EP0447334A1 - Manipulator with strain gauges - Google Patents
Manipulator with strain gauges Download PDFInfo
- Publication number
- EP0447334A1 EP0447334A1 EP91420084A EP91420084A EP0447334A1 EP 0447334 A1 EP0447334 A1 EP 0447334A1 EP 91420084 A EP91420084 A EP 91420084A EP 91420084 A EP91420084 A EP 91420084A EP 0447334 A1 EP0447334 A1 EP 0447334A1
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- EP
- European Patent Office
- Prior art keywords
- tube
- cylindrical
- manipulator
- strain gauge
- cylindrical part
- 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.)
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- 238000006073 displacement reaction Methods 0.000 claims description 4
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- 239000000126 substance Substances 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims 1
- 230000001681 protective effect Effects 0.000 claims 1
- 238000010200 validation analysis Methods 0.000 abstract description 6
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 5
- 239000007787 solid Substances 0.000 description 5
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 2
- 229910052759 nickel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04703—Mounting of controlling member
- G05G2009/04722—Mounting of controlling member elastic, e.g. flexible shaft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- 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
- G05G2009/04762—Force transducer, e.g. strain gauge
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04777—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 with additional push or pull action on the handle
Definitions
- the present invention relates, in general, to a manipulator with strain gauges producing signals representative of a manipulation force which can be exerted in any radial direction relative to the manipulator and also comprising a validation button.
- a control lever intended to be controlled with one hand and which can be biased in any radial direction.
- a manipulator is commonly called a "joystick", like the lever moving simultaneously in two orthogonal directions, used in aircraft to simultaneously control the horizontal and vertical trajectories.
- Such a manipulator generally consists of a support piece in which is embedded a full flexible rod comprising at its free end a handle and carrying four strain gauges disposed on its periphery at regularly spaced points.
- the four strain gauges are usually mounted in a bridge and provide electrical signals representative of the movement of the lever in a plane perpendicular to the longitudinal axis of the rod.
- the flexible rod is generally relatively rigid, so that its deflection remains weak under the action of manipulations of the maximum permitted intensity.
- a steel rod a few millimeters in diameter and a few centimeters in length is used, thus constituting a manipulator in the form of a lever of small diameter and short length, held in the hand.
- the cylindrical envelope makes it possible to give the manipulator a cylindrical external shape which provides physical protection for the switch.
- the cylindrical shell has an inside diameter whose minimum dimension is twice the dimension of the switch in the direction radial, to which must be added the diameter of the flexible rod.
- This arrangement implies either that the cylindrical casing has a relatively large diameter which hinders its mounting, or that the switch, as well as any intermediate parts transmitting the movement of the push button to the switch, must be produced in a very miniaturized manner. , which leads to an additional cost or a decrease in reliability of the manipulator.
- the manipulator can be used in an aircraft control handle.
- the handle must have very high reliability and a small footprint, despite a large number of controls installed on the handle.
- An object of the present invention is to provide a strain gauge manipulator provided with a validation push button, which can be in the form of a cylindrical lever of small diameter and short length, having a minimum bulk.
- Another object of the present invention is to provide a manipulator of minimum complexity and better reliability.
- the strain gauge manipulator includes a support piece; a thin-walled cylindrical tube rigidly fixed, at a first of its ends, to the support part; at least two strain gauges fixed on the tube in the vicinity of its first end; a handle connected to the other end of the tube, this handle transmitting to the tube radial operating forces carried out by a user and also constituting a push button which can move along a longitudinal axis of the tube under the action of the user; and a control member housed inside the tube and actuated by the longitudinal movement of the handle.
- the strain gauge manipulator comprises four strain gauges fixed circumferentially and equidistantly on the outer surface of the tube.
- the manipulator tube is produced by electrochemical deposition of a first metallic material on a cylindrical mandrel made of a second material, then by selective chemical attack on the cylindrical mandrel, so as not to ultimately allow it to remain as the part constituted by the first metallic material which then constitutes the tube.
- the manipulator tube has a wall thickness of approximately 20 micrometers.
- the support part of the manipulator has a cylindrical part comprising a longitudinal bore, this cylindrical part extending longitudinally inside the tube, and in that the control member is housed inside the bore.
- the cylindrical part of the support piece extends inside the tube to the vicinity of its other end and comprises an external cylindrical surface having a diameter slightly less than the diameter of the inner surface of the tube, so as to limit the deflection of the tube when the manipulator is actuated.
- the lever comprises a cylindrical part passing through a nozzle fixed to the end of the tube, the cylindrical part being able to slide longitudinally in the nozzle when the lever is used as a push button, the cylindrical part actuating the control member under the effect of its longitudinal displacement, by means of an actuating mechanism disposed inside the bore of the cylindrical part of the support part and capable of sliding longitudinally inside this bore.
