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EP0829066B1 - Element analogique de commande - Google Patents

Element analogique de commande Download PDF

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Publication number
EP0829066B1
EP0829066B1 EP96917469A EP96917469A EP0829066B1 EP 0829066 B1 EP0829066 B1 EP 0829066B1 EP 96917469 A EP96917469 A EP 96917469A EP 96917469 A EP96917469 A EP 96917469A EP 0829066 B1 EP0829066 B1 EP 0829066B1
Authority
EP
European Patent Office
Prior art keywords
handle
control element
housing
element according
pressure
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.)
Expired - Lifetime
Application number
EP96917469A
Other languages
German (de)
English (en)
Other versions
EP0829066A1 (fr
Inventor
Gerhard Wergen
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.)
Individual
Original Assignee
Individual
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
Priority claimed from DE19519941A external-priority patent/DE19519941C1/de
Application filed by Individual filed Critical Individual
Publication of EP0829066A1 publication Critical patent/EP0829066A1/fr
Application granted granted Critical
Publication of EP0829066B1 publication Critical patent/EP0829066B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • 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
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04722—Mounting of controlling member elastic, e.g. flexible shaft
    • G05G2009/04729—Mounting of controlling member elastic, e.g. flexible shaft melastomeric
    • 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

Definitions

  • the invention relates to an actuator according to the preamble of claim 1.
  • Such a control element is used as a joystick for computer inputs (also as a mouse replacement) or as Joysticks for movement control on mobile or stationary devices (as from self-driving disabled lifts, excavators and robots), as a slide for Mixer potentiometer or for changing parameters in the machine control known; generally for the manual specification of a variable scalar size, usually by means of a swivel lever.
  • These known control elements have in common that their manual The greater the deflection to be caused, the greater the resulting deflection Change of variables should be; and that the deflection can be carried out more quickly must, the faster the variable is to change.
  • lever systems in actuators often have the disadvantage of being non-linear Reactions to the input stroke on, which makes some control tasks very difficult
  • the manually executable hub is limited, the resolution is reduced and thus the precision and reproducibility the attitude.
  • such actuators are to be actuated via path specifications a technically quite expensive and against mechanical interference such as shock loads, in particular, is a sensitive solution PLUS / MINUS key pairs e.g. for the channel search of a radio receiver or for the volume remote control does not necessarily have to, but the precise fine adjustment of an almost reached default value is cumbersome even with key reaction at two speeds, consequently imprecise in practice.
  • a robust and dirt-tight encapsulable but smooth-running and vibration-proof analog single or multi-axis control element can be created with which is possible for humans, values with high setting accuracy, reproducibility and dynamics and fatigue-free change over a long period.
  • the rest position (Zero point) should be found particularly safely from any position and the equipment Realization should be inexpensive because it is very simple, compact and functionally reliable.
  • the present invention is therefore primarily a single or multi-axis Control element that is practically pathless and therefore fatigue-free with minimal Use of force is operated so that it can also be used for the severely handicapped.
  • the core of this solution is a mechanically stable, preferably indifferent balance balanced, structurally simple but precise suspension of a one- or two-armed lever, as a pressure-transmitting element without play against practically pathless sensors is present.
  • the lever protrudes with its part serving as a handle at the bearing point out of the tightly closable housing, to cross to its bearing shaft or hinge axis to be able to record manual pressure.
  • the pressure exerted on the sensor can be integrated in signal processing technology, as long as the pressure remains, and with known pressure dependence of the physical Sensor behavior thus also pressure measurement tasks - as well as when applied via a constant area including force measurement tasks.
  • This is the stroke of the output signal e.g. the length of a linear cursor movement or the end position of a digital one Display device
  • the signal dynamics e.g. the speed of movement of a cursor on the screen or the speed of change the digital display
  • this joystick is particularly suitable for industrial use harsh environmental conditions; as well as for operation by even little controlled, no matter whether powerful or weak, minimally sweeping body movements, with for those with disabilities in everyday life or surgeons during surgery with motor aids can control.
  • the terminology is accepted assumed that the housing of the control element is mounted in a fixed position and from this the Handle protrudes; however, it can also be used within the scope of the present invention be reversed, namely that the control element is mounted on its protruding lever arm, while on the manually accessible housing the actuation force relative to the pressure element (i.e. to the inner lever arm).
  • a positive projection 11 projects into the Embodiments linear-rod-shaped handle 12 of the actuator from a housing 14 out.
  • the handle is 12 is supported in an articulated manner on the housing 14, namely by means of a ball joint 18 (FIGS. 1 and 3 - 5), by means of a roller joint 29 (FIG. 2) or by means of a rubber-elastic block 28 (Fig. 6); in each case directly or indirectly between the housing side walls 17 (Fig. 4, 5, 6), in the latter case preferably suspended in a housing top wall 16 (Fig. 1, 2, 3, 4).
