FR2575845A1 - Control manipulator resistant to shocks - Google Patents
Control manipulator resistant to shocks Download PDFInfo
- Publication number
- FR2575845A1 FR2575845A1 FR8500128A FR8500128A FR2575845A1 FR 2575845 A1 FR2575845 A1 FR 2575845A1 FR 8500128 A FR8500128 A FR 8500128A FR 8500128 A FR8500128 A FR 8500128A FR 2575845 A1 FR2575845 A1 FR 2575845A1
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- France
- Prior art keywords
- lever
- manipulator
- machine
- axis
- reflector
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Links
- 230000035939 shock Effects 0.000 title claims abstract description 10
- 230000005855 radiation Effects 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims abstract description 4
- 230000004907 flux Effects 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 230000006866 deterioration Effects 0.000 description 1
- 230000002542 deteriorative effect Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 210000004417 patella Anatomy 0.000 description 1
- 108091008695 photoreceptors Proteins 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Classifications
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- 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
- G05G9/04785—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 the controlling member being the operating part of a switch arrangement
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/94—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the way in which the control signals are generated
- H03K17/965—Switches controlled by moving an element forming part of the switch
- H03K17/968—Switches controlled by moving an element forming part of the switch using opto-electronic devices
-
- 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
- G05G2009/04707—Mounting of controlling member with ball 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
- G05G2009/04759—Light-sensitive detector, e.g. photoelectric
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
La pre sent e invention concerne un manipulateur de pilotage d'un engin. The present invention relates to a manipulator for controlling a machine.
On connaît déjà de tels manipulateurs qui sont utilises plus spêcialement mais de manière non limitative. pour le pilotage de fauteuils pour handicapés physiques, d'appareils de jeur électroniques, de modèles réduits et en général pour contrôler tout déplacement d'un engin dans un plan. We already know such manipulators which are used more specifically but in a nonlimiting manner. for piloting wheelchairs for the physically handicapped, electronic gaming devices, scale models and in general for controlling any movement of a machine in a plane.
Ces manipulateurs de pilotage d'un engin envoient des signaux à une électronique de pilotage portée par cet engin et pourvue de moyens pour exploiter ces signaux et les mettre à profit pour la commande de moteurs de déplacement portés par l'engin. Le manipulateur comporte un organe de pilotage comprenant une manette pouvant tourner à Zrinté- rieur d'un cône de révolution et effectuer un mouvement combiné provenant d'un basculement de la manette dans un plan passant par l'axe de symétrie de l'appareil et d'un mouvement de rotation de la manette autour de cet axe de symétrie sur un cercle, dans un ptan perpendiculaire à cet axe, tel qu'en amenant cette manette dans la direction et dans le sens voulu, l'engin se déplace dans ce sens et en inctinant la manette d'un angle "a" par rapport à l'axe de symétrie, l'engin se déplace à la vitesse de déplacement voulue. These manipulators for controlling a machine send signals to a control electronics carried by this machine and provided with means for exploiting these signals and using them for the control of displacement motors carried by the machine. The manipulator comprises a control member comprising a lever capable of turning inside a cone of revolution and effecting a combined movement originating from a tilting of the lever in a plane passing through the axis of symmetry of the device and of a movement of rotation of the joystick around this axis of symmetry on a circle, in a ptan perpendicular to this axis, such as by bringing this joystick in the direction and in the desired direction, the machine moves in this sense and by inctinating the lever at an angle "a" with respect to the axis of symmetry, the machine moves at the desired speed of movement.
Les appareils de ce type ont le grave inconvénient de se détériorer très facilement sous l'effet d'un choc, ptus spécialement lorsqu'ils ont subi une déformation permanente de la manette. Les manipulateurs de ce type connus à ce jour sont d'une grande sensibilité aux chocs ayant pour conséquence une flexion de la manette si bien que l'engin qu'ils pilotent, ne peut pus être arreté. Devices of this type have the serious drawback of deteriorating very easily under the effect of an impact, especially when they have undergone permanent deformation of the handle. Manipulators of this type known to date are highly sensitive to shocks resulting in a flexion of the lever so that the machine they control, can not be stopped.
