EP1680718B1 - Hand-operated control device - Google Patents

Hand-operated control device Download PDF

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Publication number
EP1680718B1
EP1680718B1 EP03780616A EP03780616A EP1680718B1 EP 1680718 B1 EP1680718 B1 EP 1680718B1 EP 03780616 A EP03780616 A EP 03780616A EP 03780616 A EP03780616 A EP 03780616A EP 1680718 B1 EP1680718 B1 EP 1680718B1
Authority
EP
European Patent Office
Prior art keywords
control device
hand
metal point
handling lever
operated control
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 - Fee Related
Application number
EP03780616A
Other languages
German (de)
French (fr)
Other versions
EP1680718A1 (en
Inventor
Marco Franchini
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.)
Ter Tecno Elettrica Ravasi Srl
Original Assignee
Ter Tecno Elettrica Ravasi Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Publication of EP1680718A1 publication Critical patent/EP1680718A1/en
Application granted granted Critical
Publication of EP1680718B1 publication Critical patent/EP1680718B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/06—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in one or a limited number of definite positions only
    • 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
    • G05G2009/0474—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

Definitions

  • the present invention relates to a hand-operated control device.
  • a method to meet this requirement comprises a device with a control lever sliding along detent grooves.
  • Such feature is implemented by means of a working area, determined by a preformed grid, upon which as many slots as the number of desired detent grooves have been cut.
  • the preformed grid has a spherical-section-shaped surface.
  • a metal point is geometrically shaped in such a way as to engage said slots, sliding on said working area, fitting into them by way of the pressure exerted by a spring which elastically connects it to the control lever and thus conveying tactile sensations corresponding to the desired detents.
  • a first drawback linked to the use of said grid, and in particular to said spherical-section-shaped surface, comprises the need to use an additional elastic element aimed at bringing the control lever to the idle position, called zero position.
  • the aim of the present invention is therefore the solution of said problems by implementing a hand-operated control device which allows an easy and accurate recovery of the zero position by the control device.
  • a further aim of the present invention is the implementation of a control device wherein the force exerted by the user is proportional to the desired effect.
  • the present invention is aimed at implementing a device which contributes to safety in an industrial environment.
  • the aim of the present invention is also the implementation of a device comprising a limited number of components, so as to reduce the likelihood of breakdown of the system and to increase the availability thereof accordingly.
  • the hand-operated control device 10 comprises, as illustrated in fig. 2, five main parts: a rod support 20, a handling lever 4, a metal point 12, a spring 11 and an elliptical working area 30.
  • a cap for the hard-operated control device 2 which encloses the upper part of the operating mechanism by linking to a frame 13 through a cap fastener 6.
  • the handling lever 4 which bears an elastic ring 5 in its end part, fits into the cap for hand-operated control device 2 by means of a lever slide 3.
  • the cap fastener 6 is connected to the upper portion of a switch 7 which interacts with the handling lever 4 through a sphere bearing for the switch 8 and through a sphere antirotating pivot 9.
  • the control device which is the subject-matter of the invention feaures, as shown, a handling lever 4 into which a metal point 12 fits, which in its turn is coupled with a spring 11.
  • the function of the spring 11 is to allow the relative sliding between the metal point 12 and the handling lever 4, so as to exert the pressure needed for the metal point 12 to engage the slots 14 on the working area 30.
  • the metal point 12 engages the working area 30.
  • the position of the metal point 12 depends on the position of the handling lever 4 manually moved by the operator, with which the metal point 12 is integral.
  • the angle ⁇ is always wider than 90°, except in the zero position.
  • Fig. 5 illustrates by way of example: an envelope of the centres of the circles forming the slots on the working area (letter A) and the profile of the actual end working area (letter B). Should no kind of detent be necessary, the working area shall simply be a concave hyperboloid.
  • Table 1 shows, by mere way of example, the variation of the stroke of the spring 11 as a function of movements along a reference plane XY for the working area.
  • the proportionality between the stroke and the movement is not linear, but quadratic.
  • the hand-operated control device which is the subject-matter of the invention features the following significant advantages and outstanding characteristics.
  • control device comprises a limited number of components, thus favourably reducing the likelihood of breakdown of the system as a whole and increasing the availability thereof accordingly.
  • the peculiar exemplified shape, with the working area 30 having a hyperbolic profile, allows the use of a single spring to implement the recovery of the zero position by the control device.
  • the system is stable only in the zero position, since only in this point does the spring 11 report the steady minimum value of the elastic energy.
  • the return force exerted by the spring 11 upon the handling lever 4 appears to be maximum when the latter is in its extreme position, namely is farthest from the zero position.
  • the system controlled by the hand-operated control device is in its most critical state, for example at its highest speed.
  • the system which is the subject-matter of the present invention therefore exerts its maximum response force right in the worst operating condition, thus ensuring the prompt return to the zero position and, as a result, the recovery of safer conditions.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)

