EP0246968B1 - Analog manipulator having priveleged orientations - Google Patents

Analog manipulator having priveleged orientations Download PDF

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Publication number
EP0246968B1
EP0246968B1 EP87401126A EP87401126A EP0246968B1 EP 0246968 B1 EP0246968 B1 EP 0246968B1 EP 87401126 A EP87401126 A EP 87401126A EP 87401126 A EP87401126 A EP 87401126A EP 0246968 B1 EP0246968 B1 EP 0246968B1
Authority
EP
European Patent Office
Prior art keywords
lever
swivel joint
manipulator
neutral position
casing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP87401126A
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German (de)
French (fr)
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EP0246968A1 (en
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
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Publication date
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Publication of EP0246968A1 publication Critical patent/EP0246968A1/en
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Publication of EP0246968B1 publication Critical patent/EP0246968B1/en
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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.
  • DE-U-73 40 888 thus discloses a manipulator comprising a guide member in which is formed a cross-shaped opening 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 FR - A - 2 359 305 provides an analog manipulator allowing omnidirectional movement of the operating lever, without favoring any direction.
  • 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.
  • a manipulator in which 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 the latter about the directions ordered, the directions of the operating lever in the main rectangular planes being easier to communicate to him than all the other directions.
  • EP-A-43 809 thus discloses, in accordance with the preamble of claim 1, a manipulator delivering signals characteristic of the orientation in space of an operating lever which can be moved apart by transverse thrust of a reference position called neutral, and resiliently returned to this neutral position, this manipulator comprising a housing, on which is articulated said lever which controls the position of at least one movable member associated with at least one sensor for delivering an electrical signal function of the position of the lever, 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 active surfaces movable relative to each other and maintained 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 corrugations in a crown whose amplitude is a function of the orientations provided for the lever and corresponding to the orientations of this lever for which a differentiated elastic reaction is provided.
  • This known embodiment has the disadvantage of having a large radial size and despite this lever can only have a limited angular movement in each of its possible orientations. Indeed, the angularly fixed active surface, which extends around the other active surface when the lever is at rest, necessarily has a radial dimension sufficient for the angularly mobile active surface, which moves radially when the inclination is tilted lever, is still in contact with it, even when the lever is tilted to the maximum.
  • the object of the invention is to provide an anisotropic manipulator allowing for a small footprint a large angular movement of the lever.
  • this manipulator is characterized in that the surface angularly linked to the orientation of the lever is an annular surface surrounding the axis of the lever, and in that the angularly fixed surface is carried by a movable pusher coaxially with the neutral position of the lever against a return spring.
  • the annular surface surrounding the axis of the lever is carried by a ball joint linked to the lever and by which the lever is articulated to the housing.
  • the manipulator essentially comprises a housing 101 on which is articulated an operating lever 102 which can be moved apart by transverse thrust F (Figure 2) of a reference position xx '( Figure 1), called neutral, corresponding to the axis of the housing 101, the lever 102 being resiliently biased towards this neutral position.
  • the lever 102 controls the position of at least one movable influence member 103 which is associated with at least one sensor 104 fixed to the housing 101 to deliver an electrical signal depending on the position of the lever 102.
  • the operating lever 102 is articulated on the housing 101 by means of a complex articulation 51 comprising a ball joint 50 having a hemispherical head 61 which cooperates with a spherical bearing surface 64 of a cap 59 of a barrel 134, open to his part upper for the passage of the lever 102.
  • the latter is angularly integral with the ball joint 50 whose axial extension forms a cavity 62 in which is engaged the spherical head 63 of an auxiliary shaft 52 housed in the housing 101 and which is itself even mounted on a ball joint 105 which carries the movable member (s) of influence 103.
  • the ball joint 105 is elastically urged towards an annular bearing surface 106 of the housing 101 and its outer spherical surface bears on the spherical cavity of this bearing, the contact being concentric with center O ( Figure 3).
  • this type of manipulator can be advantageously used in applications where it is desired that the amplitude of the signals delivered is the image of the displacements of greater amplitude of the lever.
  • the ball 105 carries (FIG. 8), on the side opposite the fixed bearing 106, a ring 122 coaxial with the shaft 52 from which a number of radial ribs 123 emerge.
  • the ring 122 and the ribs 123 are engaged respectively in a central circular opening 124 (FIG. 9) and in radial slots 125 formed in an elastic membrane 126 on which the ball 105 is supported.
  • This membrane 126 forms tongues 127 which are selectively engaged by the base of the ball 105 according to the orientation of the lever 102. In the neutral position of the latter, each sector 128 of the base of the ball 105 between two ribs 123 consecutive is pressed equally against a corresponding tongue 127 of the membrane 126.
  • the periphery of the membrane 126 which has (see FIG. 9) centering notches 129 engaged in lugs 131 of the housing 101, is clamped between an annular shoulder of the housing 101 and the base of the annular surface 106. The fixing of the assembly is ensured by screws 33 engaged in tapped recesses of the pins 131 of the housing 101.
  • the threaded lower end 2b of the shaft 52 which passes through an opening 5a of the ball joint 105, opens beyond the ring 122 and receives a nut 140 which secures and centers the influence members 103 by tightening those -this against the ring 122 of the ball joint 105.
  • the ring 122 has two pins 22a, 22b ( Figure 8) for fixing the orientation of the members 103 by entering a centering hole 30 ( Figure 3) thereof.
  • the electronic circuits to which the position sensors 104 influenced by the movable members 103 belong are disposed in a chamber 144 of the housing 101 closed by a bottom 145 and separated from the ball joint 105 by a partition 46 made of electrically insulating material.
  • the end part of the barrel 134 which surmounts the housing 101 is threaded and receives a clamping ring 135 which contributes to the fixing of the manipulator on a plate A (FIG. 3), in opposition to setting screws 137 carried by a flange 38, it - even supported on the shoulder of the housing 101.
  • the upper end of the barrel 134 is closed by a flexible cylindrical bellows 139 for sealing, clamped at its base by the threaded ring 135 and at its top by the button 143 screwed onto the threaded end 110 of the lever 102.
  • Means are provided opposing the angular displacements of the lever 102 for an elastic reaction differentiated according to the orientation which is given to it. imposed in relation to its neutral position.
  • These means include two associated cams 107 and 108 whose active surfaces 109 and 111 have profiles arranged to provide a significant variation in the force required to move the lever 102 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 below with reference to FIGS. 4 and 5.
  • the angularly fixed cam 107 is coaxial with the neutral position XX ′ and the other 108, angularly orientable as a function of the position of the lever 102, is coaxial with the latter.
  • the angularly fixed cam 107 (FIG. 3) is carried by a sliding plunger 53 surrounding the auxiliary shaft 52 and movable coaxially in 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 XX 'being prevented by a longitudinal rib 71 of the skirt 55 in engagement with a groove 72 in the chamber 134b (see Figures 3 and 5).
  • the skirt 55 which surrounds the auxiliary shaft 52 and the 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 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 resiliently biased towards one another 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. 4 and 5 and respectively 6 and 7 illustrate two alternative embodiments of the pusher 53 carrying the 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. 6 and 7 have a continuous wavy contour having a succession of inflection points, while those of FIGS. 4 and 5 have a discontinuous wavy contour respectively forming a succession of edges 82 and of hollow 83 (see Figure 5) or curved parts 74 (see Figure 4).
  • the first pair corresponds to two orthogonal planes P, Q and the second pair, non-privileged, corresponds to the R and S orientations of lever 102 in the bisector plans of the previous ones.
  • 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.
  • FIG. 10 illustrates an alternative embodiment of the manipulators described respectively with reference to FIGS. 1 to 9.
  • the members having similar functions bear the same references assigned an index a.
  • the auxiliary shaft 52a is connected to the housing 101a by means of a pseudo-articulation constituted by an elastic mass 75, for example of elastomeric material, the periphery 76 of which adheres to the lower surface 77 of an annular bearing surface 78 integral of housing 101a.
  • the end of the auxiliary shaft 52a opposite the operating button 143a carries a sleeve 79 which is immobilized by overmolding in the elastomer mass 75.
  • This sleeve 79 carries the organs 103a of influence of the position sensors belonging to the electronic circuits of the manipulator (not shown).
  • the spring 112a for biasing the cams 107a, 108a towards one another is mounted to bear on a washer 81 which is supported by a shoulder 84 of the annular bearing surface 78 of the housing 101a.
  • a pseudoarticulation is described in FR - A - 2,559,305 already cited.
  • the elastic mass 75 replaces economically but without allowing angular guidance, the articulation ball 105 supported by the elastic membrane 126 of the previous embodiment.