  • the geometrical defined and in relation to the handle 12 axially stiff joints 19 and 29 in principle can also be replaced by rubber brackets, e.g. by vulcanizing on all sides the handle 12 and the housing 14 are connected.
  • the convex profile of the ball joint 18 can be attached to the handle 12 or directly be formed on its outer surface; such that it projects radially beyond the handle 12. It is resting as free of play as possible in a flat bowl 19 in the form of a hollow spherical segment, which e.g. with the Housing 14 is pressed or is formed directly as part of the housing 14. With undivided Double shell 19-19 can widen its central hole by temporary heating to receive the ball profile 18 in the form of a bearing bush. It is also possible to design the shell 19 as part of the housing in the upper half with resilient elements and so to achieve easier manufacture and assembly.
  • the conditions are correspondingly advantageous for only single-axis or Roller joint bearing 29 of the lever from handle 12 and pressure element 15 (Fig.5), if So the handle 12 together with its pressure element 15 in the housing 14 by a housing-fixed Shaft is carried - preferably as outlined with the interposition of a sliding, a ball or another bearing 31 within a ring 35 into which the lever splits here.
  • the ring 35 is partially of a hollow cylindrical profile 30 approximately in the adjacent one Surround wall of the housing 14, which again the good sealing of the interior of the housing 14 provides in which the sensors 25 are arranged.
  • roller joint 29 there is only the manual plane of action transverse to Roller axis, around this.
  • the outside of the housing 14 e.g. in a Finger recess 32 (Fig. 1, 5, 6) outgoing or equipped with a finger ring 27 (Fig.3)
  • handle 12 is transversely loaded in any direction relative to housing 14 become;
  • An evaluation then takes place, depending on the arrangement of force sensors 25 in Housing 14, preferably only in two directions orthogonal to one another (FIGS. 1 and 3-6), in which a pressure force acting laterally on the protruding handle 12 after Force parallelogram is broken down.
  • the handle 12 is rigid with its pressure element 15 Power transmission to the sensors 25 designed or equipped.
  • the handle 12 and her Depending on the relative location of the articulated bearing 18/28/29, pressure element 15 form together a two-armed (Fig. 1 - 4) or a one-armed (Fig. 5, 6) lever. That is by means of one e.g. longitudinally adjustable counterweight 34 (Fig. 1-5) preferably to indifferent Balance balanced so that the (anyway very minimal) pivoting due to the Introduction of transverse pressure into the handle 12 can be more sensitive, and thus dependent on the position Effects of pressure on the sensors 25 are avoided as far as possible
  • the tare weight 34 lies outside the actual lever area (between the handle 12 and the element 15 that transmits pressure for the sensors 25), namely beyond the joint 18 (FIG. 5) or 29.
  • the passage opening 10 can also be sealed using a bellows sleeve, for example.
  • the lever of the handle 12 and the pressure element 15 thus protrudes through the opening 10 between the Side walls 17 of the tubular housing 14, which is preferably rectangular in cross section inside.
  • the pressure-transmitting element 15 constantly, that is to say without play and in addition if necessary with a certain mechanical preload, parallel (Fig. 1 and 3) or transverse (Fig. 2, 4 - 6) to the axial direction of the handle 12 against the sensors 25, which in turn are supported against this attack against the housing 14.
  • Each sensor 25 can e.g. a semiconductor, a piezo, a magnetostriction, an optical fiber element or any other be analog pressure transducers that work practically without path.
  • the pressure is transmitted from element 15 via a spherical intermediate link 22 can be formed on the disc 24 or on the element 15 as a knob. If it is as a separate or integrally formed ring concentrically surrounds the pressure-transmitting element 15 is thereby ensures that twisting has no effect on the current sensor load remains.
  • Handle 12 for each (tensile or compressive) direction of stress to be evaluated Handle 12, i.e. for each active axis of the actuator, a pair of sensors 25 each other provided diametrically opposite with respect to the axis of the handle 12. That also makes it possible a difference evaluation, for example to linearize the effective response characteristic Definition of the point of rest or to eliminate non-opposing sensor influences such as due to thermal expansion effects or mechanical Acceleration influences.
  • So can be used with two adjacent fingers of one hand, which on both sides of the separation point between Grip the outer handle 12 and the cap from the side, operate two control elements simultaneously, so control four axes.
  • This variety of operation is still in a tandem arrangement easily doubled if the same system of two nested one again Control elements in reverse orientation (i.e. the caps next to each other) coaxial on the face is mounted in front of it and can thus be operated with two further spread fingers of the same hand is. Overall, this results in an eight-axis control that can be implemented with a single hand.
  • the control elements designed according to the invention are therefore inexpensive and reliable Executable and largely insensitive due to the encapsulation of the sensors 25 against environmental influences. In terms of operation, they excel in particular at Bearing suspension 11 of the lever-balanced handle 12 by a very extraordinary high responsiveness and through reproducible behavior at the manual introduction of pressure into the handle 12. This promotes the operating options, for example by using only one fingertip - for exerting pressure - not freely on the side of the handle 12 must fit, but - engages in a trough 32 with which the handle 12 on its free Front end can be equipped (Fig. 1, 3, 5).