- FIG. 1 shows in section a manipulator according to the invention.
- This manipulator consists of a support piece 1 which can be rigidly fixed to a frame of any device 2.
- the support piece 1 has a cylindrical surface forming a base 3 onto which the lower end 4 of a thin-walled cylindrical tube 5.
- the tube 5 is thus permanently fixed to the support part 1, for example by gluing or welding.
- a handle 6 is fixed at the other end 7 of the tube 5.
- Four strain gauges 8a to 8d are fixed on the outside surface of the tube 5, near its lower end 4, and are regularly spaced circumferentially, like this is shown in figure 2.
- this tube Under the action of a radial force (illustrated by arrow 9), that is to say a force perpendicular to the longitudinal axis 10 of the tube 5, this tube bends and causes a compression or an extension of the gauges of constraint 8a to 8d.
- the strain gauges 8a to 8d are connected to a conventional measuring device, not shown, making it possible to determine the intensity and the direction in a radial plane of the arrow taken by the tube 5, this arrow corresponding to the radial force exerted on the lever. 6 by a user.
- the lever 6 also constitutes a push button which can move longitudinally, along the axis 10, independently of its radial movements.
- the user therefore has the possibility of exerting on the lever 6 simultaneously a maneuvering action by radial forces of determined intensity and direction and an independent validation action by exerting pressure on the lever 6 in the longitudinal direction.
- the entire mechanism actuated by the button is housed inside the thin-walled tube 5.
- validation pushbutton constituted by the handle 6. It is thus possible to house inside the tube 5 an electric switch 13, or any other control member producing a binary signal in response to the action of the push button as well as the mechanical parts of guidance and recall of the push button.
- the tube 5 must not be hindered in its radial movements. For this reason, the switch 13 and the mechanical parts mentioned above are in fact housed and maintained inside a hollow cylindrical part 14 of the support part 1, this cylindrical part 14 being housed inside the tube 5 .
- the lever 6 is linked to a cylindrical part directed downwards 15 passing through a nozzle 16 rigidly fixed to the tube 5 at its upper end 7.
- the part 15 can slide freely longitudinally relative to the nozzle 16.
- the cylindrical part 17 exerts its control action on the switch 13 by means of a control part 20 which can slide longitudinally relative to the part 17 and brought back down by means of a second compression spring. 21.
- This intermediate control part 20 makes it possible to limit the force exerted on the switch 13 when the user presses on the lever 6, in order to avoid deterioration of the switch 13 under the effect of too strong pressure from the user.
- the cylindrical part 17 also includes a ball 22 housed in a radially arranged orifice 23, biased outwards by a spring 24, this ball 22 thus resting on an internal cylindrical wall 25 formed in the cylindrical part 14, and having a larger diameter than that of bore 18.
- the ball 22 therefore provides resistance to the downward movement of the part 17 and therefore of the lever 6, and the user must therefore overcome a certain pressure force downwards to be able to actuate the switch 13, which allows it to be certain of having carried out its command or not.
- the entire mechanism housed inside the part 14 occupies substantially the entire internal volume of the thin-walled tube 5.
- the whole of this mechanism consists essentially of parts of revolution centered on the longitudinal axis 10, of which the movements are carried out coaxially to the direction of the thrust force exerted by the user on the lever 6. This gives the device a great simplicity of construction, good reliability and a compact character. It is thus possible to constitute a manipulator the dimensions of which are relatively small, without having recourse to excessive miniaturization of the parts which constitute it, in particular the actuating parts of the switch 13 and of the switch 13 itself.
- the fact of using a thin-walled tube 5 also has the advantage that, for conditions of use equivalent to those of a solid cylindrical rod, the thin-walled tube 5 has a larger diameter, which makes it possible to be able to fix the four strain gauges 8a to 8d more easily and with more precise positioning on the tube. Indeed, it is difficult to ensure excellent bonding and excellent positioning of a gauge when the latter is fixed to a very small part, as is the case with manipulators with a full flexible rod.
- the cylindrical part 14 of the support part 1 performs the positioning and guiding function of the actuation mechanism of the switch 13, as explained above, but also performs the function of limiting the radial displacement of the upper end. 7 of the tube 5.
- the upper end of the cylindrical part 14 has an outer cylindrical surface 27 whose diameter is slightly less than the diameter of the inner wall of the tube 5, the half difference in diameter between these two parts determining the maximum deflection that the upper end 7 of the tube 5 can take when the user exerts radial operating forces.
- the tube 5 must have a relatively great flexibility, despite its relatively large diameter which is for example around 10 mm, while being made of a material having a relatively low modulus of elasticity. Consequently, the wall of the tube 5 must be extremely thin and have, for example, a thickness of around 20 micrometers.