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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)

Description

La présente invention concerne un manipulateur analogique pour générer des signaux électriques de commande en réponse à diverses orientations données dans l'espace à un organe de manoeuvre de ce manipulateur, tel qu'un levier, qui sera ci-après désigné par "levier de manoeuvre".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 ".

De tels manipulateurs sont souvent utilisés pour la commande électrique à distance des déplacements d'un mobile, tel que le crochet d'un engin de levage, pont roulant notamment, suivant quatre directions principales orthogonales deux à deux.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.

On connaît ainsi d'après le DE - U - 73 40 888 un manipulateur comportant un organe de guidage dans lequel est ménagée une ouverture en forme de croix à quatre branches orthogonales deux à deux, qui est traversée par le levier de manoeuvre. De la sorte, ce levier ne peut être orienté que suivant les quatre directions déterminées par les branches de la croix. Cette solution convient lorsque le déplacement du mobile commandé par le manipulateur ne doit avoir lieu que suivant des directions orthogonales.DE-U-73 40 888 thus discloses a manipulator comprising a guide member in which is formed a cross-shaped opening 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.

Inversement, le FR - A - 2 359 305 prévoit un manipulateur analogique permettant un déplacement omnidirectionnel du levier de manoeuvre, sans privilégier aucune direction.Conversely, the FR - A - 2 359 305 provides an analog manipulator allowing omnidirectional movement of the operating lever, without favoring any direction.

Or dans certaines applications, la fréquence des déplacements du levier selon deux directions orthogonales est prépondérante, mais il est nécessaire de prévoir de temps à autre une orientation du levier selon des directions intermédiaires afin d'obtenir par exemple un déplacement oblique du mobile commandé par le manipulateur. Pour de telles applications, on connaît d'après le EP-A43 809 un manipulateur dans lequel l'effort résistant développé à l'encontre d'au moins une orientation priviligiée du levier soit beaucoup plus faible que celui développé à l'encontre d'autres inclinaisons possibles de ce levier. Cette anisotropie de réaction perçue par la main de l'opérateur renseigne celui-ci sur les orientations commandées, les orientations du levier de manoeuvre dans les plans rectangulaires principaux étant plus faciles à lui communiquer que toutes les autres orientations.However in certain applications, 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. For such applications, there is known from EP-A43 809 a manipulator in which 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 the latter about the directions ordered, the directions of the operating lever in the main rectangular planes being easier to communicate to him than all the other directions.

On connaît ainsi d'après le EP-A- 43 809, conformément au préambule de la revendication 1 un manipulateur délivrant des signaux caractéristiques de l'orientation dans l'espace d'un levier de manoeuvre pouvant être écarté par poussée transversale d'une position de référence dite neutre, et rappelé élastiquement vers cette position neutre, ce manipulateur comprenant un boîtier, sur lequel est articulé ledit levier qui commande la position d'au moins un organe mobile associé à au moins un capteur pour délivrer un signal électrique fonction de la position du levier, des moyens opposant au déplacement angulaire du levier de manoeuvre une réaction élastique différenciée selon l'orientation du levier par rapport à sa position neutre, ces moyens comprenant des surfaces actives mobiles l'une par rapport à l'autre et maintenues élastiquement en appui mutuel dont l'une est liée angulairement à l'orientation du levier et l'autre est angulairement fixe, l'une au moins de ces surfaces d'appui présentant des ondulations en couronne dont l'amplitude est fonction des orientations prévues pour le levier et correspondant aux orientations de ce levier pour lesquelles une réaction élastique différenciée est prévue.EP-A-43 809 thus discloses, in accordance with the preamble of claim 1, a manipulator delivering signals characteristic of the orientation in space of an operating lever which can be moved apart by transverse thrust of a reference position called neutral, and resiliently returned to this neutral position, this manipulator comprising a housing, on which is articulated said lever which controls the position of at least one movable member associated with at least one sensor for delivering an electrical signal function of the position of the lever, 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 active surfaces movable relative to each other and maintained 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 corrugations in a crown whose amplitude is a function of the orientations provided for the lever and corresponding to the orientations of this lever for which a differentiated elastic reaction is provided.

Cette réalisation connue a l'inconvénient d'avoir un encombrement radial important et malgré cela le levier ne peut qu'avoir un débattement angulaire limité dans chacune de ses orientations possibles. En effet, la surface active angulairement fixe, qui s'étend autour de l'autre surface active lorsque le levier est au repos, a nécessairement une dimensison radiale suffisante pour que la surface active angulairement mobile, qui se déplace radialement lorsqu'on oncline le levier, soit encore en contact avec elle, et ceci même lorsque le levier est incliné au maximum.This known embodiment has the disadvantage of having a large radial size and despite this lever can only have a limited angular movement in each of its possible orientations. Indeed, the angularly fixed active surface, which extends around the other active surface when the lever is at rest, necessarily has a radial dimension sufficient for the angularly mobile active surface, which moves radially when the inclination is tilted lever, is still in contact with it, even when the lever is tilted to the maximum.

Des considérations analogues peuvent être faites à propos du DE-B- 1 268 251.Similar considerations can be made with regard to DE-B- 1 268 251.

Le but de l'invention est de proposer un manipulateur anisotropique permettant pour un faible encombrement un grand débattement angulaire du levier.The object of the invention is to provide an anisotropic manipulator allowing for a small footprint a large angular movement of the lever.

Suivant l'invention, ce manipulateur est caractérisé en ce que la surface liée angulairement à l'orientation du levier est une surface annulaire entourant l'axe du levier, et en ce que la surface angulairement fixe est portée par un poussoir déplaçable coaxialement à la position neutre du levier à l'encontre d'un ressort de rappel.According to the invention, this manipulator is characterized in that the surface angularly linked to the orientation of the lever is an annular surface surrounding the axis of the lever, and in that the angularly fixed surface is carried by a movable pusher coaxially with the neutral position of the lever against a return spring.

De préférence, la surface annulaire entourant l'axe du levier est portée par une rotule liée au levier et par laquelle le levier est articulé au boîtier.Preferably, the annular surface surrounding the axis of the lever is carried by a ball joint linked to the lever and by which the lever is articulated to the housing.

Ainsi, lorsque le levier s'incline, il pousse axialement le poussoir à l'encontre du ressort de rappel au lieu de glisser en direction radiale sur une surface active fixe ayant une grande dimension radiale. La surface active angulairement fixe peut dont être radialement très peu encombrante sans que cela empêche de très fortes inclinaisons du levier.Thus, when the lever tilts, it pushes the plunger axially against the return spring instead of sliding in the radial direction on a fixed active surface having a large radial dimension. The angularly fixed active surface can therefore be radially very space-saving without this preventing very strong inclinations of the lever.

Les particularités de l'invention résulteront encore de la description qui va suivre.The features of the invention will also emerge from the description which follows.

Aux dessins annexés, donnés à titre d'exemples non limitatifs, on a figuré divers modes de réalisation particuliers de l'invention :

  • la figure 1 est une coupe axiale d'un manipulateur selon l'invention, le levier de manoeuvre étant dans sa position neutre ;
  • la figure 2 est une vue analogue à la précédente, le levier de manoeuvre étant incliné dans l'une de ses posistions angulaires privilégiées ;
  • la figure 3 est une vue partielle en coupe axiale de la figure 2 à plus grande échelle ;
  • les figures 4 et 5 sont des vues en perspective des cames du manipulateur des figures 1 à 3, selon une première variante de réalisation ;
  • les figures 6 et 7 sont des vues similaires aux précédentes mais concernant une deuxième variante de réalisation ;
  • la figure 8 est une vue de dessous de la rotule dont est solidaire le levier du manipulateur ;
  • la figure 9 est une vue en plan de la membrane élastique, et
  • la figure 10 est une coupe axiale d'un manipulateur selon une variante de réalisation de l'invention.
In the accompanying drawings, given by way of nonlimiting examples, various particular embodiments of the invention have been shown:
  • Figure 1 is an axial section of a manipulator according to the invention, the operating lever being in its neutral position;
  • Figure 2 is a view similar to the previous one, the operating lever being inclined in one of its preferred angular positions;
  • Figure 3 is a partial view in axial section of Figure 2 on a larger scale;
  • Figures 4 and 5 are perspective views of the cams of the manipulator of Figures 1 to 3, according to a first embodiment;
  • Figures 6 and 7 are views similar to the preceding but relating to a second alternative embodiment;
  • Figure 8 is a bottom view of the ball joint which is integral with the lever of the manipulator;
  • FIG. 9 is a plan view of the elastic membrane, and
  • Figure 10 is an axial section of a manipulator according to an alternative embodiment of the invention.

Dans le premier mode de réalisation de l'invention, décrit en référence aux figures 1 à 9, le manipulateur comprend essentiellement un boîtier 101 sur lequel est articulé un levier de manoeuvre 102 pouvant être écarté par poussée transversale F (figure 2) d'une position de référence x-x' (figure 1), dite neutre, correspondant à l'axe du boîtier 101, le levier 102 étant rappelé élastiquement vers cette position neutre. Le levier 102 commande la position d'au moins un organe mobile d'influence 103 qui est associé à au moins un capteur 104 fixé au boîtier 101 pour délivrer un signal électrique fonction de la position du levier 102.In the first embodiment of the invention, described with reference to Figures 1 to 9, the manipulator essentially comprises a housing 101 on which is articulated an operating lever 102 which can be moved apart by transverse thrust F (Figure 2) of a reference position xx '(Figure 1), called neutral, corresponding to the axis of the housing 101, the lever 102 being resiliently biased towards this neutral position. The lever 102 controls the position of at least one movable influence member 103 which is associated with at least one sensor 104 fixed to the housing 101 to deliver an electrical signal depending on the position of the lever 102.

Le levier de manoeuvre 102 est articulé sur le boîtier 101 par l'intermédiaire d'une articulation complexe 51 comprenant une rotule 50 présentant une tête hémisphérique 61 qui coopère avec une portée sphérique 64 d'une coiffe 59 d'un fût 134, ouverte à sa partie supérieure pour le passage du levier 102. Celui-ci est angulairement solidaire de la rotule 50 dont le prolongement axial forme une cavité 62 dans laquelle est engagée la tête sphérique 63 d'un arbre auxiliaire 52 logé dans le boîtier 101 et qui est lui-même monté sur une rotule 105 qui porte le ou les organes mobiles d'influence 103. La rotule 105 est sollicitée élastiquement vers une portée annulaire 106 du boîtier 101 et sa surface sphérique extérieure prend appui sur la cavité sphérique de cette portée, les surfaces en contact étant concentriques de centre O (figure 3).The operating lever 102 is articulated on the housing 101 by means of a complex articulation 51 comprising a ball joint 50 having a hemispherical head 61 which cooperates with a spherical bearing surface 64 of a cap 59 of a barrel 134, open to his part upper for the passage of the lever 102. The latter is angularly integral with the ball joint 50 whose axial extension forms a cavity 62 in which is engaged the spherical head 63 of an auxiliary shaft 52 housed in the housing 101 and which is itself even mounted on a ball joint 105 which carries the movable member (s) of influence 103. The ball joint 105 is elastically urged towards an annular bearing surface 106 of the housing 101 and its outer spherical surface bears on the spherical cavity of this bearing, the contact being concentric with center O (Figure 3).

Compte tenu de l'effet de démultiplication procuré par la double articulation 51, 105, la réaction élastique opposée aux inclinaisons du levier 102 est nettement diminuée. Ainsi, ce type de manipulateur peut être avantageusement utilisé dans des applications où on souhaite que l'amplitude des signaux délivrés soit l'image des déplacements d'amplitude plus grande du levier.Given the reduction effect provided by the double articulation 51, 105, the elastic reaction opposite to the inclinations of the lever 102 is significantly reduced. Thus, this type of manipulator can be advantageously used in applications where it is desired that the amplitude of the signals delivered is the image of the displacements of greater amplitude of the lever.

La rotule 105 porte (figure 8), du côté opposé à la portée fixe 106, une bague 122 coaxiale à l'arbre 52 d'où partent un certain nombre de nervures radiales 123. La bague 122 et les nervures 123 sont engagées respectivement dans une ouverture circulaire centrale 124 (figure 9) et dans des fentes radiales 125 ménagées dans une membrane élastique 126 sur laquelle prend appui la rotule 105. Cette membrane 126 forme des languettes 127 qui sont engagées sélectivement par la base de la rotule 105 selon l'orientation du levier 102. En position neutre de celui-ci, chaque secteur 128 de la base de la rotule 105 compris entre deux nervures 123 consécutives est en appui de manière égale contre une languette 127 correspondante de la membrane 126. La périphérie de la membrane 126 qui présente (voir figure 9) des encoches de centrage 129 engagées dans des ergots 131 du boîtier 101, est serrée entre un épaulement annulaire du boîtier 101 et la base de la portée annulaire 106. La fixation de l'ensemble est assurée par des vis 33 engagées dans des évidements taraudés des ergots 131 du boîtier 101.The ball 105 carries (FIG. 8), on the side opposite the fixed bearing 106, a ring 122 coaxial with the shaft 52 from which a number of radial ribs 123 emerge. The ring 122 and the ribs 123 are engaged respectively in a central circular opening 124 (FIG. 9) and in radial slots 125 formed in an elastic membrane 126 on which the ball 105 is supported. This membrane 126 forms tongues 127 which are selectively engaged by the base of the ball 105 according to the orientation of the lever 102. In the neutral position of the latter, each sector 128 of the base of the ball 105 between two ribs 123 consecutive is pressed equally against a corresponding tongue 127 of the membrane 126. The periphery of the membrane 126 which has (see FIG. 9) centering notches 129 engaged in lugs 131 of the housing 101, is clamped between an annular shoulder of the housing 101 and the base of the annular surface 106. The fixing of the assembly is ensured by screws 33 engaged in tapped recesses of the pins 131 of the housing 101.

L'extrémité inférieure filetée 2b de l'arbre 52 qui traverse une ouverture 5a de la rotule 105, débouche au-delà de la bague 122 et recoit un écrou 140 qui assure la fixation et le centrage des organes d'influence 103 en serrant ceux-ci contre la bague 122 de la rotule 105. La bague 122 présente deux ergots 22a, 22b (figure 8) pour fixer l'orientation des organes 103 en pénétrant dans un trou de centrage 30 (figure 3) de ceux-ci. Les circuits électroniques auxquels appartiennent les capteurs de position 104 influencés par les organes mobiles 103 sont disposés dans une chambre 144 du boîtier 101 fermée par un fond 145 et séparée de la rotule 105 par une cloison 46 en matériau électriquement isolant. Ces circuits électroniques destinés à interprêter l'interaction entre les organes mobiles 103 et les capteurs 104 résultant d'une orientation du levier 102 pour délivrer un signal électrique fonction de cette orientation sont par exemple du genre décrit dans le FR - A - 2 559 305. Un câble 147 est utilisé pour véhiculer les signaux produits vers le dispositif à commander (non représenté).The threaded lower end 2b of the shaft 52 which passes through an opening 5a of the ball joint 105, opens beyond the ring 122 and receives a nut 140 which secures and centers the influence members 103 by tightening those -this against the ring 122 of the ball joint 105. The ring 122 has two pins 22a, 22b (Figure 8) for fixing the orientation of the members 103 by entering a centering hole 30 (Figure 3) thereof. The electronic circuits to which the position sensors 104 influenced by the movable members 103 belong are disposed in a chamber 144 of the housing 101 closed by a bottom 145 and separated from the ball joint 105 by a partition 46 made of electrically insulating material. These electronic circuits intended to interpret the interaction between the movable members 103 and the sensors 104 resulting from an orientation of the lever 102 to deliver an electrical signal depending on this orientation are for example of the kind described in FR - A - 2 559 305 A cable 147 is used to convey the signals produced to the device to be controlled (not shown).

La partie terminale du fût 134 qui surmonte le boîtier 101 est filetée et reçoit une bague de serrage 135 qui contribue à la fixation du manipulateur sur une platine A (figure 3), en opposition à des vis calantes 137 portées par une bride 38, elle-même appuyée sur l'épaulement du boîtier 101.The end part of the barrel 134 which surmounts the housing 101 is threaded and receives a clamping ring 135 which contributes to the fixing of the manipulator on a plate A (FIG. 3), in opposition to setting screws 137 carried by a flange 38, it - even supported on the shoulder of the housing 101.