Description

  • The present invention relates to a hand-operated control device.
  • In the industrial field many hand-operated control devices are known, in particular for the remote operation, by means of a control lever, of sundry machinery, including for example lifting or handling equipment.
  • The market often requires control devices which convey to the operator the tactile sensation of performing discrete increments when moving. A method to meet this requirement comprises a device with a control lever sliding along detent grooves.
  • More particularly, such feature is implemented by means of a working area, determined by a preformed grid, upon which as many slots as the number of desired detent grooves have been cut. The preformed grid has a spherical-section-shaped surface.
  • In such a device, a metal point is geometrically shaped in such a way as to engage said slots, sliding on said working area, fitting into them by way of the pressure exerted by a spring which elastically connects it to the control lever and thus conveying tactile sensations corresponding to the desired detents.
  • However, such system features a series of technical drawbacks.
  • A first drawback linked to the use of said grid, and in particular to said spherical-section-shaped surface, comprises the need to use an additional elastic element aimed at bringing the control lever to the idle position, called zero position.
  • In addition, in order to handle the machine the operator has to exert upon the command lever a force which appears to be always constant, regardless of the lever position.
  • This involves less tactile sensitivity by the operator with regard to the actual movement and, as a result, a long response time in emergency situations, as well as an increased risk of mistake.
  • These defects ought to be avoided, above all, in environments where safety, as well as the accurary of actual movements, is of paramount importance.
  • The aim of the present invention is therefore the solution of said problems by implementing a hand-operated control device which allows an easy and accurate recovery of the zero position by the control device.
  • A further aim of the present invention is the implementation of a control device wherein the force exerted by the user is proportional to the desired effect.
  • Also, the present invention is aimed at implementing a device which contributes to safety in an industrial environment.
  • Lastly, the aim of the present invention is also the implementation of a device comprising a limited number of components, so as to reduce the likelihood of breakdown of the system and to increase the availability thereof accordingly.
  • These aims are achieved by a hand-operated control device, in particular for use in industrial machines, as set forth in claim 1, to which reference is made for the sake of brevity. Document GB 1444271 shows a hand-operated control device according to the preamble of claim 1.
  • The invention is described in detail hereinafter, by way of example but not by way of limitation, with reference to the enclosed drawings, wherein:
    • Figure 1 depicts an exploded axonometric view of the hand-operated control device according to the present invention;
    • Figure 2 depicts an overall longitudinal sectional view of the hand-operated control device according to the present invention;
    • Figure 3 depicts a longitudinal sectional view of the lower portion of the hand-operated control device, in a working position;
    • Figure 4 depicts a comparative chart of two different geometrical profiles relating to the working area of the hand-operated control device according to the present invention;
    • Figure 5 depicts a shop drawing showing an example of an envelope of the centres of the circles forming the slots on the working area, as well as the end working area; and
    • Figure 6 depicts some partial longitudinal sectional views of the hand-operated control device in several working positions.
  • An examplary embodiment of the hand-operated control device according to the present invention is shown in its entirety under reference number 10.
  • The hand-operated control device 10 comprises, as illustrated in fig. 2, five main parts: a rod support 20, a handling lever 4, a metal point 12, a spring 11 and an elliptical working area 30.
  • Such main elements in their turn can be broken down into a sequence of components, as shown in the exploded view of fig. 1.
  • In particular, it is possible to note a cap for the hard-operated control device 2 which encloses the upper part of the operating mechanism by linking to a frame 13 through a cap fastener 6.
  • The handling lever 4, which bears an elastic ring 5 in its end part, fits into the cap for hand-operated control device 2 by means of a lever slide 3.
  • The cap fastener 6 is connected to the upper portion of a switch 7 which interacts with the handling lever 4 through a sphere bearing for the switch 8 and through a sphere antirotating pivot 9.
  • The control device which is the subject-matter of the invention feaures, as shown, a handling lever 4 into which a metal point 12 fits, which in its turn is coupled with a spring 11. The function of the spring 11 is to allow the relative sliding between the metal point 12 and the handling lever 4, so as to exert the pressure needed for the metal point 12 to engage the slots 14 on the working area 30.
  • During the operation of the hand-operated control device according to the present invention, when the handling lever 4 is moved by an operator, the metal point 12 engages the working area 30. In particular, it can be noted that it is possible to define, as illustrated in fig. 3, un angle λ between the axis Z of the metal point 12 and the tangent τ to the working area 30 in the contact point.
