EP0246968A1 - Analogischer Manipulator mit privelegierten Richtungen - Google Patents

Analogischer Manipulator mit privelegierten Richtungen Download PDF

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Publication number
EP0246968A1
EP0246968A1 EP87401126A EP87401126A EP0246968A1 EP 0246968 A1 EP0246968 A1 EP 0246968A1 EP 87401126 A EP87401126 A EP 87401126A EP 87401126 A EP87401126 A EP 87401126A EP 0246968 A1 EP0246968 A1 EP 0246968A1
Authority
EP
European Patent Office
Prior art keywords
lever
operating lever
housing
cams
manipulator
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.)
Granted
Application number
EP87401126A
Other languages
English (en)
French (fr)
Other versions
EP0246968B1 (de
Inventor
Philippe Paquereau
Xavier Ruaud
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.)
Telemecanique SA
Original Assignee
La Telemecanique Electrique SA
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 La Telemecanique Electrique SA filed Critical La Telemecanique Electrique SA
Publication of EP0246968A1 publication Critical patent/EP0246968A1/de
Application granted granted Critical
Publication of EP0246968B1 publication Critical patent/EP0246968B1/de
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
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
    • 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
    • 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
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04711—Mounting of controlling member with substantially hemispherical bearing part forced into engagement, e.g. by a spring
    • 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
    • G05G2009/04744—Switches
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Definitions