Les manipulateurs de ce type connus à ce jour font appel à des potentiomètres dans les circuits d'envoi de signaux à l'électronique de pilotage portée par l'engin et ces potentiomètres entraînent d'autres inconvénients. En effet un choc sur -la manette occasionne des efforts sur les axes des potentiomètres et provoque leur déréglage d'où un mauvais fonctionnement de l'engin Par ailleurs un des potentiomètres est mobile et les manoeuvres répétées de la manette amènent la rupture des fils d'alimentation. Enfin iZ y a une usure progressive des pis tes conductrices des potentiomètres.Tous ces inconvéniens amènent l'utilisateur à faire retour de son matériel pour réglage en usine, avec immobil-isation longue de l'engin, délai de transport, coût important. Manipulators of this type known to date use potentiometers in the circuits for sending signals to the control electronics carried by the machine and these potentiometers cause other drawbacks. Indeed, a shock on the handle causes efforts on the axes of the potentiometers and causes them to be adjusted, hence a malfunction of the machine. Furthermore, one of the potentiometers is mobile and the repeated maneuvers of the lever lead to the breakage of the wires d 'food. Finally iZ there is a progressive wear of the conductive leads of the potentiometers. All these drawbacks lead the user to return his equipment for adjustment in the factory, with long immobilization of the machine, transport time, significant cost.
L'invention proposée a pour but de pallier ces in- convénients. Elle atteint totalement ce but du fait que le manipulateur proposé est caractérisé en ce que l'organe de pilotage comprend également un réflecteur recevant un rayonnement émis par des sources lumineuses, telles que des diodes photo-émissives, à flux constant et le réfléchissant vers des récepteurs photoélectriques tels que des phototransistors qui reçoivent, du fait de l'inclinaison du.réflec- teur monté solidaire de la manette, des fZuz réfléchis variables selon cette inclinaison, les récepteurs photoélectriques déZivrant des signaux variables proportionnellement aux flux de rayonnement reçus, fonction de l'angle d'incli- naison du réflecteur donc de celui de la manette, ces si gnauz étant transmis à l'électronique de pilotage pour la commande des moteurs de déplacement de l'engin. The object of the proposed invention is to overcome these drawbacks. It completely achieves this goal because the proposed manipulator is characterized in that the control member also includes a reflector receiving radiation emitted by light sources, such as photo-emissive diodes, at constant flux and reflecting it towards photoelectric receivers such as phototransistors which receive, due to the inclination of the reflector mounted integral with the lever, variable reflected fZuz according to this inclination, the photoelectric receivers deZivating variable signals proportional to the fluxes of radiation received, function of the angle of inclination of the reflector therefore of that of the lever, these if gnauz being transmitted to the control electronics for controlling the engines of displacement of the machine.
Le manipulateur suivant l'invention est également caractérisé en ce que l'organe de pilotage est associé au bottier du manipulateur par l'intermédiaire d'une rotule, notamment par une bille tournant dans une cage logée dans le bottier. The manipulator according to the invention is also characterized in that the control member is associated with the boot of the manipulator by means of a ball joint, in particular by a ball rotating in a cage housed in the boot.
L'organe de pilotage peut comporter une manette composée de deux sections différentes, dont l'une, proche de
Z'articuZation de la manette, résiste à la flexion et Z'autre peut se déformer sous l'effet d'un choc transversal par rapport à l'axe ZongitudinaZ de la manette, pour amortir ce choc. L'organe de pilotage peut comporter aussi une manette en deux matériaux différents, dont l'un, proche de l'articu- lation de la manette, est métallique et résistant à la flexion et l'autre, plus éloigné de l'articulation de la manette, est en matière plastique déformable élastiquement. The steering unit may include a lever made up of two different sections, one of which is close to
Z'articuZation of the joystick, resists flexion and Z'autre can deform under the effect of a transverse shock relative to the axis ZongitudinaZ of the joystick, to absorb this shock. The control member may also include a lever made of two different materials, one of which, close to the articulation of the lever, is metallic and resistant to bending and the other, more distant from the articulation of the handle is made of elastically deformable plastic.
De la sorte, iZ n'y a ptus aucune Liaison mécanique au niveau de l'envoi de signaux à l'électronique de pilotage portée par l'engin à piloter. In this way, iZ has no mechanical connection at the level of sending signals to the control electronics carried by the device to be controlled.