L'extrémité supérieure du fût 134 est obturée par un soufflet cylindrique souple 139 d'étanchéité, serre à sa base par la bague filetée 135 et à son sommet par le bouton 143 vissé sur l'extrémité filetée 110 du levier 102.The upper end of the barrel 134 is closed by a flexible cylindrical bellows 139 for sealing, clamped at its base by the threaded ring 135 and at its top by the button 143 screwed onto the threaded end 110 of the lever 102.

Il est prévu des moyens opposant aux déplacements angulaires du levier 102 une réaction élastique différenciée selon l'orientation qui lui est imposée par rapport à sa position neutre. Ces moyens comprennent deux cames associées 107 et 108 dont les surfaces actives 109 et 111 ont des profils aménagés pour fournir une variation sensible de l'effort nécessaire pour écarter le levier 102 de sa position neutre selon l'orientation que l'opérateur veut lui donner. Des précisions sur les profils de ces cames seront fournies plus loin en référence aux figures 4 et 5. La came 107 angulairement fixe est coaxiale à la position neutre X-X' et l'autre 108, angulairement orientable en fonction de la position du levier 102, est coaxiale à ce dernier.Means are provided opposing the angular displacements of the lever 102 for an elastic reaction differentiated according to the orientation which is given to it. imposed in relation to its neutral position. These means include two associated cams 107 and 108 whose active surfaces 109 and 111 have profiles arranged to provide a significant variation in the force required to move the lever 102 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 below with reference to FIGS. 4 and 5. The angularly fixed cam 107 is coaxial with the neutral position XX ′ and the other 108, angularly orientable as a function of the position of the lever 102, is coaxial with the latter.

La came angulairement fixe 107 (figure 3) est portée par un poussoir coulissant 53 entourant l'arbre auxiliaire 52 et déplaçable coaxialement à la position neutre X-X' du levier 102.The angularly fixed cam 107 (FIG. 3) is carried by a sliding plunger 53 surrounding the auxiliary shaft 52 and movable coaxially in the neutral position X-X 'of the lever 102.

Le poussoir 53 est creux et comporte une jupe cylindrique 55 qui coulisse à l'intérieur de la chambre 134b du fût 134, la rotation du poussoir 53 autour de l'axe X-X' étant empêchée par une nervure longitudinale 71 de la jupe 55 en prise avec une rainure 72 de la chambre 134b (voir figures 3 et 5).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 XX 'being prevented by a longitudinal rib 71 of the skirt 55 in engagement with a groove 72 in the chamber 134b (see Figures 3 and 5).

La jupe 55 qui entoure l'arbre auxiliaire 52 et le ressort de rappel 112 présente à sa partie supérieure une couronne 56 dont la paroi 109 opposée à la rotule 105 constitue la surface active de la came 107.The skirt 55 which surrounds the auxiliary shaft 52 and the 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.

La périphérie de la rotule 50 est ondulée et constitue la surface active 111 de la came 108. Les surfaces actives 109, 111 des cames 107, 108 sont sollicitées élastiquement l'une vers l'autre par le ressort hélicoïdal 112 qui prend appui entre un épaulement 65 de la portée annulaire 106 et la couronne 56 du poussoir 53. La poussée du ressort 112 assure également l'appui de la tête hémisphérique 61 contre la portée 64.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 resiliently biased towards one another 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.

En position neutre du levier de manoeuvre 102, la périphérie de la rotule 50 épouse (voir figure 1) la paroi de la couronne 56 du poussoir 53 opposée à la rotule 105.In the neutral position of the operating lever 102, the periphery of the ball joint 50 follows (see FIG. 1) the wall of the crown 56 of the pusher 53 opposite the ball joint 105.

Les figures 4 et 5 et respectivement 6 et 7 illustrent deux variantes de réalisation du poussoir 53 portant la came 107 et de la rotule 50 portant la came 108 solidaire en rotation du levier de manoeuvre 102.FIGS. 4 and 5 and respectively 6 and 7 illustrate two alternative embodiments of the pusher 53 carrying the cam 107 and of the ball joint 50 carrying the cam 108 integral in rotation with the operating lever 102.

Les cames 107, 108 de la variante des figures 6 et 7 présentent un contour ondulé continu ayant une succession de points d'inflexion, tandis que celles des figures 4 et 5 présentent un contour ondulé discontinu formant respectivement une succession d'arêtes 82 et de creux 83 (voir figure 5) ou de parties bombées 74 (voir figure 4).The cams 107, 108 of the variant of FIGS. 6 and 7 have a continuous wavy contour having a succession of inflection points, while those of FIGS. 4 and 5 have a discontinuous wavy contour respectively forming a succession of edges 82 and of hollow 83 (see Figure 5) or curved parts 74 (see Figure 4).