  • the present invention relates to an analog manipulator for generating electrical control signals in response to various orientations given in space to an operating member of this manipulator, such as a lever, which will hereinafter be referred to as “operating lever ".
  • Such manipulators are often used for the remote electrical control of the movements of a mobile, such as the hook of a lifting machine, especially an overhead crane, in four main orthogonal directions two by two.
  • some of these manipulators include a keying member in which is formed an opening in the form of a cross with four orthogonal branches two by two which is crossed by the operating lever. In this way, this lever can only be oriented in the four directions determined by the branches of the cross. This solution is suitable when the movement of the mobile controlled by the manipulator should only take place in orthogonal directions.
  • the frequency of movements of the lever in two orthogonal directions is preponderant, but it is necessary from time to time to provide an orientation of the lever in intermediate directions in order to obtain for example an oblique movement of the mobile controlled by the manipulator.
  • the Applicant has discovered the advantage that the resistant force developed against at least one preferred orientation of the lever is much lower than that developed against other possible inclinations of this lever. .
  • This reaction anisotropy perceived by the operator's hand informs him about the controlled orientations, the orientations of the operating lever in the main rectangular planes being easier to communicate to it than all the other orientations.
  • One of the aims of the invention is thus to propose an analog manipulator having an anisotropy of reaction for the operator according to the orientation engaged, which has dimensions as reduced as possible taking into account the small space available on the control consoles. and finally which is reliable and inexpensive to manufacture.
  • Yet another aim of the invention is to allow easy modification of the preferred orientations chosen, both in number and in direction, by replacing a minimum number of parts.
  • the manipulator targeted by the invention thus comprises a housing on which said lever is articulated which controls the position of at least one movable member associated with at least one sensor for delivering an electrical signal as a function of the position of the lever.
  • this manipulator is characterized in that it comprises means opposing the angular displacement of the operating lever an elastic reaction differentiated according to the orientation of the lever relative to its neutral position, these means comprising moving surfaces the one relative to the other and held elastically in mutual support, one of which is angularly linked to the orientation of the lever and the other is angularly fixed, at least one of these bearing surfaces having undulations of which the amplitude is a function of the orientations provided for the lever.
  • the means for producing a differentiated elastic reaction comprise two cams associated, at least one of which is slidably mounted and which are urged elastically towards one another, one of these cams being angularly fixed and the other orientable as a function of the position of the operating lever with respect to in its neutral position, the active surfaces of the two cams which can come into mutual contact being profiled so that the spacing of the two cams varies according to the orientation of the operating lever.
  • one of the cams is coaxial with the neutral position of the operating lever, the other cam being coaxial with the latter.
  • at least one of the cams has a corrugated crown profile, the corrugations corresponding to the orientations of the operating lever for which a differentiated elastic reaction is provided.
  • the operating lever is articulated on the housing by means of a ball joint which is elastically urged towards a fixed annular bearing surface of the housing, this ball joint carrying at least one movable member for influencing position sensors mounted in the housing.
  • the lever is articulated on the housing in a simple and economical manner.
  • the ball joint carries on the side opposite the fixed bearing a set of radial ribs engaged in the radial slots of an elastic membrane on which this ball joint bears.
  • the operating lever is in one piece, it is directly connected to a ball joint, and it carries one of the cams mounted to slide along its axis and urged towards the other cam by a spring coaxial with said lever.
  • the compression of the spring is maximum for the angular positions of the lever which correspond to the orientations where the resistant force must be the greatest.
  • the operating lever is connected by a spherical articulation to an auxiliary shaft housed in the housing and which is itself mounted on a ball joint elastically urged towards a fixed annular bearing surface of the housing.
  • This assembly ensures a multiplication of the movement such that a slight transverse thrust on the lever allows large amplitude deflections for this lever in preferred directions.
  • the operating lever is integral in orientation with a cam with corrugated outline itself connected to the spherical joint, the housing also containing a sliding pusher surrounding the auxiliary shaft and movable coaxially in the neutral position of the lever, this pusher carrying a non-rotating cam with wavy outline cooperating with the cam carried by the lever.
  • the manipulator essentially comprises a housing 1 on which is articulated an operating lever 2 which can be moved apart by transverse thrust F (Figure 2) of a reference position X-X ⁇ ( Figure 1), called neutral, corresponding to the axis of the housing 1, the lever 2 being biased elastically towards this neutral position.