- the tube 5 can be produced by using a cylindrical mandrel made of a first material, for example aluminum, by carrying out on the outer wall of this mandrel an electrochemical deposition of another material, for example nickel, then by carrying out a chemical attack of the mandrel in order to completely eliminate the material constituting this mandrel, in order to finally keep only the nickel part which then constitutes the tube 5.
- a cylindrical mandrel made of a first material for example aluminum
- an electrochemical deposition of another material for example nickel
- a thin-walled tube differs from a solid flexible rod in that, with an equivalent quadratic moment, the mass of the tube is less than that of the solid rod. It follows from this physical characteristic that the natural frequency of a manipulator using a thin-walled tube is much higher than that of a manipulator using a full flexible rod. It has in fact been found that a manipulator according to the invention had a natural frequency of approximately 10 kHz while a similar manipulator but with a solid rod had a natural frequency of approximately 1 kHz. However, many devices or equipment cause vibrations in a frequency range closer to 1 kHz than 10 kHz. As a result, the manipulator according to the present invention is less sensitive to vibrations of the equipment on which it is installed. In addition, it is all the easier to absorb vibrations that may appear in a manipulator that these vibrations have a higher frequency.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Position Input By Displaying (AREA)
Abstract
Description
La présente invention concerne, de façon générale, un manipulateur à jauges de contrainte produisant des signaux représentatifs d'un effort de manipulation pouvant s'exercer dans toute direction radiale par rapport au manipulateur et comprenant également un bouton de validation.The present invention relates, in general, to a manipulator with strain gauges producing signals representative of a manipulation force which can be exerted in any radial direction relative to the manipulator and also comprising a validation button.
Dans de multiples applications, par exemple dans certains jeux électroniques interactifs, on est amené à utiliser un levier de commande destiné à être commandé d'une seule main et pouvant être sollicité selon toute direction radiale. Un tel manipulateur est communément appelé "manche à balai", à l'image du levier se déplaçant simultanément dans deux directions orthogonales, utilisé dans les avions pour contrôler simultanément les trajectoires horizontale et verticale. Dans certaines applications, il est en outre utile d'associer à un tel manipulateur un bouton poussoir pouvant être actionné à tout moment, de la même main, par exemple pour valider une action particulière de manipulation.In multiple applications, for example in certain interactive electronic games, it is necessary to use a control lever intended to be controlled with one hand and which can be biased in any radial direction. Such a manipulator is commonly called a "joystick", like the lever moving simultaneously in two orthogonal directions, used in aircraft to simultaneously control the horizontal and vertical trajectories. In certain applications, it is also useful to associate with such a manipulator a push button which can be actuated at any time, with the same hand, for example to validate a particular action of manipulation.
Un tel manipulateur est généralement constitué d'une pièce support dans laquelle est encastrée une tige flexible pleine comprenant à son extrémité libre une manette et portant quatre jauges de contrainte disposées sur sa périphérie en des point régulièrement espacés. Les quatre jauges de contrainte sont habituellement montées en pont et fournissent des signaux électriques représentatifs du déplacement de la manette dans un plan perpendiculaire à l'axe longitudinal de la tige.Such a manipulator generally consists of a support piece in which is embedded a full flexible rod comprising at its free end a handle and carrying four strain gauges disposed on its periphery at regularly spaced points. The four strain gauges are usually mounted in a bridge and provide electrical signals representative of the movement of the lever in a plane perpendicular to the longitudinal axis of the rod.
La tige flexible est généralement relativement rigide, de sorte que sa flèche reste faible sous l'action de manipulations de l'intensité maximum permise. On utilise en général une tige en acier de quelques millimètres de diamètre et de quelques centimètres de long, constituant ainsi un manipulateur se présentant sous la forme d'un levier de faible diamètre et de faible longueur, tenant dans la main.The flexible rod is generally relatively rigid, so that its deflection remains weak under the action of manipulations of the maximum permitted intensity. In general, a steel rod a few millimeters in diameter and a few centimeters in length is used, thus constituting a manipulator in the form of a lever of small diameter and short length, held in the hand.
Il est connu d'associer à un tel manipulateur un ensemble constitué d'un bouton poussoir de validation et d'un interrupteur actionné par ce bouton poussoir. Le bouton poussoir est alors disposé en bout de la tige et l'interrupteur est disposé à côté de cette tige. Le manipulateur ne présente donc pas une forme symétrique par rapport à l'axe longitudinal de la tige flexible, du fait de la position latérale de l'interrupteur. Une telle disposition présente des difficultés de construction parce que le bouton poussoir agit en porte à faux sur l'interrupteur et présente des difficultés de montage parce que l'interrupteur disposé latéralement crée un encombrement important.It is known to associate with such a manipulator a set consisting of a validation push button and a switch actuated by this push button. The push button is then placed at the end of the rod and the switch is placed next to this rod. The manipulator therefore does not have a symmetrical shape relative to the longitudinal axis of the flexible rod, due to the lateral position of the switch. Such an arrangement presents construction difficulties because the push button acts as a cantilever on the switch and presents assembly difficulties because the switch disposed laterally creates significant bulk.
