 , and  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 by means of 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  through hydraulic line  19 , while the cylinder chamber  20  is arranged to be in communication with the cylinder chamber  20 ′ by means of a hydraulic line  21 . The cylinder chambers,  17  and  18  and  20  and  20 ′, respectively, are identical 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 , and  25 , in the piston cylinders. 
     In the communication line,  19  and  21 , between the piston cylinders,  13 ,  14 ,  15 , and  16 , of each pair there is arranged, according to the present invention, a flow-limiting or blocking member,  26  and  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 stepwise, 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  and  27 , by means of their respective control output,  29  and  30 , as a function of incoming control signals at a number of inputs to the control unit. 
     According to the present invention, a number of sensors are included which are arranged to detect the maneuvering person applying a force on the maneuvering 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  and  32 , for the hydraulics system for shift movements and two pressure sensors,  33  and  34 , for the hydraulics system for select movements. The pressure sensors are situated on both sides of associated flow limiters,  26  and  27 , and are arranged to detect the maneuvering force in the lever  1  in a certain direction by detecting the pressure in the respective hydraulic line,  19  and  21 , as a function of the state of the flow limiters. The control unit  28  has an input,  35  and  36 , for each sensor and controls the valves,  26  and  27 , so that the selected movement is permitted with the above-mentioned 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 control unit  28  from a switch  38  arranged in the maneuvering 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  and  27 , and thereby the movements of the lever. 
     In the example shown, an alternative maneuvering function is included, in which the maneuvering lever can be permitted to spring back to a certain position, which represents a netrual position, from a movement forwards or backwards in the example shown in the shift direction, according to the double arrow  2 . This is acheived by means of the hydraulics system comprising two parallel circuits,  39  and  40 , each of which has double-acting piston/cylinders,  41  and  42 . These each have a piston  44  which is spring-loaded by a compression spring  45  in mutually opposite directions and which divides the cylinder into two chambers,  43  and  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 which is switched to the open position by means of a signal from the control unit  28  which, for example, can be activated by a switch, at the same time as the valve  26  is closed. 
     In the alternative maneuvering function or maneuvering 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  and  42 , are prestressed towards their end positions by their respective springs  45 . When the lever  5  is pushed forwards by the person maneuvering it (see FIG.  2 ), the piston  22  is pressed downwards, whereupon hydraulic fluid is forced through line  39  into the 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 maneuvering 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 maneuvering positions for the lever  1 , the control unit  28  can be pre-programmed for controlling the valve or valves,  26  and  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 maneuvering 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 position sensors,  48  and  49 , which consist, for example, of angle sensors on the maneuvering lever  1 , in the example shown one sensor for each movement direction. The information on the position of the lever in the selected 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  and  47 , and, on the other hand, the gearbox for gear changing, suitably by means of the main computer of the vehicle. 
     FIGS. 4-8 show an example of a practical design of the maneuvering apparatus according to the present invention. It will be seen therefrom that the maneuvering lever  1  of the maneuvering apparatus is mounted with respect to the pivot hinge  6  so as to pivot in a maneuvering 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  and  8 , by means of 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  and  55 , in the maneuvering console  52 . The position sensors,  48  and  49 , are arranged on the two crosslaid axles of the pivot hinge  6 . The flow limiters,  26 ,  27  and  47 , are mounted on one of the two console arms,  54  and  55 . 
     As is illustrated in FIG. 7, a portion of the joint cross is shown cut away for the sake of clarity so that, as shown in FIG. 8, the geometric configuration is clearer. It can thus be seen that the shift direction  2  and the select direction  3  extend at 45° angles relative to the two pivot axles,  56  and  57 , of the pivot hinge  6 . It will be appreciated that in this example the lifting arms,  7  and  8 , are represented by diagonally situated arm portions,  7 ′,  7 ″,  8 ′, and  8 ″, in the joint cross. 
     As is illustrated in FIG. 9, the arrangement according to the present 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, but instead curved movement patterns are also possible by means of controlling the flow limiters. 
     In the case of a maneuvering apparatus programmed for a movement pattern with an L shape, see FIG. 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 maneuvering force, all of the flow limiters,  26 ,  27  and  47 , are closed. A maneuvering force in the direction towards the R position (reverse) which is detected by the pressure sensors,  31  and  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  and  49 , as a result of which the maneuvering lever is locked against continued movement. In the case of a maneuvering force in the opposite direction, which is detected by the pressure sensors,  31  and  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 them to the flow limiter  26 , which is again throttled and creates a certain resistance to continued movement, which in the case of a maneuvering 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  and  49 , which by means of 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  is instead opened at first partially in the case of a maneuvering force in the select direction, by detection of the hydraulic pressure by means of the pressure sensors,  33  and  34 , which by means of 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  and  49 , and the pressure sensors,  31  and  32 . The flow is thus opened to the piston cylinders,  41  and  42 , arranged in parallel but the opposite way round. 
     With a maneuvering 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  and  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 present invention is not limited to the illustrative embodiment described above and shown in the drawing, but instead can be varied within the scope of the attached 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 maneuvering lever, in order to detect the applied maneuvering force. The force sensors should be of the analog type for analog control of the setting devices for a proportioned maneuvering 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. 
     Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims.