EP2015160B1 - Dispositif joystick - Google Patents

Dispositif joystick Download PDF

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Publication number
EP2015160B1
EP2015160B1 EP08425425A EP08425425A EP2015160B1 EP 2015160 B1 EP2015160 B1 EP 2015160B1 EP 08425425 A EP08425425 A EP 08425425A EP 08425425 A EP08425425 A EP 08425425A EP 2015160 B1 EP2015160 B1 EP 2015160B1
Authority
EP
European Patent Office
Prior art keywords
group
actuator according
support
sliding contacts
series
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.)
Not-in-force
Application number
EP08425425A
Other languages
German (de)
English (en)
Other versions
EP2015160A1 (fr
Inventor
Giuseppe Mario Battistella
Alessandro Bonan
Antonio Silvestri
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.)
Autec SRL
Original Assignee
Autec SRL
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 Autec SRL filed Critical Autec SRL
Publication of EP2015160A1 publication Critical patent/EP2015160A1/fr
Application granted granted Critical
Publication of EP2015160B1 publication Critical patent/EP2015160B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • G05G2009/04714—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
    • G05G2009/0474—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
    • G05G2009/04748—Position sensor for rotary movement, e.g. potentiometer
    • 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 manually driven electromechanical actuator of the so-called "joystick type, particularly but not exclusively for the use in control boxes, including the remote control, for example through radiofrequency or cable, of machines in general, such as cranes, bridge
  • the main aim of the present invention is to provide a single-axis or dual-axis actuator of the joystick type specified above, in which the necessary functionality is ensured with drastically reduced dimensions compared to the traditional actuators.
  • Another aim of the present invention is to provide a new conceiving joystick actuator which, besides ensuring a high degree of efficiency, can be produced at competitive costs.
  • an actuator of the joystick type is provided with a containment and support body 2, preferably consisting of a square section tubular stretch made of synthetic material, an articulation group supported by the containment and support body 2 and including an universal cardan joint system 3 and two pairs of guide positioned in cross or coulisse cross 4, as well as a control lever 5, having its own end which is intended to be cinematically connected to the universal joint system 3 and which can be engaged by sliding with two pairs of cross guides 4 and its other end intended to lie, in use, outside the containment and support body 2 and provided with a handle knob 6 for the grip by the hand of an operator.
  • a containment and support body 2 preferably consisting of a square section tubular stretch made of synthetic material, an articulation group supported by the containment and support body 2 and including an universal cardan joint system 3 and two pairs of guide positioned in cross or coulisse cross 4, as well as a control lever 5, having its own end which is intended to be cinematically connected to the universal joint system 3 and which can be engaged by sliding with two pairs of
  • the containment and support body 2 supports, preferably on the external face of its own wall, for example of the wall 7, a printed circuit board or card 8 ( figures 4 , 5 and 9 ) provided with sliding contact tracks, as will be further explained later on.
  • the bushes 14 arranged in the grooves 12 and 12a aligned along a movement axis x-x are intended to rotatingly support the hubs of a shaft 15 (also called in jargon "main bow") of the articulation group 3, while the bushes 14 arranged in the grooves 13 and 13a aligned along a movement axis y-y, orthogonal and substantially coplanar to the axis x-x are suitable to rotatingly support the hubs of a curved shaft 16 (also called in jargon "secondary bow") of the same articulation group.
  • the middle portion of the shaft or main bow 15 is bulged and an aperture or axial central slot 17 is made thereon.
  • the middle portion of the shaft or secondary bow 16, on which a longitudinal through slit 18 is obtained, is bulged and arched.
  • the lever 5 presents a cross through hole, in correspondence of which there is a cursor 19 also provided with a cross hole 20, through which a pin 21 can be installed, intended to be also installed in two aligned cross through holes 22 made in the main shaft 15 in correspondence of the slot 17, so that the lever 5 can be pivoted to the shaft 15 and extend through the slit 18 of the secondary shaft 16.
  • each angular displacement of the lever 5 parallely to the axis x-x turns into a corresponding angular displacement of the shaft 16, where its displacement parallely to the axis y-y turns into a corresponding angular displacement of the shaft 15.
  • the containment and support body 2 is closed by a hollow flanged lid 23 which can be fixed in position by any fixing means, for example four screws 23a ( figures 1-4 and 8 ).
  • the body 2 is closed by a base 27 which can be fixed in position by any suitable fastening means, such as screws 28, and supports the coulisse cross 4 intended to slidingly engage the lower end of the lever 5 to guide it along two parallel directions, respectively, the x-x and y-y axes.
  • the shaft 15 has a front hub or tang 30 with several diameters and a rear hub or tang 30a.
  • the front hub 30 protrudes from the wall 7 of the containment and support body 2 and beyond the card 8 applied to the wall 7.
  • a first sliding contacts carrier 31 is keyed ( figures 4 and 5 ), preferably of the oscillating arm or "wiper" type, while at its terminal stretch with the smallest diameter a second sliding contacts carrier 32 is keyed, preferably of the wiper type too and configured as the first contacts carrier 31, but dimensioned differently with respect to it, typically with longer arm.
  • the card 8 can be preferably detachably fixed to the wall 7, for example by screws.
  • a protection carter 31a bounding a housing and protection seat both for part of the safety contacts of the card 8 and the contacts carrier wiper 31 can also be partially fixed around the hub 30, for example by screws 33, to the wall 7.
  • a carter 34 for the total covering both of the card 8 and the wipers 31 and 32 can be coupled by snap with the flanged lid 23.
  • a device suitable to pack the wipers 31 and 32, such as a seeger ring 35, is finally provided on the final part of the hub 30.
  • the card 8 presents two sectors 36 and 37 of sliding tracks, which are typically arranged relatively far and separate and in any case shielded from each other, at all benefit for the very low dimensions of the actuator 1 as a whole.
  • the sliding contacts group 9 borne by the oscillating arm or wiper 31 can slide on the sector 36, the wiper 31 being suitable to electrically connect the superior track P1, connected to a reference voltage through a connector C1, with the underlying adjacent track P2, which is divided into three sections or areas, respectively "a", "b” and "c", so as to bring the reference voltage to as many output terminals of the connector C1 whenever the wiper 31 moves angularly out from its rest position, corresponding to the middle section b.
  • the sliding contacts group 10 borne by the oscillating arm or wiper 32 is intended to slide on the sector 37, the wiper 32 being responsible to electrically connect the superior track P3, electrically connected to a reference voltage through the connector C1, with the adjacent tracks P4 and P5, each of which is divided in an appropriate number of sectors or sections which varies depending on the specific applications to which the actuator according to the present invention is intended, so as to bring the reference voltage to the same amount of output terminals of the connector C1, corresponding to prearranged angular positions reached by the wiper 32.
  • the sectors 36 and 37 and the arms 31 and 32 are kept physically separated from each other by the carter 31a in order to make possible failure modes of the respective series of contacts 9, 10 independent. More in particular, the presence of a physical barrier, consisting in the carter 31a, between the sectors 36 and 37 helps to ensure an optimal electrical insulation between the two sectors and a mechanical protection especially useful for example in case of rupture of the wiper 31, but also against dust.
  • FIG. 10 An example of a switching pattern is shown in figure 10 which contains a table regarding a control function at five speeds.
  • a respective elastic return loading means typically consisting of a helical spring 38 which is keyed on the relative hub 30a, 43a and has its own ends striking from opposite plate against a respective stop element 39 which can be fixed, respectively, to the wall 7a and 11a and in an exemplifying way of an angular sector element 40 keyed on the respective hub and below and externally toothed in 41 for engaging with a correspondent tooth or braking roll, as will be further explained with particular reference to the shaft 16.
  • Everything remains closed by a carter or lid 42 similar to the carter 34.
  • the shaft or secondary bow 16 presents two axially aligned hubs 43 and 43a intended to protrude, in use, from the respective walls 11, 11a of the containment and support body 2.
  • a mobile equipment 31 and 32 all similar to that one described with reference to the hub 30 of the main shaft 15, can be keyed on the hub 43 protruding from the wall 11a, the mobile equipment moving close to a card (not visible in the drawings) completely similar to the card 8 detachably fixed to the outside wall of the wall 11a, while a respective spring 38 and a respective angular sector element 40 with lower external teeth 41 can be keyed on the hub 43a, as it has been specified above.
  • an elastically yielding support constituted for example by an elbow lever 45 which can be pivoted on a respective support pin 46 that can be screwed in the respective wall 11, 7a, is positioned below each angular sector element 40, 40a both of the hub 43a and the hub 30a.
  • An arm of the elbow lever 45 or a fork 45a which can be arranged between the ends of the spring 38 supports a rotating roll 47 intended to engage in the depressions between a tooth and another of the teeth 41, which can be obtained on the respective angular sector element 40 and drag by it or which can be obtained on an area 41a that can be fixed to the respective wall of the body 2 ( figure 11 ) always to serve as a control element of the rotation of the shaft 16 through the angular sector element 40.
  • the other arm of the lever 45 ( figures 4 and 6 ) is engaged to one end of a return spring 48, whose other end is anchored to a stop 49 which can be fixed to the respective wall 11, 7a.
  • Everything is covered with a lid or carter 42 which can be engaged by snap with the flanged lid 23.
  • the components inserted into both the hub 43a of the shaft 16 and the hub 30a of the shaft 15 are packed with a relative seeger 51.
  • a joystick device like the one described above is simple and with high reliability. Acting on the lever 5 the operator can cause angular displacements along the axis x-x or y-y or both.
  • the angular displacements of the main 15 and secondary 16 shafts cause angular displacements of the mobile sliding contacts of safety 9 and of work 10, reciprocally isolated, which may, as it is known in the state of the art, give outputs of the analog or digital at one or more speed type, according to several arrangements of the contacts in the printed circuit board 8.
  • the electromechanical actuator 1 referred to the invention ensures, therefore, the redundancy of the electrical signal coming out from the printed circuit board 8, required by the regulations in force relevant for safety certification, which allows to safely manage the manoeuvres of a machine tool.
  • this result is achieved using only one printed circuit board for each of the movement axes of the machine itself, unlike the known art in which the redundancy of the signal is achieved using more than one board.
  • a joystick device is, therefore, particularly suitable in those practical applications where the functional safety or protection against failures, which can also be potentially dangerous, is important.
  • Specific applications of a joystick device in accordance with the present invention are on console fixed inside a machine or on remote control box, with both radiofrequency and cable signals transmission.
  • a joystick device of the single-axis type will result. If, however, the coulisse 4 is not provided, the joystick device described above enables the lever 5 to carry out angular movements in all directions like an articulated joint.
  • the materials used and the dimensions may be different depending on needs.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Position Input By Displaying (AREA)
  • Adjustable Resistors (AREA)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
  • Control Of Position Or Direction (AREA)