Le pivotement de l'organe de pilotage se faisant par une rotule, celle-ci est capable d'encaisser, sans détérioration, d'importants effo-rts, dans le sens axial, sur la manette du manipulateur. Il en est de même des efforts per-pendiculaires à l'axe de symétrie de l'appareil. The pivoting of the control member being by a ball joint, it is able to collect, without deterioration, significant effo-rts, in the axial direction, on the joystick of the manipulator. The same is true of the efforts perpendicular to the axis of symmetry of the device.
La remise en état de service d'un manipulateur ayant subi une déformation de la manette se réduit à la flexion de la manette en sens inverse de cette déformation, opération très aisée et peu coûteuse ne nécessitant pas une intervention en usine. Restoring the service of a manipulator having undergone a deformation of the handle is reduced to bending the handle in the opposite direction to this deformation, a very easy and inexpensive operation not requiring intervention in the factory.
On décrira ci-après,à titre d'exempte non limitatif, une forme d'exécution de la présente invention, en référence au dessin annexé sur lequel on a montré schématiquement un manipulateur de pilotage d'un engin suivant l'invention, notamment-une vue en coupe passant par l'axe de symétrie longitudinal de l'appareil. An embodiment of the present invention will be described below, by way of non-limiting example, with reference to the attached drawing in which a manipulator for piloting a machine according to the invention has been shown diagrammatically, in particular- a sectional view passing through the longitudinal axis of symmetry of the device.
Le manipulateur de pilotage d'un engin suivant l'invention, indiqué généralement sur le dessin par la référence 1, comprend un boitier 2, par exemple cylindrique, pourvu d'une paroi horizontale supérieure 3, prolongée vers l'extérieur par une jupe 4 délimitant une ouverture 5, et d'un fond inférieur amovible 6. La paroi supérieur 3 sert de support a une rotule 7, qui est composée d'une cage 8 portée par la paroi 3 et dans laquelle une bille 9 peut tourner dans tous tes sens autour de son centre. The handling manipulator of a machine according to the invention, generally indicated in the drawing by the reference 1, comprises a box 2, for example cylindrical, provided with an upper horizontal wall 3, extended towards the outside by a skirt 4 delimiting an opening 5, and of a removable lower bottom 6. The upper wall 3 serves to support a ball joint 7, which is composed of a cage 8 carried by the wall 3 and in which a ball 9 can rotate in all your sense around its center.
La bitte 9 est solidaire d'une manette 10 d'une longueur beaucoup plus grande que le diamètre de la bille 9. The cock 9 is integral with a lever 10 of a length much greater than the diameter of the ball 9.
Cette manette 10 est terminée, à sa partie extrême opposée à la bille 9, par une sphère 11 ou par tout autre moyen de préhension commode tel qu'une barre transversale.This lever 10 is terminated, at its extreme part opposite the ball 9, by a sphere 11 or by any other convenient gripping means such as a transverse bar.
A t'opposé de la manette 10, la bille 9 de la rotule 7 est également solidaire, par l'intermédiaire d'une bague 12 formant entretoise, d'un réflecteur 14, constitué par une plaque perpendiculaire à l'axe longitudinal 17 de la manette 10 ou un miroir sphérique ou parabolique d'axe longitudinal confondu avec l'axe longitudinal 17. L'assemblage du réflec- teur 14 et de la bitte 8 est réalisé au moyen d'une vis axiale 13. Opposite the lever 10, the ball 9 of the ball joint 7 is also secured, by means of a ring 12 forming a spacer, to a reflector 14, constituted by a plate perpendicular to the longitudinal axis 17 of the lever 10 or a spherical or parabolic mirror with a longitudinal axis coinciding with the longitudinal axis 17. The assembly of the reflector 14 and the bitt 8 is carried out by means of an axial screw 13.
De la sorte, la manette 10, la bille 9, la bague 12 et le réflecteur 14 forment, dans leur ensemble, un organe de pilotage 18 > d'une pièce allongé suivant l'axe longitudinar 17. In this way, the lever 10, the ball 9, the ring 12 and the reflector 14 form, as a whole, a control member 18> of a piece elongated along the longitudinal axis 17.