  • the lever 2 controls the position of at least one movable member of influence 3 which is associated with at least one sensor 4 fixed to the housing 1 to deliver an electrical signal depending on the position of the lever 2.
  • the operating lever 2 is articulated on the housing 1 by means of a ball joint 5 which carries the or the movable members of influence 3.
  • the ball 5 is elastically biased towards an annular bearing 6 of the housing 1 and its outer spherical surface bears on the spherical cavity 21 of this bearing, the contacting surfaces being concentric with center 0 ( Figure 3 ).
  • means are provided opposing the angular displacements of the lever 2 an elastic reaction differentiated according to the orientation which is imposed on it relative to its neutral position.
  • These means include two associated cams 7 and 8, the active surfaces 9 and 11 of which have profiles arranged to provide a substantial variation in the force required to move the lever 2 from its neutral position according to the orientation that the operator wants to give it. . Details of the profiles of these cams will be provided later with reference to FIGS. 4 to 6.
  • the cams 7 and 8 are elastically stressed by means of a helical spring 12 coaxial with the lever 2 and mounted in abutment on the ball joint 5. In the neutral position of the lever 2, the profile of one of the cams matches that of the other (see Figure 1), the active bearing surfaces being mutually engaged.
  • the angularly fixed cam 7 is coaxial with the neutral position X-X ⁇ and the other 8, angularly orientable as a function of the position of the lever 2, is coaxial with the latter.
  • the fixed cam 7 comprises a series of notches 13 carried by the housing 1 and the angularly adjustable cam 8 is carried by a slide 14 movable along the lever 2 and directly subjected to the action of the spring 12.
  • the notches 13 of the fixed cam 7 are formed in a frustoconical opening 20 of small thickness, formed in the end part of a cylindrical barrel 34 extending the housing 1.
  • the opening 20, which is crossed by the lever 2 has a cross section substantially in the form of a cross with four circular lobes 15 arranged symmetrically with respect to the center of the cross. These lobes 15 are joined two by two by parts in an arc of a circle 16.
  • the slide 14 comprises (FIGS. 5 and 6) a ring 17 serving as a support for the spring 12 and a frustoconical part 19 of small height narrowed towards the end 10 of the lever 2 intended to be manipulated.
  • the frustoconical part 19 constitutes the active bearing surface 11 of the cam 8.
  • the frustoconical part 19 of the slider 14 follows the parts in an arc of a circle 16 of the opening 20.
  • two pairs of preferred angular orientations are provided for the operating lever 2. The first corresponds to the orthogonal planes P, Q oriented along the branches of the aforementioned cross and the second pair to the directions R and S of the lever 2 in the bisector planes of the previous ones.
  • the ball 5 carries (FIG. 8), on the side opposite to the fixed bearing 6, a ring 22 coaxial with the operating lever 2 from which a certain number of radial ribs 23.
  • the ring 22 and the ribs 23 are engaged respectively in a central circular opening 24 (FIG. 7) and in radial slots 25 formed in an elastic membrane 26 on which the ball joint 5 rests.
  • This membrane 26 forms tongues 27 which are selectively engaged by the base of the ball 5 according to the orientation of the lever 2. In the neutral position of the latter, each sector 28 of the base of the ball joint 5 comprised between two consecutive ribs 23 is pressed equally against a corresponding tongue 27 of the membrane 26.
  • the threaded lower end 2b of the lever maneuver 2 which passes through an opening 5a of the ball joint 5, opens beyond the ring 22 and receives a nut 40 which ensures the fixing and the centering of the influence members 3 by tightening these against the ring 22 of the ball joint 5.
  • the ring 22 has two pins 22a, 22b ( Figures 3 and 8) to fix the orientation of the members 3 by entering a centering hole 30 thereof.
  • the electronic circuits to which the position sensors 4 influenced by the movable members 3 belong are disposed in a chamber 44 of the housing 1 closed by a bottom 45 and separated from the ball 5 by a partition 46 made of electrically insulating material.
  • the barrel 34 which surmounts the housing 1 forms an interior chamber 34b which houses the cams 7, 8 and the spring 12 while allowing the angular movement of the lever 2.
  • the terminal part of the barrel 34 is threaded and receives a clamping ring 35 which contributes to the fixing of the manipulator on a plate A (FIG. 3), in opposition to setting screws 37 carried by a flange 38, itself supported on the shoulder 36 of the housing 1.
  • the upper end of the barrel 34 is closed by a flexible cylindrical bellows 39 for sealing, clamped at its base by the threaded ring 35 and at its top by the button 43 of the lever 2.
  • FIGS. 5 and 6 illustrate the way in which the cams 7, 8 cooperate according to the orientation of the operating lever 2 relative to its neutral position.
  • FIG. 5 shows the orientation of the lever 2 in one of the privileged planes P or Q.
  • the frustoconical part 19 of the slide 14 which constitutes the surface active 11 of the cam 8 enters one of the notches 13 of the cam 7 so that the spring 12 is weakly compressed.
  • the embodiment which has just been described corresponds to a manipulator whose angular movement of the lever is low, of the order of 6 °, and whose elastic reaction opposed to the inclinations of this lever is relatively large.
