EP0043809B1 - Vorrichtung in einem Mehrrichtungshebel - Google Patents

Vorrichtung in einem Mehrrichtungshebel Download PDF

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Publication number
EP0043809B1
EP0043809B1 EP81850121A EP81850121A EP0043809B1 EP 0043809 B1 EP0043809 B1 EP 0043809B1 EP 81850121 A EP81850121 A EP 81850121A EP 81850121 A EP81850121 A EP 81850121A EP 0043809 B1 EP0043809 B1 EP 0043809B1
Authority
EP
European Patent Office
Prior art keywords
plate
lever
sleeve
conic
slide surface
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
Application number
EP81850121A
Other languages
English (en)
French (fr)
Other versions
EP0043809A3 (en
EP0043809A2 (de
Inventor
Ted Zettergren
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.)
HYDRINO AB
Original Assignee
HYDRINO AB
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 HYDRINO AB filed Critical HYDRINO AB
Priority to AT81850121T priority Critical patent/ATE16054T1/de
Publication of EP0043809A2 publication Critical patent/EP0043809A2/de
Publication of EP0043809A3 publication Critical patent/EP0043809A3/en
Application granted granted Critical
Publication of EP0043809B1 publication Critical patent/EP0043809B1/de
Expired 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
    • G05G25/00—Other details or appurtenances of control mechanisms, e.g. supporting intermediate members elastically
    • G05G25/04—Sealing against entry of dust, weather or the like
    • 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
    • G05G2009/04714—Mounting of controlling member with orthogonal axes
    • G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type joint
    • 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
    • G05G2009/04766—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 providing feel, e.g. indexing means, means to create counterforce