L'organe de pilotage 18 peut donc tourner dans la cage 8 de la rotule 7 autour du centre de la bille 9, à l'intérieur d'un cône de révlution dont t'axe de symétrie est confondu avec l'axe longitudinal 19 de l'appareil. Ce cône a un angle au sommet a variant entre 0 et une valeur maximale am déterminée par l'angle de basculement maximal de la manette 10, du fait du déplacement de la bitte 9 a l'in- térieur de la cage 8. The control member 18 can therefore rotate in the cage 8 of the ball 7 around the center of the ball 9, inside a revolution cone whose axis of symmetry coincides with the longitudinal axis 19 of the device. This cone has an apex angle a varying between 0 and a maximum value am determined by the maximum tilting angle of the lever 10, due to the movement of the bitt 9 inside the cage 8.
L'organe de pilotage 18 peut effectuer un mouvement combiné provenant d'un basculement de ta manette 10 dans un ptan passant par- l'axe de symétrie 19 de l'appareil d'amptitude maximale am des deux côté de l'axe 19, selon les ftè- ches fl de la figure, et un mouvement de rotation de la manette 10 autour de l'axe 19, sur des cercles, dans un plan perpendiculaire à l'axe 19, de rayon de plus en ptus grand en fonction de l'inclinaison de l'axe longitudinal 17 de la manette 10 par rapport a l'axe de symétrie 19 de l'appareil selon ta flèche f2 du dessin. The control member 18 can perform a combined movement coming from a tilting of the lever 10 in a ptan passing through the axis of symmetry 19 of the apparatus of maximum amplitude am on both sides of the axis 19, according to the arrows fl of the figure, and a movement of rotation of the lever 10 around the axis 19, on circles, in a plane perpendicular to the axis 19, of radius smaller and larger as a function of the inclination of the longitudinal axis 17 of the lever 10 relative to the axis of symmetry 19 of the device according to your arrow f2 in the drawing.
Sur le fond 5 du bottier 2 sont fixés, par exemple, quatre couples de sources lumineuses 15, telles que des diodes photo-émissives, et de photorécepteurs 16 tels que des phototransistors, schématiquement figurés sur le dessin et placés en croi2 autour de l'a;e longitudinal de symétrie de l'appareil 19. On the bottom 5 of the boot 2 are fixed, for example, four pairs of light sources 15, such as photo-emitting diodes, and of photoreceptors 16 such as phototransistors, schematically shown in the drawing and placed in a cross around the a; e longitudinal symmetry of the device 19.
Le réflecteur 14 reçoit les rayonnements émis par les photodiodes 15 jouant le rôle d'émetteurs de rayonnements et les réfléchit vers les phototransistors 16 jouant le rôle de récepteurs de rayonnement. The reflector 14 receives the radiation emitted by the photodiodes 15 playing the role of radiation emitters and reflects them towards the phototransistors 16 playing the role of radiation receivers.
Chacune des photodiodes 15 émet un rayonnement à flux constant. Chacun des phototransistors 16 reçoit par contre, du fait de l'inclinaison du réflecteur 14 monté solidaire de la manette 10, un flux de rayonnement variable selon cette inclinaison. Each of the photodiodes 15 emits constant flux radiation. Each of the phototransistors 16, on the other hand, receives, due to the inclination of the reflector 14 mounted integral with the lever 10, a flux of radiation variable according to this inclination.
Les phototransistors 16 délivrent donc des signaux variables, proportionnels au flux de rayonnement reçu, donc fonction de ltorientation du réflecteur 14, c'est-à-dire de celle de la manette 10. The phototransistors 16 therefore deliver variable signals, proportional to the flux of radiation received, therefore a function of the orientation of the reflector 14, that is to say of that of the lever 10.
Ces signaux sont envoyés ensuite par des moyens connus et non figurés sur le dessin afin de le simpZifier et le rendre pZus clair, a une électronique de pilotage d'un engin associé au manipulateur de pilotage. These signals are then sent by known means and not shown in the drawing in order to simplify it and make it clearer, to the electronic control of a machine associated with the control manipulator.
L'engin à piloter est pourvu de moyens pour exploi- ter les signaux reçus de la part du manipulateur et tes mettre à profit pour la commande de moteurs de déplacement dont l'engin est pourvu. The machine to be piloted is provided with means for exploiting the signals received from the manipulator and making use of it for the control of displacement motors with which the machine is provided.