Il est en général prévu de loger l'ensemble constitué de la tige flexible et de l'interrupteur dans une enveloppe cylindrique fixe, la tige flexible et l'enveloppe cylindrique étant disposées coaxialement. Cette enveloppe cylindrique permet de donner au manipulateur une forme extérieure cylindrique qui assure une protection physique de l'interrupteur. L'enveloppe cylindrique a un diamètre intérieur dont la dimension minimum est égale au double de la dimension de l'interrutpeur dans le sens radial, à laquelle il faut ajouter le diamètre de la tige flexible. Cette disposition implique, soit que l'enveloppe cylindrique a un diamètre relativement grand qui gêne son montage soit que l'interrupteur, ainsi que d'éventuelles pièces intermédiaires transmettant le mouvement du bouton poussoir à l'interrupteur, doivent être réalisés de façon très miniaturisée, ce qui entraîne un surcoût ou une diminution de fiabilité du manipulateur.It is generally intended to house the assembly consisting of the flexible rod and the switch in a fixed cylindrical envelope, the flexible rod and the cylindrical envelope being arranged coaxially. This cylindrical envelope makes it possible to give the manipulator a cylindrical external shape which provides physical protection for the switch. The cylindrical shell has an inside diameter whose minimum dimension is twice the dimension of the switch in the direction radial, to which must be added the diameter of the flexible rod. This arrangement implies either that the cylindrical casing has a relatively large diameter which hinders its mounting, or that the switch, as well as any intermediate parts transmitting the movement of the push button to the switch, must be produced in a very miniaturized manner. , which leads to an additional cost or a decrease in reliability of the manipulator.
Par exemple, le manipulateur peut être utilisé dans une poignée de commande pour avion. La poignée doit présenter une très grande fiabilité ainsi qu'un faible encombrement, ceci malgré un nombre important de commandes installées sur la poignée.For example, the manipulator can be used in an aircraft control handle. The handle must have very high reliability and a small footprint, despite a large number of controls installed on the handle.
Un objet de la présente invention est de prévoir un manipulateur à jauges de contrainte muni d'un bouton poussoir de validation, pouvant se présenter sous forme d'un levier cylindrique de faible diamètre et de faible longueur, présentant un encombrement minimum.An object of the present invention is to provide a strain gauge manipulator provided with a validation push button, which can be in the form of a cylindrical lever of small diameter and short length, having a minimum bulk.
Un autre objet de la présente invention est de prévoir un manipulateur de complexité minimum et de meilleure fiabilité.Another object of the present invention is to provide a manipulator of minimum complexity and better reliability.
Pour atteindre ces objets ainsi que d'autres, le manipulateur à jauges de contrainte comprend une pièce support ; un tube cylindrique à paroi mince fixé rigidement, au niveau d'une première de ses extrémités, à la pièce support ; au moins deux jauges de contraintes fixées sur le tube au voisinage de sa première extrémité ; une manette reliée à l'autre extrémité du tube, cette manette transmettant au tube des efforts radiaux de manoeuvre effectués par un utilisateur et constituant également un bouton poussoir pouvant se déplacer selon un axe longitudinal du tube sous l'action de l'utilisateur ; et un organe de commande logé à l'intérieur du tube et actionné par le déplacement longitudinal de la manette.To achieve these and other objects, the strain gauge manipulator includes a support piece; a thin-walled cylindrical tube rigidly fixed, at a first of its ends, to the support part; at least two strain gauges fixed on the tube in the vicinity of its first end; a handle connected to the other end of the tube, this handle transmitting to the tube radial operating forces carried out by a user and also constituting a push button which can move along a longitudinal axis of the tube under the action of the user; and a control member housed inside the tube and actuated by the longitudinal movement of the handle.
Selon un mode de réalisation de l'invention, le manipulateur à jauges de contrainte comprend quatre jauges de contrainte fixées de façon circonférencielle et à équidistance sur la surface extérieure du tube.According to one embodiment of the invention, the strain gauge manipulator comprises four strain gauges fixed circumferentially and equidistantly on the outer surface of the tube.
Selon un autre mode de réalisation de l'invention, le tube du manipulateur est réalisé par dépôt électrochimique d'un premier matériau métallique sur un mandrin cylindrique réalisé en un second matériau, puis par attaque chimique sélective du mandrin cylindrique, pour ne laisser finalement subsister que la pièce constituée par le premier matériau métallique qui constitue alors le tube.According to another embodiment of the invention, the manipulator tube is produced by electrochemical deposition of a first metallic material on a cylindrical mandrel made of a second material, then by selective chemical attack on the cylindrical mandrel, so as not to ultimately allow it to remain as the part constituted by the first metallic material which then constitutes the tube.