  • Obviously the position of the metal point 12 depends on the position of the handling lever 4 manually moved by the operator, with which the metal point 12 is integral.
  • In these conditions, the elastic energy of the spring 11 increases as the handling lever 4 moves away from the zero position.
  • On account of the particular shape of the working area 30, the angle λ is always wider than 90°, except in the zero position.
  • This means that the operator has at his disposal the elastic energy suitable to be converted into return force of the metal point 12 and therefore of the handling lever 4.
  • Resolving the point force exerted by the metal point 12, pushed by the spring 11, into its normal and tangential components with respect to the working area, it can be recorded that only in the zero position does the tangential component have a lower value than the normal component. In any other point, the tangential component is higher than the normal component and is always bound toward the zero position. Along with the reasons stated above, the hyperbolic profile of the working area involves an exponential increase of both the progress of the elastic energy and the module difference between the normal component and the tangential component of the point force exerted by the metal point 12 on the working area 30.
  • Since the lever 4 is hinged on a fixed point on the vertical axis, in order to meet this geometric requirement the working area 30 must necessarily have a non-circular profile.
  • In the case of the hyperbolic profile, the elastic energy of the spring 11 hyperbolically increases as the handling lever 4 moves away from the zero position.
  • Fig. 5 illustrates by way of example: an envelope of the centres of the circles forming the slots on the working area (letter A) and the profile of the actual end working area (letter B). Should no kind of detent be necessary, the working area shall simply be a concave hyperboloid.
  • Table 1 shows, by mere way of example, the variation of the stroke of the spring 11 as a function of movements along a reference plane XY for the working area. TABLE 1
    ANGLE X ANGLE Y HEIGHT TOOL RADIUS
    0.0 0.0 37.0 8.0
    0.0 5.6 35.6 8.0
    0.0 11.2 34.3 8.0
    0.0 16.8 33.1 8.0
    0.0 22.4 32.0 8.0
    0.0 28.0 31.0 8.0
    5.6 0.0 35.6 8.0
    5.6 5.6 34.3 8.0
    5.6 11.2 33.1 8.0
    5.6 16.8 32.0 8.0
    5.6 22.4 31.0 8.0
    5.6 28.0 30.1 8.0
    11.2 0.0 34.3 8.0
    11.2 5.6 33.1 8.0
    11.2 11.2 32.0 8.0
    11.2 16.8 31.0 8.0
    11.2 22.4 30.1 8.0
    11.2 28.0 29.3 8.0
    16.8 0.0 33.1 8.0
    16.8 5.6 32.0 8.0
    16.8 11.2 31.0 8.0
    16.8 16.8 30.1 8.0
    16.8 22.4 29.3 8.0
    16.8 28.0 28.6 8.0
    22.4 0.0 32.0 8.0
    22.4 5.6 31.0 8.0
    22.4 11.2 30.1 8.0
    22.4 16.8 29.3 8.0
    22.4 22.4 28.6 8.0
    22.4 28.0 27.9 8.0
    28.0 0.0 31.0 8.0
    28.0 5.6 30.1 8.0
    28.0 11.2 29.3 8.0
    28.0 16.8 28.6 8.0
    28.0 22.4 27.9 8.0
    28.0 28.0 27.0 8.0
  • As can be inferred from Table 1, the proportionality between the stroke and the movement is not linear, but quadratic.
  • The hand-operated control device which is the subject-matter of the invention features the following significant advantages and outstanding characteristics.
  • Firstly, the control device comprises a limited number of components, thus favourably reducing the likelihood of breakdown of the system as a whole and increasing the availability thereof accordingly.
  • The peculiar exemplified shape, with the working area 30 having a hyperbolic profile, allows the use of a single spring to implement the recovery of the zero position by the control device.
  • As a matter of fact, from the foregoing description of the components of the return force it can be inferred that such return force is the result of the interaction of the working area with the single spring 11 of the control device.
  • In particular, the system is stable only in the zero position, since only in this point does the spring 11 report the steady minimum value of the elastic energy.
  • Secondly, the force exerted by the user on the handling lever 4 grows exponentially as a function of the distance from the zero position.
  • In this way, a force is implemented to achieve a movement which is proportional to the desired effect, thus significantly increasing safety in the industrial environment where the device is used.
  • In addition, the return force exerted by the spring 11 upon the handling lever 4 appears to be maximum when the latter is in its extreme position, namely is farthest from the zero position.
  • As a rule, when the lever 4 is in this position, the system controlled by the hand-operated control device is in its most critical state, for example at its highest speed. The system which is the subject-matter of the present invention therefore exerts its maximum response force right in the worst operating condition, thus ensuring the prompt return to the zero position and, as a result, the recovery of safer conditions.
  • From the foregoing description it appears obvious that the inventive notions set forth are not limited to the illustrated example of application, but rather can be favourably adjusted to other, similar applications.
  • The present invention is therefore open to a number of modifications and variations, all falling within the inventive notion set forth in the claims atttached hereto, whereas the technical details can change depending on specific needs.