Comme il apparaît sur les figures 5 et 7, il est prévu deux paires d'orientations angulaires particulières pour le levier de manoeuvre 102. La première paire, privilégiée, correspond à deux plans orthogonaux P, Q et la seconde paire, non privilégiée, correspond aux orientations R et S du levier 102 dans les plans bissecteurs des précédents.As it appears in FIGS. 5 and 7, two pairs of particular angular orientations are provided for the operating lever 102. The first pair, privileged, corresponds to two orthogonal planes P, Q and the second pair, non-privileged, corresponds to the R and S orientations of lever 102 in the bisector plans of the previous ones.

Les plans P et Q correspondent aux parties en creux du profil 109 de la came 107 et les plans R et S aux sommets de ce même profil.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.

Quelle que soit la réalisation considérée, lorsqu'on oriente le levier de manoeuvre 102 dans l'un des deux plans P ou Q suivant lesquels le contour de la came angulairement orientable 108 épouse celui de la came coulissante 107, la rotule 50 repousse faiblement le poussoir 53 et le ressort 112 sur lequel est appuyé ce poussoir 53 est faiblement comprimé.Whatever the embodiment considered, when the operating lever 102 is oriented in one of the two planes P or Q according to which the contour of the angularly orientable cam 108 follows that of the sliding cam 107, the ball joint 50 slightly repels the pusher 53 and the spring 112 on which this pusher 53 is supported is slightly compressed.

Inversement, une orientation du levier de manoeuvre 102 dans l'un des deux plans R, S suivant lesquels les sommets de certaines des ondulations 70 ou parties bombées 74 de la came 108 portée par la rotule 50 sont appuyés contre les sommets d'ondulations 80 ou contre des arêtes 82 correspondants de la came 107 portée par le poussoir 53, tend à repousser celui-ci plus fortement et à comprimer davantage le ressort 112. La réaction élastique opposée au déplacement du levier 102 est donc nettement différenciée selon l'orientation angulaire de celui-ci, ce qui tend à limiter l'amplitude du débattement dans les directions non privilégiées.Conversely, an orientation of the operating lever 102 in one of the two planes R, S according to which the tops of some of the undulations 70 or convex parts 74 of the cam 108 carried by the ball 50 are pressed against the tops of undulations 80 or against corresponding edges 82 of the cam 107 carried by the pusher 53, tends to push the latter more strongly and to further compress the spring 112. The elastic reaction opposed to the movement of the lever 102 is therefore clearly differentiated according to the angular orientation of the latter, which tends to limit the amplitude of the movement in the non-preferred directions.

Par ailleurs, lorsque le levier de manoeuvre 102 subit une poussée transversale suivant l'un des plans P, Q R ou S puis est relâché, l'un au moins des secteurs 128 de la rotule 105 est repoussé par la ou les languettes 127 correspondantes de la membrane 126, ce qui contribue en même temps que la détente du ressort 112 à ramener spontanément le levier 102 en position neutre.Furthermore, when the operating lever 102 undergoes a transverse thrust along one of the planes P, QR or S and is then released, at least one of the sectors 128 of the ball joint 105 is pushed back by the corresponding tab or tabs 127 of the membrane 126, which contributes at the same time as the relaxation of the spring 112 to spontaneously bring the lever 102 back to the neutral position.

La figure 10 illustre une variante de réalisation des manipulateurs décrits respectivement en référence aux figures 1 à 9. Sur la figure 10, les organes ayant des fonctions similaires portent les mêmes références affectées d'un indice a.FIG. 10 illustrates an alternative embodiment of the manipulators described respectively with reference to FIGS. 1 to 9. In FIG. 10, the members having similar functions bear the same references assigned an index a.

L'arbre auxiliaire 52a est relié au boîtier 101a par l'intermédiaire d'une pseudo-articulation constituée par une masse élastique 75, par exemple en matériau élastomère, dont la périphérie 76 adhère à la surface inférieure 77 d'une portée annulaire 78 solidaire du boîtier 101a.The auxiliary shaft 52a is connected to the housing 101a by means of a pseudo-articulation constituted by an elastic mass 75, for example of elastomeric material, the periphery 76 of which adheres to the lower surface 77 of an annular bearing surface 78 integral of housing 101a.

L'extrémité de l'arbre auxiliaire 52a opposée au bouton de manoeuvre 143a porte une douille 79 qui est immobilisée par surmoulage dans la masse en élastomère 75. Cette douille 79 porte les organes 103a d'influence des capteurs de position appartenant aux circuits électroniques du manipulateur (non représentés).The end of the auxiliary shaft 52a opposite the operating button 143a carries a sleeve 79 which is immobilized by overmolding in the elastomer mass 75. This sleeve 79 carries the organs 103a of influence of the position sensors belonging to the electronic circuits of the manipulator (not shown).

Le ressort 112a de sollicitation des cames 107a, 108a l'une vers l'autre est monté en appui sur une rondelle 81 qui est supportée par un épaulement 84 de la portée annulaire 78 du boîtier 101a. Une telle pseudoarticulation est décrite dans le FR - A - 2 559 305 déjà cité.The spring 112a for biasing the cams 107a, 108a towards one another is mounted to bear on a washer 81 which is supported by a shoulder 84 of the annular bearing surface 78 of the housing 101a. Such a pseudoarticulation is described in FR - A - 2,559,305 already cited.