Claims (10)

  1. Actionneur du type manche à balai qu'on peut déplacer selon un ou plusieurs axes de mouvement (x-x, y-y), comprenant une base ou un corps formant boîtier et support (2), un groupe d'articulation (3) pour au moins un arbre entraîné (15, 16) supporté par le corps formant boîtier et support (2), un levier de commande (5) ayant une extrémité reliée cinématiquement audit groupe d'articulation (3) et l'autre extrémité qui peut être attaquée par la main d'un opérateur, une pluralité de contacts électriques glissants (9, 10) qui peuvent être manoeuvrés par ledit levier de commande (5), une pluralité de cartes de circuit imprimé (8), connectées à ladite pluralité de contacts électriques glissants (9, 10), chacune desdites cartes de circuit imprimé (8) étant supportée par ledit corps formant boîtier et support (2), approprié pour déplacer un outil mécanique selon un axe de mouvement relatif (x-x, y-y), caractérisé en ce que chacune desdites cartes de circuit imprimé (8) présente des pistes de contacts glissants qui comprennent au moins un groupe de pistes de sécurité (36) et au moins un groupe de pistes de travail (37), distant et séparé dudit groupe de pistes de sécurité (36), dans lequel ladite pluralité de contacts électriques glissants comprend une première série (9) et une deuxième série (10) de ladite pluralité de contacts électriques glissants qui peuvent se déplacer angulairement et simultanément le long dudit groupe de pistes de sécurité (36), et dudit groupe de pistes de travail (37) respectivement.
  2. Actionneur selon la revendication 1, caractérisé en ce qu'au moins une parmi lesdites première et deuxième séries de contacts (9) et (10) est délimitée par un logement respectif limité par un élément de protection (31a) approprié pour former une barrière de protection-séparation entre ladite première série (9) et ladite deuxième série (10) de contacts.
  3. Actionneur selon la revendication 2, caractérisé en ce que chaque logement est formé par un carter respectif (31a).
  4. Actionneur selon une quelconque des revendications 1 à 3, caractérisé en ce que chaque arbre entraîné (15, 16) dudit groupe d'articulation (3) présente au moins un moyeu (30, 43) destiné à supporter et à déplacer angulairement une première série (9) et une deuxième série (10) de contacts glissants.
  5. Actionneur selon la revendication 4, caractérisé en ce que chaque arbre entraîné (15, 16) dudit groupe d'articulation (3) présente deux moyeux ou tourillons alignés (30, 30a ; 43, 43a), dont le premier (30, 43) est destiné à supporter et à déplacer angulairement une première série respective (9) et une deuxième série respective (10) de contacts glissants tandis que le deuxième moyeu (30a, 43a) est chargé élastiquement.
  6. Actionneur selon la revendication 5, caractérisé en ce que ledit premier moyeu (30, 43) est destiné à supporter au moins un élément d'enveloppement et de protection (31a) pour ledit groupe de pistes de sécurité (36) d'une carte correspondante et pour au moins une première série respective (9) de contacts glissants.
  7. Actionneur selon la revendication 6, caractérisé en ce qu'il comporte un élément de recouvrement (34) à la fois pour la carte correspondante et pour lesdites premières et deuxième séries de contacts glissants (9, 10).
  8. Actionneur selon une quelconque des revendications 4 à 7, caractérisé en ce que chacun desdits deuxièmes moyeux (30a, 43a) supporte au-dessus de lui au moins un élément de rappel élastique (38) ayant ses extrémités qui frappent en partant de la plaque opposée contre un élément de butée (39) qui peut être fixé ou intégré audit corps formant boîtier et support (2), et au moins un élément secteur angulaire (40) qui coopère avec une dent (41) destinée à attaquer une dent ou un rouleau de freinage correspondant (47) porté par un support (45) susceptible de céder élastiquement.
  9. Actionneur selon la revendication 8, caractérisé en ce que ladite dent (41) est obtenue sur ledit élément secteur annulaire (40).
  10. Actionneur selon la revendication 9, caractérisé en ce que ledit support susceptible de céder élastiquement comprend un levier coudé (45) qui peut pivoter sur un axe support respectif (41) porté par ledit corps formant boîtier et support (2).
EP08425425A 2007-07-11 2008-06-16 Dispositif joystick Not-in-force EP2015160B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT000098A ITVR20070098A1 (it) 2007-07-11 2007-07-11 Dispositivo attuatore elettromeccanico ad azionamento manuale particolarmente per scatole di comando

Publications (2)

Publication Number Publication Date
EP2015160A1 EP2015160A1 (fr) 2009-01-14
EP2015160B1 true EP2015160B1 (fr) 2011-10-05

Family

ID=39864643

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08425425A Not-in-force EP2015160B1 (fr) 2007-07-11 2008-06-16 Dispositif joystick

Country Status (4)

Country Link
EP (1) EP2015160B1 (fr)
AT (1) ATE527590T1 (fr)
ES (1) ES2373613T3 (fr)
IT (1) ITVR20070098A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021120686A1 (de) * 2021-08-09 2023-02-09 Grammer Aktiengesellschaft Steuervorrichtung

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2842645A (en) * 1953-12-08 1958-07-08 Pye Ltd Electrical control device
US3372359A (en) * 1967-01-30 1968-03-05 Carter Precision Electric Co Coordinated control for variable resistors
US5068499A (en) * 1989-04-14 1991-11-26 Alps Electric Co., Ltd. Control lever type input device
US5087904A (en) * 1990-02-09 1992-02-11 Devolpi Dean Joy stick
US5436640A (en) * 1993-10-29 1995-07-25 Thrustmaster, Inc. Video game and simulator joystick controller with geared potentiometer actuation
US5640177A (en) * 1995-03-15 1997-06-17 Anko Electronic Co., Ltd. Optical analog rocker
TW463078B (en) * 1999-07-05 2001-11-11 Alps Electric Co Ltd Multidirectional input device
US6654005B2 (en) * 2001-09-21 2003-11-25 Cts Corporation Low profile joy stick and switch
JP4339770B2 (ja) * 2004-10-01 2009-10-07 双葉電子工業株式会社 ラジオコントロール装置用スティックレバーユニット及びこれを装備したラジオコントロール装置

Also Published As

Publication number Publication date
ITVR20070098A1 (it) 2009-01-12
ATE527590T1 (de) 2011-10-15
EP2015160A1 (fr) 2009-01-14
ES2373613T3 (es) 2012-02-07

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