Definitions

  • This invention relates to a multi-way lever, a so- called “joy-stick” which, for example, is comprised in a manipulator.
  • Multi-way levers of this kind can in normal cases be moved from a central non-operative position in any directions.
  • Multi-way levers of the kind here referred to often are used in machines and the like where several valves are desired to be controlled by one and the same operating lever.
  • Multi-way levers of this kind normally are supported at their lower end by two spring-loaded electric potentiometers, which are arranged perpendicularly to each other and capable each to emit an electric signal, so that the two signals together deliver information on the direction, in which the lever has been moved from the non-operative position, and on the distance of the lever movement from said position.
  • the springs at the potentiometers together tend to maintain the lever in vertical non-operative position.
  • the joint members, in which the lever is suspended generally are yokes, on which the potentiometers and springs are mounted.
  • This construction in which the springs are helical ones, does not permit the force, which is required for moving the lever from non-operative position, to be so varied as often is desired. Said force should be variable in such a manner, for example, that a much greater force is required when the lever has been moved through a certain distance from the non-operative position.
  • the US Patent No. 3550466 shows a lever which is supported at its lower end.
  • a sleeve is mounted concentrically about the lever and is intended, by action of the force exerted by a helical spring to abut the concave inner surface of a dome like top closure.
  • the distance from the rotation centre of the lever to said inner surface of the closure is approximately the same all over the operation range of the lever. Therefore said force is about the same regardless of the position of the lever in relation to its non-operative position.
  • a further disadvantage of known multi-way levers is their structural height which, from the upper surface of an instrument inward to the panel, is great, due to the space required for said yokes and springs.
  • An essential desire, which cannot be satisfied by the present state of art, is a multi-way lever so designed that for moving the lever in some selected directions the force required is smaller than in the remaining directions.
  • the present invention eliminates entirely the aforesaid disadvantages and permits a multi-way lever to be designed so as to satisfy the said desire.
  • the present invention thus, relates to a device in a multi-way lever, so called “joy-stick", comprised for example in a manipulator, comprising a control lever hinged at one end thereof in a housing and projecting therefrom, a sleeve being mounted concentrically around said lever and biased by action of a spring force against a plate whereby said device is characterized in that the end of said sleeve, facing said plate, has a conic surface abuting a slide surface on said plate, in that said slide surface includes a central portion and a surrounding concave portion opposite to said sleeve and in that said central portion of said slide surface comprises also a conic surface designed to promote centering of said conic surface of said sleeve with respect to said slide surface.
  • Fig. 1 a multi-way lever 1 is shown, to which the invention is applied.
  • the multi-way lever 1 for example, is comprised in a manipulator and comprises a housing 2 and projecting therefrom a control lever 3. At the upper end of the lever 3 a ball 4 or corresponding member is located, which is held gripped when the lever is operated. To the lower end of the lever 3 two potentiometers 5, 6 located perpendicularly to each other are attached. The fulcrum of the lever 3 is located at the lower end thereof on the same lever as the intersecting point between the two lines 7, 8. The lever 3 is attached to its fulcrum in a first joint member 9 so that the lever 3 can be moved in the plane of the drawing in Fig. 1.
  • Said first joint member is hingedly attached to a second joint member 10, 11, so that the lever 3 can be moved in a direction perpendicular to the plane of the drawing in Fig. 1.
  • Said two joint members 9, 10, 11, thus, together render it possible to move the lever 3 in any direction out of its non-operative position shown in Fig. 1.
  • the numeral 12 designates the upper surface of an instrument panel or corresponding means.
  • the aforedescribed attachment of the lever 3 to the joint members 9, 10, 11 and the location and design of the potentiometers 5, 6 are not per se part of the present invention, but can be formed in a way other than shown in Fig. 1.
  • a sleeve 13 is located concentrically about the lever 3.
  • the sleeve 13 is provided at one end with a conic surface 14,-and the entire sleeve 13 preferably is axial-symmetric. At least, however, the conic surface 14 preferably is axial-symmetric.
  • a plate 15 further is provided, which has a slide surface 16, against which the sleeve is intended to slide.
  • Said slide surface 16 of the plate 15 includes a portion 17 with a conic surface so formed, that the conic surface 14 of the sleeve 13 upon abutment to the conic surface of the slide surface 16 is centered with respect to the slide surface, as shown in Fig. 1.
  • the sleeve 13 is located about the lever 3 between the free end thereof and said plate 15.
  • a compression spring 19 of helical type is located between the sleeve 13 and a seat 18 at the free end of the lever and, thus, presses the sleeve 13 down against the slide surface 16.
  • the lever 3 is centered automatically by action of the spring force to the non-operative position shown in Fig. 1.
  • the sleeve 13 is moved towards the free end of the lever 3 when the lever is moved in any direction from the non-operative position.
  • the slide surface 16 is inclined radially and has its lowermost point at the conic portion 17. As a result thereof, the lever automatically returns to non-operative position by action of the spring force of the spring 19, irrespective of in which direction and how far from the non-operative position the lever has been moved.
  • the portion of the device located above the instrument panel 12 preferably is protected by a rubber sleeve 20.
  • a modified embodiment of the invention is shown, at which the plate 15 has been given a modified design.
  • Said plate 15 is designed in Fig. 3 by the numeral 21.
  • the plate 21 has a conic portion 17.
  • the plate has different heights in different radial directions.
  • Fig. 4 the outer periphery 22 of the plate 21 is shown rolled-out, and in Fig. 5 a circular section at 23 is shown.
  • Said circular section is an axial cross- section through the plate along the upper edge 32 of the conic portion 17.
  • the conic portion 17 is axial-symmetric with the same form as shown in Fig. 1.
  • the height of the plate 21 radially outside the conic portion varies so, that the plate is highest along four radii 24-27, which form 90° relative to each other, and that the plate 21 is lower along radii 28-31, which are offset 45° in relation to the radii 24-27.
  • the amplitude of the sinus shape successively decreases for circular concentric sections through the plate 21 and is completely abolished at said inner periphery 23, see Fig. 5.
  • the greatest diameter of the sleeve 13 is smaller than at the. embodiment shown in Figs. 1 and 2, in order that the lower portion of the sleeve shall abut not only the higher portions 24-27 of the plate 21.
  • the amplitude of the sinus shape furthermore, can be levelled from the periphery 22 of the plate to the conic portion 17 in a manner other than successively or linear.
  • Figs. 6 and 7 additional embodiments of the plate 15 are shown, which in Fig. 6 is designated by 33 and in Fig. 7 by 34.
  • the plates 33 and, respectively, 34 are shown in a section corresponding to the section B-B in Fig. 2.
  • the plates 33, 34 in Figs. 6 and 7 are axial-symmetric.
  • the plate 33 is designed so that its height increases successively with the distance from its centre.
  • the height increases substantially close to the periphery 35 of the plate 33, resulting in that the force required for moving the lever from its non-operative position increases with increasing deflection of the lever 3 and increases substantially when the sleeve 13 approaches the periphery 35 of the plate 33, i.e. at a great deflection of the lever 3.
  • a plate 34 is shown, which is designed. so as to have a substantially plane portion 36, whereafter in radial direction the height of the plate increases substantially close to its periphery 37. Owing to this design, the force required for moving the lever 3 from its non-operative position increases substantially first when the sleeve 13 approaches the periphery 17 of the plate 34.
  • a further advantage of the invention is, that the structural height from the instrument panel 12 and downward of a manipulator is reduced substantially compared with known manipulators, because the spring arrangement is located above the instrument panel.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Mechanically-Actuated Valves (AREA)
  • Switches With Compound Operations (AREA)