Pour faire se déplacer, dans le sens et avec la vitesse voulue, l'engin auquel le manipulateur est associé, il suffît donc d'actionner la manette 10. En amenant cette manette dans la direction et dans le sens voulu pour Ze- déplacement de l'engin, on imprime à celui-ci un déplacement dans- ce sens. En inclinant la manette d'un angle "a" d'au plus la valeur maximale admise "am", on imprime à l'engin la vitesse de déplacement voulue proportionnelle à cet angle a. To move, in the direction and with the desired speed, the machine with which the manipulator is associated, it suffices to actuate the handle 10. By bringing this handle in the direction and in the direction desired for Ze- displacement of the machine, we print a displacement in this direction. By tilting the lever by an angle "a" of at most the maximum allowed value "am", the machine prints the desired speed of movement proportional to this angle a.
Selon la présente invention, l'organe de pilotage 18 est associé au bottier 2 de l'appareil par Z'intermédiaire d'une bague de rappel central 20 sollicitée parun ressort 21. De la sorte le ressort 21 est détendu lorsque l'organe de pilotage 18 est centré avec son axe longitudinal 17 de la manette superposé à l'axe de symétrie de l'appareil 19, aucun signal n'étant alors envoyé aux moteurs de l'engin qui se trouvent au repos. Par contre, lorsque la manette 10 de l'organe de pilotage 18 est inclinée par rapport à l'axe de symétrie l9 de l'appareil, le ressort 21 est armé et il a tendance à ramener l'organe de pilotage 18 dans sa position centrale, lorsque la manette 10 est relâchée pour se dépZa- cer librement. According to the present invention, the piloting member 18 is associated with the boot 2 of the apparatus by Z'intermediate of a central return ring 20 biased by a spring 21. In this way the spring 21 is relaxed when the member control 18 is centered with its longitudinal axis 17 of the lever superimposed on the axis of symmetry of the device 19, no signal then being sent to the engines of the machine which are at rest. On the other hand, when the lever 10 of the piloting member 18 is inclined relative to the axis of symmetry l9 of the apparatus, the spring 21 is armed and it tends to return the piloting member 18 to its position central, when the lever 10 is released to move freely.
L'organe de pilotage 18 étant associé au boîtier 2 du manipulateur 1 par l'intermédiaire de ta rotule 7, plus spécialement par la bille 9 tournant dans la cage 6, cette bitte peut encaisser des efforts axiaux, selon l'axe de symétrie 19 de l'appareil, très importants sans cependant permettre à l'organe de pilotage de quitter la rotule et de ce fait au manipulateur de se décomposer-. The control member 18 being associated with the housing 2 of the manipulator 1 by means of your ball joint 7, more particularly by the ball 9 rotating in the cage 6, this ball can collect axial forces, along the axis of symmetry 19 of the device, very important without however allowing the control member to leave the patella and therefore the manipulator to decompose.
L'organe de pilotage 18 peut comporter, suivant une première forme d'exécution de l'invention, une manette 10 composée de deux sections différentes, dont l'une, proche de l'articulation de la manette, résiste à la flexion et l'autre peut se déformer sous l'effet d'un choc transversal par rapport à l'axe longitudinal 17 de la manette pour amortir ce choc. The control member 18 may comprise, according to a first embodiment of the invention, a handle 10 composed of two different sections, one of which, close to the articulation of the handle, resists bending and l 'other can deform under the effect of a transverse shock relative to the longitudinal axis 17 of the lever to absorb this shock.