Selon un autre mode de réalisation de l'invention, le tube du manipulateur présente une épaisseur de paroi d'environ 20 micromètres.According to another embodiment of the invention, the manipulator tube has a wall thickness of approximately 20 micrometers.
Selon un autre mode de réalisation de l'invention, la pièce support du manipulateur présente une partie cylindrique comprenant un alésage longitudinal, cette partie cylindrique s'étendant longitudinalement à l'intérieur du tube, et en ce que l'organe de commande est logé à l'intérieur de l'alésage.According to another embodiment of the invention, the support part of the manipulator has a cylindrical part comprising a longitudinal bore, this cylindrical part extending longitudinally inside the tube, and in that the control member is housed inside the bore.
Selon un autre mode de réalisation de l'invention, la partie cylindrique de la pièce support s'étend à l'intérieur du tube jusqu'au voisinage de son autre extrémité et comprend une surface cylindrique extérieure ayant un diamètre légèrement inférieur au diamètre de la surface intérieure du tube, de façon à limiter la flèche du tube lors de l'actionnement du manipulateur.According to another embodiment of the invention, the cylindrical part of the support piece extends inside the tube to the vicinity of its other end and comprises an external cylindrical surface having a diameter slightly less than the diameter of the inner surface of the tube, so as to limit the deflection of the tube when the manipulator is actuated.
Selon un autre mode de réalisation de l'invention, la manette comporte une pièce cylindrique traversant un embout fixé à l'extrémité du tube, la pièce cylindrique pouvant coulisser longitudinalement dans l'embout lorsque la manette est utilisée en tant que bouton poussoir, la pièce cylindrique venant actionner l'organe de commande sous l'effet de son déplacement longitudinal, par l'intermédiaire d'un mécanisme d'actionnement disposé à l'intérieur de l'alésage de la partie cylindrique de la pièce support et pouvant coulisser longitudinalement à l'intérieur de cet alésage.According to another embodiment of the invention, the lever comprises a cylindrical part passing through a nozzle fixed to the end of the tube, the cylindrical part being able to slide longitudinally in the nozzle when the lever is used as a push button, the cylindrical part actuating the control member under the effect of its longitudinal displacement, by means of an actuating mechanism disposed inside the bore of the cylindrical part of the support part and capable of sliding longitudinally inside this bore.
Ces objets, caractéristiques et avantages ainsi que d'autres de la présente invention seront exposés plus en détail dans la description suivante d'un mode de réalisation particulier faite en relation avec les figures jointes parmi lesquelles :
- la figure 1 est une vue en coupe longitudinale d'un manipulateur selon la présente invention ; et
- la figure 2 est une coupe transversale de la figure 1 selon la ligne A-A.
- Figure 1 is a longitudinal sectional view of a manipulator according to the present invention; and
- Figure 2 is a cross section of Figure 1 along line AA.
La figure 1 représente en coupe un manipulateur selon l'invention. Ce manipulateur est constitué d'une pièce support 1 pouvant être fixée rigidement sur un bâti d'un appareil quelconque 2. La pièce support 1 comporte une surface cylindrique formant une embase 3 sur laquelle vient s'emboîter l'extrémité inférieure 4 d'un tube cylindrique à paroi mince 5. Le tube 5 est ainsi fixé à demeure sur la pièce support 1, par exemple par collage ou soudage. Une manette 6 est fixée au niveau de l'autre extrémité 7 du tube 5. Quatre jauges de contrainte 8a à 8d sont fixées sur la surface extérieure du tube 5, au voisinage de son extrémité inférieure 4, et sont régulièrement espacées circonférenciellement, comme cela est représenté en figure 2.Figure 1 shows in section a manipulator according to the invention. This manipulator consists of a support piece 1 which can be rigidly fixed to a frame of any
Sous l'action d'une force radiale (illustrée par la flèche 9), c'est-à-dire une force perpendiculaire à l'axe longitudinal 10 du tube 5, ce tube fléchit et provoque une compression ou une extension des jauges de contrainte 8a à 8d. Les jauges de contrainte 8a à 8d sont reliées à un dispositif de mesure classique non représenté permettant de déterminer l'intensité et la direction dans un plan radial de la flèche prise par le tube 5, cette flèche correspondant à la force radiale exercée sur la manette 6 par un utilisateur.Under the action of a radial force (illustrated by arrow 9), that is to say a force perpendicular to the