Claims (5)

1. Vorrichtung in einem Mehrweghebel, sog. "Steuerknüppel", der z.B. in einem Manipulator enthalten ist und aus einem Schalthebel (3) besteht, der an einem Ende in einem Gehäuse (2) angelenkt ist und daraus herausragt, und einer Hülse (13), die konzentrisch um genannten Hebel (3) montiert und durch Wirkung einer Federkraft gegen eine Platte (15) vorgespannt ist, dadurch gekennzeichnet, daß das genannter Platte (15) zugewandte Ende der genannten Hülse (13) eine Kegelfläche (14) aufweist, die gegen eine Gleitfläche (16) an genannter Platte (15) anliegt, daß genannte Gleitfläche (16) ein zentrales Teilstück (17) und ein umgebendes konkaves Teilstück gegenüber genannter Hülse aufweist, und daß genanntes zentrales Teilstück (17) der genannten Gleitfläche (16) auch eine Kegelfläche aufweist, die so geformt ist, daß sie die Zentrierung der Kegelfläche (14) der genannten Hülse (13) in Beziehung zu genannter Gleitfläche (16) fördert.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Hülse um den Hebel (3) zwischen dem freien Ende des Hebels und genannter Platte (15) liegt, und die Gleitfläche (16) der Platte (15) zum freien Ende des Hebels (3) gerichtet ist.
3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Höhe der Platte (15, 21) mit dem radialen Abstand vom konischen Teilstück (17) nach außen sich verändert und gleichzeitig sich deren Höhe in Umkreisrichtung, vorzugsweise gemäß einer Sinusform, verändert, so daß die Änderung in der Höhe in Umkreisrichtung am größten an der Außenperipherie (22) der Platte (21) und am kleinsten oder unbedeutend am Übergang (32) des konischen Teilstückes (17) zu dem außerhalb liegenden Teilstück der Gleitfläche (16) ist.
4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, daß die genannte Änderung in der Höhe derart ist, daß die Höhe der Platte (21) in radialer Richtung am größten in vier Richtungen (24-27) quer zueinander und am kleinsten in vier Querrichtungen (28-31) ist, welch letztere Richtungen (28-31) 45° in Umkreisrichtung in Beziehung zu den erstgenannten Richtungen (24-27) versetzt sind.
5. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Platte (15) axialsymmetrisch ist, und die Höhe der Platte (15) sich mit dem radialen Abstand vom konischen Teilstück (17) auswärts ändert, so daß die Höhe in genannter Richtung nahe der Peripherie der Platte (15, 33, 34) wesentlich zunimmt.
EP81850121A 1980-07-04 1981-07-02 Vorrichtung in einem Mehrrichtungshebel Expired EP0043809B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT81850121T ATE16054T1 (de) 1980-07-04 1981-07-02 Vorrichtung in einem mehrrichtungshebel.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE8004971 1980-07-04
SE8004971A SE436231B (sv) 1980-07-04 1980-07-04 Anordning vid flerlegesspak