  • This type of manipulator is well suited to applications where one wants to transmit to the operator a manual sensation of effort reflecting the operation of the device controlled by this manipulator.
  • One possible application is the speed control of a motor.
  • the operating lever 102 of the manipulator may have greater angular movement (of the order of 25 °) in certain preferred directions.
  • the lever 102 is connected by a spherical joint 51 to an auxiliary shaft 52 housed in the housing 101 and which is itself mounted on a ball 105 resiliently biased towards a fixed annular surface 106 of the housing 101.
  • the elastic reaction opposed to the inclinations of the lever 102 is for example four times less than for the manipulator described in reference to FIGS. 1 to 8.
  • this type of manipulator can be advantageously used in applications where it is desired that the amplitude of the signals delivered be the image of the displacements of greater amplitude of the lever.
  • the angularly fixed cam 107 (FIG. 11) is carried by a sliding pusher 53 surrounding the auxiliary shaft 52 and movable coaxially to the neutral position X-X ⁇ of the lever 102.
  • the pusher 53 is hollow and has a cylindrical skirt 55 which slides inside the chamber 134b of the barrel 134, the rotation of the pusher 53 around the axis X-X ⁇ being prevented by a longitudinal rib 71 of the skirt 55 in taken with a groove 72 in the chamber 134b (see Figures 11, 13 and 15).
  • the skirt 55 which surrounds the auxiliary shaft 52 and a return spring 112 has at its upper part a crown 56 whose wall 109 opposite the ball 105 constitutes the active surface of the cam 107.
  • the spherical joint 51 comprises a ball joint 50 having a hemispherical head 61 which cooperates with a spherical bearing surface 64 of a cap 59 of the barrel 134, open at its upper part for the passage of the lever 102.
  • the latter is angularly integral with the ball joint 50, the axial extension of which forms a cavity 62 in which the spherical head 63 of the auxiliary shaft 52 is engaged.
  • the periphery of the ball joint 50 is wavy and constitutes the active surface 111 of the cam 108.
  • the active surfaces 109, 111 of the cams 107, 108 are elastically biased towards each other by the helical spring 112 which is supported between a shoulder 65 of the annular surface 106 and the crown 56 of the pusher 53.
  • the thrust of the spring 112 also ensures the support of the hemispherical head 61 against the surface 64.
  • FIGS. 12 and 13 and 14 and 15 respectively illustrate two alternative embodiments of the pusher 53 carrying the rotary cam 107 and of the ball joint 50 carrying the cam 108 integral in rotation with the operating lever 102.
  • the cams 107, 108 of the variant of FIGS. 14 and 15 have a continuous wavy contour having a succession of inflection points, while those of FIGS. 12 and 13 have a discontinuous wavy contour respectively forming a succession of edges 82 and of hollow 83 (see Figure 13) or curved portions 74 (see Figure 12).
  • the planes P and Q correspond to the hollow parts of the profile 109 of the cam 107 and the planes R and S to the vertices of this same profile.
  • the elastic reaction opposed to the movement of the lever 102 is therefore clearly differentiated according to the angular orientation thereof, which tends to limit the amplitude of the travel in the non-preferred directions.
  • Figures 16 and 17 each illustrate an alternative embodiment of the manipulators described respectively with reference to Figures 1 to 8 and 9 to 15.
  • the bodies having similar functions bear the same references assigned an index a .
  • the operating lever 2a (FIG. 16) or the auxiliary shaft 52a (FIG. 17) are connected to the housing 1a, 101a by means of a pseudo-articulation constituted by an elastic mass 75, for example in elastomeric material, the periphery 76 of which adheres to the interior surface 77 of an annular bearing surface 78 integral with the housing 1a, 101a.
  • a pseudo-articulation constituted by an elastic mass 75, for example in elastomeric material, the periphery 76 of which adheres to the interior surface 77 of an annular bearing surface 78 integral with the housing 1a, 101a.
  • the end of the lever 2a (FIG. 16) or of the auxiliary shaft 52a (FIG. 17) opposite the operating button 43a, 143a carries a sleeve 79 which is immobilized by overmolding in the elastomer mass 75.
  • This sleeve 79 carries the organs 3a, 103a of influence of the position sensors belonging to the electronic circuits of the manipulator (not shown).
  • the spring 12a, 112a for biasing the cams 7a, 8a or 107a, 108a towards each other is mounted in abutment on a washer 81 which is either fixed around the lever 2a at a short distance from the elastomer mass 75 ( Figure 16), or supported by a shoulder 84 of the annular surface 78 of the housing 101a (see Figure 17).
  • a washer 81 which is either fixed around the lever 2a at a short distance from the elastomer mass 75 ( Figure 16), or supported by a shoulder 84 of the annular surface 78 of the housing 101a (see Figure 17).
  • the elastic mass 75 of these last two variants economically replaces, but does not allow angular guidance, the ball joint 5, 105 supported by the elastic membrane 26, 126 of the previous embodiments.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Mechanical Control Devices (AREA)
  • Switches With Compound Operations (AREA)
  • Position Input By Displaying (AREA)
EP87401126A 1986-05-22 1987-05-20 Analogischer Manipulator mit privelegierten Richtungen Expired - Lifetime EP0246968B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8607289A FR2599185B1 (fr) 1986-05-22 1986-05-22 Manipulateur analogique a orientations privilegiees
FR8607289 1986-05-22