La manette 6 constitue aussi un bouton poussoir pouvant se déplacer longitudinalement, le long de l'axe 10, d'une façon indépendante de ses déplacements radiaux. L'utilisateur a donc la possiblilité d'exercer sur la manette 6 simultanément une action de manoeuvre par des efforts radiaux d'intensité et de direction déterminées et une action indépendante de validation en exerçant sur la manette 6 une pression dans le sens longitudinal.The lever 6 also constitutes a push button which can move longitudinally, along the
Selon l'invention, on loge à l'interieur du tube à paroi mince 5 l'ensemble du mécanisme actionné par le bouton poussoir de validation constitué par la manette 6. On peut ainsi loger à l'intérieur du tube 5 un interrupteur électrique 13, ou tout autre organe de commande produisant un signal binaire en réponse à l'action du bouton poussoir ainsi que les pièces mécaniques de guidage et de rappel du bouton poussoir. Le tube 5 ne doit pas être gêné dans ses déplacements radiaux. Pour cette raison, l'interrupteur 13 et les pièces mécaniques évoquées précédemment sont en fait logés et maintenus à l'intérieur d'une partie cylindrique creuse 14 de la pièce support 1, cette partie cylindrique 14 étant logée à l'intérieur du tube 5.According to the invention, the entire mechanism actuated by the button is housed inside the thin-
La manette 6 est liée à une pièce cylindrique dirigée vers le bas 15 traversant un embout 16 fixé rigidement au tube 5 au niveau de son extrémité supérieure 7. La pièce 15 peut coulisser librement longitudinalement par rapport à l'embout 16.The lever 6 is linked to a cylindrical part directed downwards 15 passing through a
Lorsque l'utilisateur emploie la manette 6 en tant que bouton poussoir, il y exerce un effort dirigé vers le bas selon l'axe 10. L'extrémité inférieure de la pièce 15 pousse alors vers le bas une pièce cylindrique 17 logée et guidée longitudinalement à l'intérieur d'un alésage cylindrique 18 de la partie cylindrique 14 de la pièce support 1. Dans la partie inférieure de cet alésage 18, est logé de façon fixe l'interrupteur 13. A l'intérieur de l'alésage 18, dans l'espace situé entre l'interrupteur 13 et la pièce cylindrique 17, est logé un premier ressort de compression 19 qui rappelle vers le haut la pièce 17.When the user uses the lever 6 as a push button, he exerts a force directed downwards along the
La pièce cylindrique 17 exerce son action de commande sur l'interrupteur 13 par l'intermédiaire d'une pièce de commande 20 pouvant coulisser longitudinalement par rapport à la pièce 17 et rappelée vers le bas par l'intermédiaire d'un second ressort de compression 21. Cette pièce de commande intermédiaire 20 permet de limiter l'effort exercé sur l'interrupteur 13 lorsque l'utilisateur appuie sur la manette 6, afin d'éviter une détérioration de l'interrupteur 13 sous l'effet d'une trop forte pression exercée par l'utilisateur.The
La pièce cylindrique 17 comporte également une bille 22 logée dans un orifice disposé radialement 23, rappelée vers l'extérieur par un ressort 24, cette bille 22 s'appuyant ainsi sur une paroi cylindrique intérieure 25 ménagée dans la partie cylindrique 14, et présentant un plus grand diamètre que celui de l'alésage 18. La bille 22 oppose donc une résistance au déplacement vers le bas de la pièce 17 et par conséquent de la manette 6, et l'utilisateur doit donc vaincre un certain effort de pression vers le bas pour pouvoir actionner l'interrupteur 13, ce qui lui permet d'être certain d'avoir ou non effectué sa commande.The
L'ensemble du mécanisme logé à l'intérieur de la pièce 14 occupe occupe sensiblement tout le volume intérieur du tube à paroi mince 5. L'ensemble de ce mécanisme est constitué essentiellement de pièces de révolution centrées sur l'axe longitudinal 10, dont les déplacements s'effectuent de façon coaxiale à la direction de l'effort de poussée exercé par l'utilisateur sur la manette 6. Ceci confère au dispositif une grande simplicité de construction, une bonne fiabilité et un caractère compact. On peut ainsi constituer un manipulateur dont les dimensions sont relativement faibles, sans recourir pour cela à une miniaturisation excessive des pièces qui le constituent, en particulier des pièces d'actionnement de l'interrupteur 13 et de l'interrupteur 13 lui-même.The entire mechanism housed inside the