Publications (3)

Publication Number Publication Date
EP0043809A2 EP0043809A2 (de) 1982-01-13
EP0043809A3 EP0043809A3 (en) 1982-04-28
EP0043809B1 true EP0043809B1 (de) 1985-10-09

Family

ID=20341378

Family Applications (1)

Application Number Title Priority Date Filing Date
EP81850121A Expired EP0043809B1 (de) 1980-07-04 1981-07-02 Vorrichtung in einem Mehrrichtungshebel

Country Status (4)

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EP (1) EP0043809B1 (de)
AT (1) ATE16054T1 (de)
DE (1) DE3172595D1 (de)
SE (1) SE436231B (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021100753B3 (de) 2021-01-15 2022-02-17 elobau GmbH & Co.KG Joystick mit verschleißausgleichendem Gleitelement

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3117414C2 (de) * 1981-05-02 1984-12-20 bso Steuerungstechnik GmbH, 6603 Sulzbach Steuergeber
US4522081A (en) * 1983-12-14 1985-06-11 General Motors Corporation Boot cover for a floor-mounted transmission lever
FR2599185B1 (fr) * 1986-05-22 1988-11-10 Telemecanique Electrique Manipulateur analogique a orientations privilegiees
DE4017696A1 (de) * 1990-06-01 1991-12-05 Bosch Gmbh Robert Steuergeber
US5873284A (en) * 1997-01-07 1999-02-23 Echo Incorporated Control for portable power tool
WO2000039654A2 (de) * 1998-12-24 2000-07-06 Mannesmann Rexroth Ag Handbetätigtes elektrisches steuergerät
FR2890464B1 (fr) * 2005-09-05 2009-02-20 Crouzet Automatismes Soc Par A Dispositif de commande avec moyens de perception tactile de l'ordre de commande
GB0603925D0 (en) * 2006-02-28 2006-04-05 Penny & Giles Controls Ltd Joystick controller
FR2948783A1 (fr) * 2009-07-31 2011-02-04 Peugeot Citroen Automobiles Sa Embase deformable pour un leve-vitre manuel de vehicule
EP2642365B1 (de) * 2012-03-20 2017-08-16 Angel Iglesias, S.A. Steuerungsvorrichtung für industrielle Maschinen
US20220236760A1 (en) * 2021-01-27 2022-07-28 Curtis Instruments Inc. Joystick with Adjustable Operating Force for Electrical Wheelchair Devices

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3095754A (en) * 1960-06-30 1963-07-02 Burroughs Corp Control apparatus
US3550466A (en) * 1968-11-26 1970-12-29 Byron Jackson Inc Multidirectional control
US3827313A (en) * 1973-01-24 1974-08-06 Square D Co Miniaturized joystick and cam structure with push button switch operating means
DE2736312C3 (de) * 1977-08-12 1980-06-26 Ing. Alfred Schmidt Gmbh, 7822 St Blasien Anordnung zum Betätigen der Funktionen eines Schneepflugs
FR2462743A1 (fr) * 1979-08-02 1981-02-13 Ass Ouvriers Instr Precision Dispositif de commande manuelle, notamment poignee pour commander les deplacements d'un organe motorise

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021100753B3 (de) 2021-01-15 2022-02-17 elobau GmbH & Co.KG Joystick mit verschleißausgleichendem Gleitelement

Also Published As

Publication number Publication date
ATE16054T1 (de) 1985-10-15
DE3172595D1 (en) 1985-11-14
SE436231B (sv) 1984-11-19
EP0043809A3 (en) 1982-04-28
EP0043809A2 (de) 1982-01-13
SE8004971L (sv) 1982-01-05

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