Publications (2)

Publication Number Publication Date
EP0246968A1 true EP0246968A1 (de) 1987-11-25
EP0246968B1 EP0246968B1 (de) 1991-08-07

Family

ID=9335477

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87401126A Expired - Lifetime EP0246968B1 (de) 1986-05-22 1987-05-20 Analogischer Manipulator mit privelegierten Richtungen

Country Status (8)

Country Link
US (1) US4784008A (de)
EP (1) EP0246968B1 (de)
CH (1) CH674101A5 (de)
DE (1) DE3771928D1 (de)
DK (1) DK169800B1 (de)
FR (2) FR2599185B1 (de)
GB (1) GB2190987B (de)
IT (1) IT1206063B (de)

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EP0562903A1 (de) * 1992-03-27 1993-09-29 Schneider Electric Sa Verstellvorrichtung mit Handhebel
EP0656640A1 (de) * 1993-11-19 1995-06-07 Sumitomo Wiring Systems, Ltd. Hebelschaltervorrichtung, Verfahren zur Steuerung von Schalter in solcher Vorrichtung und Verfahren zum Ausgeben von Datasignalen
US5691517A (en) * 1993-11-19 1997-11-25 Sumitomo Wiring Systems, Ltd. Multidirectional lever switch device
US5744765A (en) * 1995-06-19 1998-04-28 Sumitomo Wiring Systems, Ltd. Lever switch with support walls for supporting movable contact points and method of detecting an operating direction of a lever switch