Le fait d'utiliser un tube à paroi mince 5 présente encore l'avantage que, pour des conditions d'emploi équivalentes à celles d'une tige cylindrique pleine, le tube à paroi mince 5 présente un plus grand diamètre, ce qui permet de pouvoir fixer sur le tube les quatre jauges de contrainte 8a à 8d plus aisément et avec un positionnement plus précis. En effet, il est difficile d'assurer un excellent collage et un excellent positionnement d'une jauge lorsque celle-ci est fixée sur une pièce de très petite dimension comme cela est le cas des manipulateurs à tige flexible pleine.The fact of using a thin-
La partie cylindrique 14 de la pièce support 1 assure la fonction de positionnement et de guidage du mécanisme d'actionnement de l'interrupteur 13, comme cela a été exposé précédemment, mais assure également la fonction de limiteur du déplacement radial de l'extrémité supérieure 7 du tube 5. Pour cela, l'extrémité supérieure de la partie cylindrique 14 présente une surface cylindrique extérieure 27 dont le diamètre est légèrement inférieur au diamètre de la paroi intérieure du tube 5, la demi différence de diamètre entre ces deux pièces déterminant la flèche maximum que peut prendre l'extrémité supérieure 7 du tube 5 lorsque l'utilisateur exerce des efforts radiaux de manoeuvre.The
On peut prévoir également une enveloppe cylindrique extérieure 28 fixée rigidement sur la pièce support 1, pour protéger le tube 5 contre toute détérioration accidentelle.One can also provide an outer
Le tube 5 doit présenter une relativement grande flexibilité, malgré son diamètre relativement important qui est par exemple d'environ 10 mm, tout en étant constitué d'un matériau présentant un module d'élasticité relativement faible. En conséquence, la paroi du tube 5 doit être extrêmement mince et avoir par exemple une épaisseur d'environ 20 micromètres.The
Le tube 5 peut être réalisé en utilisant un mandrin cylindrique en un premier matériau, par exemple en aluminium, en effectuant sur la paroi extérieure de ce mandrin un dépôt électrochimique d'un autre matériau, par exemple du nickel, puis en effectuant une attaque chimique du mandrin afin d'éliminer totalement la matière constituant ce mandrin, pour ne conserver finalement que la pièce en nickel qui constitue alors le tube 5.The
En utilisant ainsi un tube en nickel présentant un diamètre de 10 mm, une longueur de 30 mm et une épaisseur de paroi de 20 micromètres, on a pu employer les jauges de contrainte dans des conditions semblables à celles obtenues en utilisant, de façon classique, une tige flexible pleine en acier présentant un diamètre de 3 mm et une longueur de 30 mm.By thus using a nickel tube having a diameter of 10 mm, a length of 30 mm and a wall thickness of 20 micrometers, it was possible to use the strain gauges under conditions similar to those obtained using, conventionally, a solid flexible steel rod with a diameter of 3 mm and a length of 30 mm.
Un tube à paroi mince diffère d'une tige flexible pleine par le fait que, avec un moment quadratique équivalent, la masse du tube est inférieure à celle de la tige pleine. Il résulte de cette caractéristique physique que la fréquence propre d'un manipulateur utilisant un tube à paroi mince est nettement supérieure à celle d'un manipulateur utilisant une tige flexible pleine. On a constaté en effet qu'un manipulateur selon l'invention présentait une fréquence propre d'environ 10 kHz alors qu'un manipulateur similaire mais à tige pleine présentait une fréquence propre d'environ 1 kHz. Or, de nombreux appareils ou équipements provoquent des vibrations dans une gamme de fréquence plus proche de 1 kHz que de 10 kHz. Il en résulte que le manipulateur selon la présente invention est moins sensible aux vibrations de l'équipement sur lequel il est installé. En outre, il est d'autant plus facile d'amortir des vibrations pouvant apparaître dans un manipulateur que ces vibrations ont une fréquence plus élevée.A thin-walled tube differs from a solid flexible rod in that, with an equivalent quadratic moment, the mass of the tube is less than that of the solid rod. It follows from this physical characteristic that the natural frequency of a manipulator using a thin-walled tube is much higher than that of a manipulator using a full flexible rod. It has in fact been found that a manipulator according to the invention had a natural frequency of approximately 10 kHz while a similar manipulator but with a solid rod had a natural frequency of approximately 1 kHz. However, many devices or equipment cause vibrations in a frequency range closer to 1 kHz than 10 kHz. As a result, the manipulator according to the present invention is less sensitive to vibrations of the equipment on which it is installed. In addition, it is all the easier to absorb vibrations that may appear in a manipulator that these vibrations have a higher frequency.
