Force feedback lever

• US 4,800,721 A
• Filed: 02/13/1987
• Issued: 01/31/1989
• Est. Priority Date: 02/13/1987
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Schneider, Marvin P., Buege, Thomas J., Cemenska, Richard A.
• Primary Examiner(s): Garrett, Robert E.
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US07/014,734
• Time in Patent Office: 718 Days
• Field of Search: 60/390, 60/393, 74/491, 244/223, 244/228, 91/434, 318/628, 318/689, 364/190, 434/45
• US Class Current: 60/393
• CPC Class Codes: E02F 9/2004 Control mechanisms, e.g. control levers control levers per se G05G
• CPC Class Codes: F15B 13/14 Special measures for giving the operating person a "feeling" of the response of the actuated device
• CPC Class Codes: G05B 2219/37396 Tactile feedback, operator feels reaction, force reflection
• CPC Class Codes: G05B 2219/41309 Hydraulic or pneumatic drive
• CPC Class Codes: G05G 1/04 Controlling members for hand actuation by pivoting movement, e.g. levers
• CPC Class Codes: G05G 5/03 Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce arrangements for indicating the position of the controlling member G05G1/015
• CPC Class Codes: Y10T 74/20396 Hand operated

Abstract

A control lever is provided for effecting positional control of a work implement. An actuator means applies a force to the control lever in response to a sensed load being applied to the work implement. The force applied to the implement control lever is in proportion to the load being applied to the work implement, thereby giving the operator a feel for the load being applied to the implement.

Claims

1. A force feedback control lever for effecting positional control of a work implement mounted on a work vehicle having a prime mover and a transmission interconnected by a torque converter, comprising:

a manually positionable lever having a preselected range of movement in at least one plane;

a sensor connected to and moveable with the manually positionable lever and adapted for delivering a first signal having a magnitude responsive to the position of the manually positionable lever;

means for sensing the rotational velocities of both the prime mover and the transmission, determining the difference between the respective rotational velocities, and delivering a second signal having a magnitude responsive to the determined difference, said magnitude being responsive to the load applied to the work implement;

actuator means for applying a force of a preselected variable magnitude to the manually positionable lever responsive to the magnitude of a received control signal; and

means for receiving the first and seconds signals and delivering a control signal to the actuator means, the control signal having a magnitude responsive to the magnitudes of the first and second signals.

2. A force feedback control lever, as set forth in claim 1, wherein the actuator means includes at least one torque motor fixedly connected to and rotatable with the manually positionable lever.

3. A force feedback control lever, as set forth in claim 1, wherein the control signal delivering means calculates the magnitude of the control signal as a direct function of the magnitudes of the first and second signals whereby the magnitude of the control signal increases with corresponding increases in the magnitudes of the first and second signals.

4. A force feedback control lever for effecting positional control of a work implement, comprising:

a manually positionable lever having a preselected range of movement in at least one plane;

a sensor connected to and moveable with the manually positionable lever and adapted for delivering a first signal having a magnitude responsive to the position of the manually positionable lever;

means for sensing the load applied to the work implement and delivering a second signal having a magnitude responsive thereto;

control signal delivering means for calculating a single maximum magnitude for a control signal in response to receiving a maximum first signal and any one of a plurality of second signals, said calculation being adapted to increase said control signal in response to increase in magnitude of both first and second signals; and

actuator means for applying a force of a preselected variable magnitude to the manually positionable lever responsive to the magnitude of the received control signal.

5. A force feedback control lever for effecting positional control of a work implement as set forth in claim 4, wherein:

the preselected range of movement of the manually positionable lever is a pivotal movement in first and second directions of rotation within a single plane; and

the actuator means selectively applies said preselected variable magnitude force to the manually positionable lever in one of the first and second directions of rotation.

6. A force feedback control lever for effecting positional control of a work implement, comprising:

a manually positionable lever having a preselected range of movement in at least one plane;

a sensor connected to and moveable with the manually positionable lever and adapted for delivering a first signal having a magnitude responsive to the position of the manually positionable lever;

means for sensing the load applied to the work implement and delivering a second signal having a magnitude responsive thereto;

control signal delivering means for calculating one of a plurality of maximum magnitude for a control signal in response to receiving a maximum first signal and any one of a plurality of second signals, said calculation being adapted to increase said control signal in response to increase in magnitude of both first and second signals; and

actuator means for applying a force of a preselected variable magnitude to the manually positionable lever responsive to the magnitude of the received control signal,

7. A force feedback control lever for effecting positional control of a work implement as set forth in claim 6, wherein:

the preselected range of movement of the manually positionable lever is a pivotal movement in first and second directions of rotation within a single plane; and

the actuator means selectively applies said preselected variable magnitude force to the manually positionable lever in one of the first and second directions of rotation.

8. A force feedback control lever for effecting positional control of a work implement, comprising:

a manually positionable lever having a preselected range of pivotal movement in at least one plane;

a sensor connected to and moveable with the manually positionable lever and adapted for delivering a first signal having a magnitude responsive to the position of the manually positionable lever;

means for sensing the load applied to the work implement and delivering a second signal having a magnitude responsive thereto;

means for receiving the first and second signals and delivering a control signal corresponding to a calculation of an optimum position of the work implement as a direct function of the magnitudes of the first and second signals; and

actuator means responsive to the control signal for selectively applying a force of a variable magnitude to the manually positionable lever in one of the first and second directions of rotation to optimally position the manually positionable lever.

9. A force feedback control lever for effecting positional control of a work implement as set forth in claim 8, wherein:

the preselected range of movement of the manually positionable lever is a pivotal movement in first and second directions of rotation within a single plane; and

the actuator means selectively applies said preselected variable magnitude force to the manually positionable lever in one of the first and second directions of rotation.

10. In an off-highway vehicle having an attached earthworking or materials handling work implement whose position is controlled by a control lever, the improvement comprising a force feedback control lever where the force fed back thereto is calculated as a direct function of the position of the control lever and a load on the work implement, the force feedback control lever including:

a manually positionable lever having a selected range of movement in at least one plane;

a electrical sensor connected to and moveable with the manually positionable lever and adapted for delivering a first electrical signal having a magnitude responsive to the position of the manually positionable lever;

electrical means for sensing the load applied to the work implement and delivering a second electrical signal having a magnitude responsive thereto;

means for receiving the first and second electrical signals and delivering a control signal having a magnitude responsive to the magnitudes of the first and second electrical signals; and

an electric motor responsive to the control signal for selectively applying a force of a preselected variable magnitude to the manually positionable lever in one of the first and second directions of rotation, the magnitude of the force being responsive to the magnitude of the received control signal.

11. The combination set forth in claim 10, further including a second electric motor responsive to the control signal for selectively applying a force of a preselected variable magnitude to the manually positionable lever in the other of the first and second directions of rotation, the magnitude of the force being responsive to the magnitude of the received control signal.