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WO1990009565A1 (en) * 1989-02-14 1990-08-23 Michael Alan Stern Opto-electrical joystick switch
DE4017696A1 (de) * 1990-06-01 1991-12-05 Bosch Gmbh Robert Steuergeber
US5068498A (en) * 1990-08-14 1991-11-26 Wico Distribution Corp. Joystick for mounting on dual-width panels
US5140313A (en) * 1991-01-17 1992-08-18 O Che Wen Joy stick assembly
DE4127730A1 (de) * 1991-08-22 1993-03-04 Ford Werke Ag Schalthebellagerung fuer getriebe von kraftfahrzeugen
US5313853A (en) * 1992-12-14 1994-05-24 Grand Haven Stamped Products Company, Div. Of Jsj Corporation Flat spring biased shifter
US5680796A (en) * 1993-02-20 1997-10-28 Nbb Nachrichtentechnik Gmbh & Co. Kg Manual controller with control lever
US5773773A (en) * 1993-11-22 1998-06-30 Chrysler Corporation Joystick with detent mechanism for tactile feedback centering
US5493931A (en) * 1994-02-14 1996-02-27 Grand Haven Stamped Products Company, Div. Of Jsj Corp. Vehicle shifter
US5592856A (en) * 1995-02-15 1997-01-14 New Venture Gear, Inc. Self-centering shifter assembly
US5675309A (en) * 1995-06-29 1997-10-07 Devolpi Dean Curved disc joystick pointing device
US6082212A (en) * 1997-07-25 2000-07-04 Crown Equipment Corporation Multi-function control handle
JP3694392B2 (ja) * 1997-08-22 2005-09-14 アルプス電気株式会社 複合操作型電気部品
JP3746374B2 (ja) * 1998-05-26 2006-02-15 アルプス電気株式会社 多方向入力装置
GB2366924B (en) * 2000-09-13 2002-09-18 Unique Product & Design Co Ltd Electric carrier with a motor controlled by a relative positional mechanism
JP2002312047A (ja) * 2001-04-16 2002-10-25 Alps Electric Co Ltd 手動入力装置
FR2857762A1 (fr) * 2003-07-18 2005-01-21 Daniel Bignon Mecanisme de commande par cable comportant un organe elastiquement deformable d'assistance a la manoeuvre du cable
US7463241B2 (en) * 2003-10-14 2008-12-09 Alps Electric Co., Ltd. Joystick input device
DE102005035526A1 (de) * 2004-07-28 2006-03-23 Marquardt Gmbh Elektrischer Schalter
US9429978B2 (en) * 2013-01-25 2016-08-30 Woodward, Inc. Passive control stick
JP6686498B2 (ja) * 2015-08-31 2020-04-22 オムロン株式会社 スイッチ
EP3367205A1 (de) * 2017-02-24 2018-08-29 RAFI GmbH & Co. KG Steuer-vorrichtung
US11921536B2 (en) * 2022-01-26 2024-03-05 Woodward, Inc. Soft stop force gradient for control stick
GB202208912D0 (en) * 2022-06-17 2022-08-10 Dexter James Modular joystick controller
WO2023242547A1 (en) * 2022-06-17 2023-12-21 Scorpion Joystick Ltd Joystick

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DE7340888U (de) * 1973-11-15 1974-02-21 Maecker K Gmbh Schwenkhebelschalter mit wenigstens zwei Schaltstellungen
DE3442287A1 (de) * 1984-11-20 1986-05-22 SWF Auto-Electric GmbH, 7120 Bietigheim-Bissingen Elektischer schalter

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EP0562903A1 (de) * 1992-03-27 1993-09-29 Schneider Electric Sa Verstellvorrichtung mit Handhebel
FR2689262A1 (fr) * 1992-03-27 1993-10-01 Telemecanique Appareil de commande à levier.
EP0656640A1 (de) * 1993-11-19 1995-06-07 Sumitomo Wiring Systems, Ltd. Hebelschaltervorrichtung, Verfahren zur Steuerung von Schalter in solcher Vorrichtung und Verfahren zum Ausgeben von Datasignalen
US5619021A (en) * 1993-11-19 1997-04-08 Sumitomo Wiring Systems, Ltd. Lever switch device, method for activating switches in a lever switch device, and method for outputting data signals
US5691517A (en) * 1993-11-19 1997-11-25 Sumitomo Wiring Systems, Ltd. Multidirectional lever switch device
US5744765A (en) * 1995-06-19 1998-04-28 Sumitomo Wiring Systems, Ltd. Lever switch with support walls for supporting movable contact points and method of detecting an operating direction of a lever switch

Also Published As

Publication number Publication date
DE3771928D1 (de) 1991-09-12
FR2599186B1 (fr) 1988-11-25
GB2190987B (en) 1990-07-04
CH674101A5 (de) 1990-04-30
FR2599186A2 (fr) 1987-11-27
EP0246968B1 (de) 1991-08-07
FR2599185A1 (fr) 1987-11-27
DK169800B1 (da) 1995-02-27
US4784008A (en) 1988-11-15
GB8711476D0 (en) 1987-06-17
GB2190987A (en) 1987-12-02
IT8747960A0 (it) 1987-05-21
DK259187D0 (da) 1987-05-21
DK259187A (da) 1987-11-23
IT1206063B (it) 1989-04-14
FR2599185B1 (fr) 1988-11-10

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