Claims (8)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9003574A FR2659789B1 (en) | 1990-03-15 | 1990-03-15 | CONSTRAINED GAUGE MANIPULATOR. |
FR9003574 | 1990-03-15 |
Publications (1)
Publication Number | Publication Date |
---|---|
EP0447334A1 true EP0447334A1 (en) | 1991-09-18 |
Family
ID=9394930
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP91420084A Ceased EP0447334A1 (en) | 1990-03-15 | 1991-03-12 | Manipulator with strain gauges |
Country Status (3)
Country | Link |
---|---|
US (1) | US5228348A (en) |
EP (1) | EP0447334A1 (en) |
FR (1) | FR2659789B1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2684464A1 (en) * | 1991-11-29 | 1993-06-04 | Sextant Avionique | HANDLING HANDLE. |
WO1993020535A2 (en) * | 1992-03-25 | 1993-10-14 | Penny & Giles Blackwood Limited | Joystick |
EP0567698A1 (en) * | 1992-04-29 | 1993-11-03 | Kayaba Industry Co., Ltd. | Input apparatus |
GB2287526A (en) * | 1994-03-02 | 1995-09-20 | Alps Electric Co Ltd | Coordinate inputting apparatus and keyboard |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2707911B1 (en) * | 1993-07-23 | 1995-09-22 | Sextant Avionique | Manipulator with multimode actuation. |
US5680154A (en) * | 1994-05-25 | 1997-10-21 | Alps Electric Co., Ltd. | Operation inputting apparatus |
US5835977A (en) * | 1996-08-19 | 1998-11-10 | Kamentser; Boris | Force transducer with co-planar strain gauges |
US5872320A (en) * | 1996-08-19 | 1999-02-16 | Bokam Engineering | Force transducer with co-planar strain gauges |
DE19740526C1 (en) * | 1997-09-15 | 1999-02-11 | Siemens Ag | Actuator, esp. for steering column lever in motor vehicles, for performing switching functions |
TW444172B (en) * | 1998-04-07 | 2001-07-01 | Alps Electric Co Ltd | Input device |
GB2367113A (en) * | 2000-09-25 | 2002-03-27 | Nokia Mobile Phones Ltd | A control device having a strain sensor and a resilient means |
DE10156390A1 (en) * | 2001-11-16 | 2003-05-28 | Bosch Gmbh Robert | operating element |
US20050057502A1 (en) * | 2003-08-29 | 2005-03-17 | Arneson Theodore R. | Joystick controller for cellular telephone |
US7451664B1 (en) | 2007-09-28 | 2008-11-18 | Honeywell Interntional Inc. | User interface force sensor system |
US8381602B2 (en) * | 2011-02-01 | 2013-02-26 | Toyota Motor Engineering & Manufacturing North America, Inc. | Push force simulator |
JP2014049934A (en) * | 2012-08-31 | 2014-03-17 | Sony Corp | Head-mounted display |
US9122309B2 (en) | 2012-11-13 | 2015-09-01 | Honeywell International Inc. | Active human-machine interface with force sensor overload protection |
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CA1272768A (en) * | 1986-05-12 | 1990-08-14 | Warner & Swasey Company (The) | Joystick controller for three axis control of a powered element |
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-
1991
- 1991-03-12 EP EP91420084A patent/EP0447334A1/en not_active Ceased
- 1991-03-14 US US07/669,724 patent/US5228348A/en not_active Expired - Fee Related
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EP0023864B1 (en) * | 1979-08-02 | 1983-07-06 | Association Des Ouvriers En Instruments De Precision | Manually controlled device, in particular a handle for controlling the movements of a driven member |
EP0151479A2 (en) * | 1984-02-06 | 1985-08-14 | Siemens Aktiengesellschaft | Control assembly |
US4758692A (en) * | 1987-05-19 | 1988-07-19 | Otto Engineering, Inc. | Joystick type control device |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2684464A1 (en) * | 1991-11-29 | 1993-06-04 | Sextant Avionique | HANDLING HANDLE. |
EP0545832A1 (en) * | 1991-11-29 | 1993-06-09 | CROUZET Automatismes | Joystick |
WO1993020535A2 (en) * | 1992-03-25 | 1993-10-14 | Penny & Giles Blackwood Limited | Joystick |
WO1993020535A3 (en) * | 1992-03-25 | 1993-11-25 | Penny & Giles Blackwood Ltd | Joystick |
US5831596A (en) * | 1992-03-25 | 1998-11-03 | Penney & Giles Blackwood Limited | Joystick controller using magnetic position sensors and a resilient control arm with sensor used to measure its flex |
EP0567698A1 (en) * | 1992-04-29 | 1993-11-03 | Kayaba Industry Co., Ltd. | Input apparatus |
GB2287526A (en) * | 1994-03-02 | 1995-09-20 | Alps Electric Co Ltd | Coordinate inputting apparatus and keyboard |
GB2287526B (en) * | 1994-03-02 | 1998-10-07 | Alps Electric Co Ltd | Coordinate inputting apparatus and keyboard |
Also Published As
Publication number | Publication date |
---|---|
FR2659789B1 (en) | 1996-09-27 |
FR2659789A1 (en) | 1991-09-20 |
US5228348A (en) | 1993-07-20 |
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