La masse élastique 75 remplace économiquement mais sans permettre un guidage angulaire, l'articulation à rotule 105 supportée par la membrane élastique 126 de la réalisation précédente.The elastic mass 75 replaces economically but without allowing angular guidance, the articulation ball 105 supported by the elastic membrane 126 of the previous embodiment.

Claims (8)

  1. A manipulator delivering signals characteristic of the orientation of an operating lever (102) in space, such lever being removable, by a transverse thrust, from a reference or neutral position, and elastically returned to said neutral position, said manipulator comprising a casing (101) to which said lever (102) is articulated to control the position of at least one movable member (103) connected to at least one sensor (104) to deliver an electrical signal dependent upon the position of the lever, means (107, 108) counteracting the angular displacement of the operating lever (102) by an elastic reaction which differs according to the orientation of the lever in relation to its neutral position, said means comprising active surfaces (109, 111) which are movable with respect to one another and are held elastically in mutual contact, one (111) being angularly linked to the orientation of the lever and the other (109) being angularly fixed, at least one of said contacting surfaces having annularly arranged corrugations, the amplitude of which is dependent on the possible orientations of the lever and which corresponds to the orientations of said lever for which a differential elastic reaction is provided characterized in that the surface which is angularly connected to the orientation of the lever is an annular surface (111) surrounding the axis of the lever (102) , and in that the angularly stationary surface (109) is provided on a slider (53) which is movable coaxially to the neutral position of the lever against a biasing spring.
  2. A manipulator according to claim 1, characterized in that the operating lever (102) is connected by a first swivel joint (51) to an auxiliary lever (52) housed in the casing (101) and in that the auxiliary lever (52) is surrounded by the slider (53), is connected to the housing by a second swivel joint (105), and controls the position of the movable member (103).
  3. A manipulator according to claim 1, characterized in that the annular surface (111) surrounding the axis of the lever is provided onto a first swivel joint (51) connected to the lever and by which the lever is articulated to the casing.
  4. A manipulator according to claim 3, characterized in that the operating lever (102) is connected by the first swivel joint (51) to an auxiliary lever (52) housed in the casing (101) and in that the auxiliary lever (52) is surrounded by the slider (53), is connected to the housing by a second swivel joint (105), and controls the position of the movable member (103).
  5. A manipulator according to claim 2 or 4, characterized in that the second swivel joint (105) has a set of radial ribs (123) on the side remote from a bearing surface (106) of the casing, said ribs engaging in radial slots (125) separating elastic tongues (127) of an elastic diaphragm (126) secured to the casing, wherein the elastic tongues (127) engage the base of the swivel joint (105) and urge the swivel joint against its bearing surface (106).
  6. A manipulator according to claim 5, characterized in that the second swivel joint (105) is substantially hemispherical and has a base on which the ribs (123) are provided, whereby upon an inclination of the auxiliary lever the condition of deformation of some at least of the tongues (127) is modified and a biasing force is produced towards the neutral position.
  7. A manipulator according to claim 1, characterized in that the two active surfaces (109, 111) have complementary profiles and the profile of one matches that of the other in the neutral position of the operating lever (102).
  8. A manipulator according to any of claims 1-7, characterized in that the movable member (103) is a member for remote influence onto position sensors (104).
EP87401126A 1986-05-22 1987-05-20 Analog manipulator having priveleged orientations Expired - Lifetime EP0246968B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8607289A FR2599185B1 (en) 1986-05-22 1986-05-22 ANALOGUE MANIPULATOR WITH PRIVILEGED ORIENTATIONS
FR8607289 1986-05-22

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EP0246968A1 EP0246968A1 (en) 1987-11-25
EP0246968B1 true EP0246968B1 (en) 1991-08-07

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

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Publication number Priority date Publication date Assignee Title
US3827313A (en) * 1973-01-24 1974-08-06 Square D Co Miniaturized joystick and cam structure with push button switch operating means
EP0043809A2 (en) * 1980-07-04 1982-01-13 Hydrino Ab Device in a multi-way lever

Also Published As

Publication number Publication date
DK169800B1 (en) 1995-02-27
CH674101A5 (en) 1990-04-30
IT8747960A0 (en) 1987-05-21
GB2190987A (en) 1987-12-02
FR2599186B1 (en) 1988-11-25
DK259187A (en) 1987-11-23
DE3771928D1 (en) 1991-09-12
FR2599185A1 (en) 1987-11-27
EP0246968A1 (en) 1987-11-25
IT1206063B (en) 1989-04-14
DK259187D0 (en) 1987-05-21
FR2599185B1 (en) 1988-11-10
US4784008A (en) 1988-11-15
GB8711476D0 (en) 1987-06-17
FR2599186A2 (en) 1987-11-27
GB2190987B (en) 1990-07-04

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