Claims (6)

  1. Hand-operated control device (10) composed of an upper operating group comprising a handling lever (4) associated to control means (11) and duly supported, wherein said handling lever (4) can be engaged by means (11) of a metal point (12) fitted to act on a working area (30), said metal point (12) and said handling lever (4) being fitted with elastic means (11) for engaging with one another, wherein said working area (30) has such a shape that, by interacting with the working positions of said metal point (12), it can convert the elastic energy of said elastic means (11) into a return force acting also on said handling lever (4), said working area (30) containing a discontinuous sequence of preformed elements composed of circles, characterised in that said working area (30) has a hyperbolic-section profile, the centres of which originate an envelope of a hyperbolic kind.
  2. Hand-operated control device (10) according to claim 1, characterised in that the elastic energy of said elastic means (11) which allows the relative, lengthwise movement between the handling lever (4) and the metal point (12) hyperbolically increases as said metal point (12) moves away from the zero position.
  3. Hand-operated control device (10) according to claim 2, characterised in that said return force is proportional to the operating position of said metal point (12) and bound towards the zero position.
  4. Hand-operated control device (10) according to claim 3, characterised in that the return force exerted by said elastic means on the handling lever (4) appears to be maximum when said metal point (12) is farthest from the zero position.
  5. Hand-operated control device (10) according to any of the previous claims, characterised in that said metal point (12) fits into said handling lever (4) and said elastic means (11) for engaging with one another practically comprise a spring, which allows the relative sliding between said metal point (12) and said handling lever (4).
  6. Hand-operated control device (10) according to any of the previous claims, characterised in that said handling lever (4) interacts with a switch (7) by means (11) of a sphere bearing (8) for the switch (7) and of a sphere antirotating pivot (9).
EP03780616A 2003-11-03 2003-11-03 Hand-operated control device Expired - Fee Related EP1680718B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IT2003/000710 WO2005043269A1 (en) 2003-11-03 2003-11-03 Hand-operated control device

Publications (2)

Publication Number Publication Date
EP1680718A1 EP1680718A1 (en) 2006-07-19
EP1680718B1 true EP1680718B1 (en) 2007-05-23

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EP03780616A Expired - Fee Related EP1680718B1 (en) 2003-11-03 2003-11-03 Hand-operated control device

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EP (1) EP1680718B1 (en)
AU (1) AU2003288713A1 (en)
DE (1) DE60314023D1 (en)
WO (1) WO2005043269A1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014103988A1 (en) * 2014-03-24 2015-09-24 Elobau Gmbh & Co. Kg Joystick with intrinsically safe force feedback
DE102015004206B4 (en) * 2015-03-31 2022-11-17 Audi Ag Operating device for a vehicle, in particular a passenger vehicle
ITUB20152214A1 (en) * 2015-07-15 2017-01-15 Pizzato Elettrica Srl LEVER ACTUATOR FOR COMMANDING ELECTRICAL DEVICES

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES160241Y (en) * 1969-07-18 1971-05-16 Telemeccanica Elettrica Officine Meccaniche R. ONE LEVER MULTI-DIRECTIONAL ELECTRIC MANIPULATOR.
FR2193241B1 (en) * 1972-07-21 1976-01-16 Telemecanique Electrique
JPH0751625Y2 (en) * 1990-06-18 1995-11-22 京セラ株式会社 Joystick
DE4306577C2 (en) * 1993-03-03 1998-02-12 Nbb Nachrichtentech Gmbh Hand control device with a joystick
DE19960757A1 (en) * 1998-12-24 2000-06-29 Mannesmann Rexroth Ag Hand-operated electrical control device for hydraulic valves or hydraulic machines, has rocker forming part of rotating body on both sides of second pivot plane with axis same as second pivot axis through pivot point in second plane

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Publication number Publication date
EP1680718A1 (en) 2006-07-19
AU2003288713A1 (en) 2005-05-19
WO2005043269A1 (en) 2005-05-12
DE60314023D1 (en) 2007-07-05

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