Suivant une variante d'exécution de l'invention l'organe de pilotage 18 peut comporter une manette 10 en deux matériaux différents, dont Z'un est métallique et résistant à la flexion au niveau de la bague de rappel central 20, et l'autre en matière plastique déformable, par exemple à la partie plus éloignée de la bille 9, fléchissant élastiquement sous l'effet d'un effort transversal par rapport à l'axe de symétrie de la manette 10, puis reprenant sa forme initiale au repos et à la disparition de l'effort. According to an alternative embodiment of the invention, the control member 18 may comprise a lever 10 made of two different materials, one of which Z'un is metallic and resistant to bending at the level of the central return ring 20, and the other in deformable plastic, for example at the part farthest from the ball 9, bending elastically under the effect of a transverse force relative to the axis of symmetry of the lever 10, then resuming its initial shape at rest and when the effort disappears.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8500128A FR2575845B1 (en) | 1985-01-07 | 1985-01-07 | SHOCK RESISTANT CONTROL MANIPULATOR |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8500128A FR2575845B1 (en) | 1985-01-07 | 1985-01-07 | SHOCK RESISTANT CONTROL MANIPULATOR |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| FR2575845A1 true FR2575845A1 (en) | 1986-07-11 |
| FR2575845B1 FR2575845B1 (en) | 1987-03-27 |
Family
ID=9315040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| FR8500128A Expired FR2575845B1 (en) | 1985-01-07 | 1985-01-07 | SHOCK RESISTANT CONTROL MANIPULATOR |
Country Status (1)
| Country | Link |
|---|---|
| FR (1) | FR2575845B1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0593047A1 (en) * | 1992-10-16 | 1994-04-20 | Fidia S.P.A. | A remote-control device for machine tools and the like, the use of the device in a machine tool or the like, and a machine tool comprising the device |
| EP1308819A1 (en) * | 2001-10-30 | 2003-05-07 | Alps Electric Co., Ltd. | Lever handle type haptic input apparatus equipped with electromagnetic brake |
| EP2204829A1 (en) | 2009-01-06 | 2010-07-07 | Anywire Corporation | On/Off Switch |
| US7911967B2 (en) | 2005-11-14 | 2011-03-22 | Anywire Corporation | Control and monitor signal transmission system |
| RU196606U1 (en) * | 2019-12-18 | 2020-03-06 | Публичное акционерное общество "Саратовский электроприборостроительный завод имени Серго Орджоникидзе" | BALL MANIPULATOR |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2224169A1 (en) * | 1972-05-18 | 1973-12-06 | Rolf Schatz Feinwerktechnik Fa | OPTOELECTRONIC SWITCH WITH MECHANICAL CONTROL FOR MONITORING DEVICES IN PARTICULAR ON TEXTILE MACHINERY |
| US3814199A (en) * | 1972-08-21 | 1974-06-04 | Cleveland Machine Controls | Motor control apparatus adapted for use with a motorized vehicle |
| US3886361A (en) * | 1972-10-26 | 1975-05-27 | Ericsson Telefon Ab L M | Device for contactless positional indication |
| GB2046549A (en) * | 1979-03-14 | 1980-11-12 | Bideford Electronics Ltd | Angular position controller |
| GB2101721A (en) * | 1981-07-06 | 1983-01-19 | Dana Corp | Joystick control means |
-
1985
- 1985-01-07 FR FR8500128A patent/FR2575845B1/en not_active Expired
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2224169A1 (en) * | 1972-05-18 | 1973-12-06 | Rolf Schatz Feinwerktechnik Fa | OPTOELECTRONIC SWITCH WITH MECHANICAL CONTROL FOR MONITORING DEVICES IN PARTICULAR ON TEXTILE MACHINERY |
| US3814199A (en) * | 1972-08-21 | 1974-06-04 | Cleveland Machine Controls | Motor control apparatus adapted for use with a motorized vehicle |
| US3886361A (en) * | 1972-10-26 | 1975-05-27 | Ericsson Telefon Ab L M | Device for contactless positional indication |
| GB2046549A (en) * | 1979-03-14 | 1980-11-12 | Bideford Electronics Ltd | Angular position controller |
| GB2101721A (en) * | 1981-07-06 | 1983-01-19 | Dana Corp | Joystick control means |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0593047A1 (en) * | 1992-10-16 | 1994-04-20 | Fidia S.P.A. | A remote-control device for machine tools and the like, the use of the device in a machine tool or the like, and a machine tool comprising the device |
| EP1308819A1 (en) * | 2001-10-30 | 2003-05-07 | Alps Electric Co., Ltd. | Lever handle type haptic input apparatus equipped with electromagnetic brake |
| US7176892B2 (en) | 2001-10-30 | 2007-02-13 | Alps Electric Co., Ltd. | Lever handle type haptic input apparatus equipped with electromagnetic brake |
| US7911967B2 (en) | 2005-11-14 | 2011-03-22 | Anywire Corporation | Control and monitor signal transmission system |
| EP2204829A1 (en) | 2009-01-06 | 2010-07-07 | Anywire Corporation | On/Off Switch |
| RU196606U1 (en) * | 2019-12-18 | 2020-03-06 | Публичное акционерное общество "Саратовский электроприборостроительный завод имени Серго Орджоникидзе" | BALL MANIPULATOR |
Also Published As
| Publication number | Publication date |
|---|---|
| FR2575845B1 (en) | 1987-03-27 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| ST | Notification of lapse |