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Position Input By Displaying (AREA)
  • Mechanical Control Devices (AREA)

Claims (10)

  1. Elément de commande analogique, tel qu'un manche à balai, un levier de changement de vitesse, une commande de curseur ou similaire, comportant une poignée (12) qui est maintenue dans un boítier (14), caractérisé
    en ce qu'une partie d'une poignée (12) suspendue sous la forme d'une levier, agissant en permanence pratiquement sans déplacement, par l'intermédiaire d'au moins un capteur de force (25), est soutenue contre le boítier (14), le capteur (25) fournissant un signal de sortie dont la grandeur dépend d'une force de pression qui agit sur la poignée (12), tansversalement à celle-ci.
  2. Elément de commande selon la revendication 1, caractérisé
    en ce qu'il est prévu comme capteur de force un capteur de pression (25) qui est sollicité en pression par une surface de transmission (disque 24) rigide, contre laquelle la poignée (12) est soutenue, de son côté, au moyen d'un organe intermédiaire (22) bombé.
  3. Elément de commande selon la revendication 1 ou 2, caractérisé
    en ce que la poignée (12), suspendue de manière articulée sous la forme d'un levier, est tarée sur un équilibre indifférent par un contrepoids (34).
  4. Elément de commande selon l'une des revendications précédentes, caractérisé
    en ce qu'un élément élastique (corps d'appui 26 et/ou pièce intermédiaire 33) est monté en série avec la poignée (12).
  5. Elément de commande selon l'une des revendications précédentes, caractérisé
    en que la poignée (12) est soutenue élastiquement contre un seul capteur (25).
  6. Elément de commande selon l'une des revendications précédentes, caractérisé
    en ce que sa poignée (12) s'étend avec un jeu radial à travers un tube qui, de son côté, est la poignée (12) d'un élément de commande selon l'une des revendications précédentes.
  7. Elément de commande selon l'une des revendications 1 à 6, caractérisé
    en ce que la suspension (11) de la poignée (12) est réalisée sur le boítier (14) au moyen d'un joint sphérique (18).
  8. Elément de commande selon la revendication 7, caractérisé
    en ce que la poignée (12) suspendue de manière à pouvoir tourner autour de son axe longitudinal, s'applique contre au moins un capteur de pression (25), par un organe intermédiaire (22) bombé, directement ou par l'intermédiaire d'un disque rigide (24).
  9. Elément de commande selon l'une des revendications 1 à 6, caractérisé
    en ce que la suspension (1) de la poignée (12) sur le boítier (14) est réalisée au moyen d'au moins une articulation à rouleau (29).
  10. Elément de commande selon l'une des revendications 1 à 6, caractérisé
    en ce que la suspension (1) de la poignée (12) sur le boítier (14) est réalisée au moyen d'un bloc (28) qui présente l'élasticité du caoutchouc.
EP96917469A 1995-06-02 1996-05-30 Element analogique de commande Expired - Lifetime EP0829066B1 (fr)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
DE19519941 1995-06-02
DE19519941A DE19519941C1 (de) 1995-06-02 1995-06-02 Steuerknüppel
DE29515312U 1995-09-25
DE29515312U DE29515312U1 (de) 1995-06-02 1995-09-25 Steuerknüppel
DE29518293U 1995-11-19
DE29518293U DE29518293U1 (de) 1995-06-02 1995-11-19 Analoges Linear-Stellelement
PCT/EP1996/002332 WO1996038810A1 (fr) 1995-06-02 1996-05-30 Element analogique de commande

Publications (2)

Publication Number Publication Date
EP0829066A1 EP0829066A1 (fr) 1998-03-18
EP0829066B1 true EP0829066B1 (fr) 2001-03-14

Family

ID=27215160

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96917469A Expired - Lifetime EP0829066B1 (fr) 1995-06-02 1996-05-30 Element analogique de commande

Country Status (4)

Country Link
US (1) US6201196B1 (fr)
EP (1) EP0829066B1 (fr)
AT (1) ATE199792T1 (fr)
WO (1) WO1996038810A1 (fr)

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EP0829066A1 (fr) 1998-03-18
WO1996038810A1 (fr) 1996-12-05
ATE199792T1 (de) 2001-03-15
US6201196B1 (en) 2001-03-13

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