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EP1185912B1 - Dispositif de commande d'un appareil - Google Patents

Dispositif de commande d'un appareil Download PDF

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Publication number
EP1185912B1
EP1185912B1 EP00943765A EP00943765A EP1185912B1 EP 1185912 B1 EP1185912 B1 EP 1185912B1 EP 00943765 A EP00943765 A EP 00943765A EP 00943765 A EP00943765 A EP 00943765A EP 1185912 B1 EP1185912 B1 EP 1185912B1
Authority
EP
European Patent Office
Prior art keywords
axis
guide element
elements
retaining arm
guide
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
EP00943765A
Other languages
German (de)
English (en)
Other versions
EP1185912A1 (fr
Inventor
Kenneth Smith
Jörg HENLE
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.)
Wittenstein SE
Original Assignee
Wittenstein SE
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wittenstein SE filed Critical Wittenstein SE
Priority to EP05002529A priority Critical patent/EP1528449B1/fr
Publication of EP1185912A1 publication Critical patent/EP1185912A1/fr
Application granted granted Critical
Publication of EP1185912B1 publication Critical patent/EP1185912B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • 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
    • G05G2009/04714—Mounting of controlling member with orthogonal axes
    • G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type joint
    • 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
    • Y10T74/20018—Transmission control
    • Y10T74/2003—Electrical actuator
    • 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 a device for controlling a device, such as. Airplane, flight simulator, robot od.
  • a device for controlling a device such as. Airplane, flight simulator, robot od.
  • a handle which is movable about two mutually perpendicular axes, wherein a guide member is rotatably provided about a first axis to which is arranged approximately perpendicular and rotatable about a second axis, a further guide element on which the handle is placed.
  • Such devices are known and widely used in a variety of forms and designs on the market, see e.g. WO-A-8 1/02 208. They are used primarily for controlling an aircraft, flight simulator, robot or the like element.
  • a handle is substantially pivotable about two axes to make a control of a corresponding device.
  • a device for controlling a device such as, Klizeüg, flight simulator, Rototer or the like.
  • a handle which is movable about two mutually perpendicular axes, wherein a guide element 3.1 is rotatably provided about a first axis A, on which approximately perpendicular and rotatable about a second axis B, a further guide element 3.2 is arranged, on which the handle 10 is placed and mounted in the axes A, B guide elements 3.1, 3.2 separately can be driven via one in each of these integrated drive devices 4.1, 4.2.
  • the handle is associated with at least one force sensor for controlling and / or regulating the movement of the guide elements on the axes A, B.
  • a holding arm adjoins a guide element, on which, perpendicular to the axis, another guide element, on which the handle is seated, is mounted rotatably about the axis.
  • the two guide elements can contain drive motors within drive elements which support the movement of the handle and, if necessary, are computer-controlled and positively guided, so that a corresponding movement is not carried out too quickly.
  • Corresponding force sensors connected to the handle and / or to the guide element can influence the movement of the guide elements.
  • a rotational movement is assisted by the corresponding drive device for controlling the device by means of the drive motor.
  • a corresponding movement of the handle can be displayed and driven along by means of the drive devices.
  • Such a device offers many uses, especially in aerospace.
  • the invention should not be limited to this application.
  • a device according to the invention for any devices, flight simulators, robots or the like.
  • a device according to the invention for any devices, flight simulators, robots or the like.
  • the Medical technology is here an exact guidance and control of a robot, for example.
  • a surgical aid possible.
  • Such a device should also be used for fun parks, games, with a corresponding power or torque feedback as well as in the field of telemanipulation.
  • the invention is not limited here.
  • corresponding stop elements arranged separately for each rotational movement about the respective axis ensure freedom of movement of the two axes independently of each other.
  • an apparatus R 1 has a housing 1 in which a first guide element 3.1 is arranged so as to be rotatable about an axis A on an end wall 2.
  • the guide element 3.1 is connected to a drive device 4.1, in particular a preferably electrically operated drive motor 5.1 and a subsequent transmission 6.1 in combination, as shown in more detail in Figures 3 and 4.
  • the guide element 3.1 in the preferred embodiment, a holding arm 7, which runs out of the axis A approximately at right angles by means of a holding plate 8 and forms a right angle with an approximately perpendicular thereto adjacent receiving plate 9.
  • the receiving plate 9 extends approximately parallel to the axis A.
  • a second guide element 3.2 is preferably mounted at right angles to the axis A, which is rotatably supported about the axis B via a second drive means 4.2, in particular drive motor 5.2.
  • intersection S between the two axes A and B is preferably the fulcrum P of a handle 10, which approximately perpendicular to the second guide member 3.2 rests perpendicular projecting upwards.
  • At least one force sensor 11.1, 11.2 can be associated with the handle 10 and / or the guide element 3.2, as shown in particular in FIGS. 1 to 3.
  • the force sensor 11.1, 11.2 has the task in a manual movement of the handle 10 to recognize a force and a direction of movement, a forced guidance or a supported movement of the handle 10 in the respective desired direction by corresponding rotation of the guide elements 3.1, 3.2 by means of the drive means 4.1, 4.2 allow.
  • FIG 5 shows that the guide element 3.1 is mounted on one side via bearing elements 13 relative to the housing 1.
  • bearing elements 13 can be used so that the guide element 3.1 can be mounted on one side about the axis A rotatable relative to the housing 1.
  • the bearing elements 13 can absorb large forces.
  • To the guide element 3.1 includes as its part of the support arm 7 at an angle. It sits the guide element 3.1, the holding plate 8, to which off center to the axis A and approximately parallel to the axis A, the receiving plate 9 connects. There bearing elements 14 are arranged, which store the guide member 3.2 rotatable and pivotable about the axis B.
  • a device R 2 is shown in which essentially all the components described above are included according to FIGS. 1 to 5. It is different that the guide element 3.2 with integrated drive device 4.2 at both ends is rotatably mounted relative to the support arm 7 via additional bearing elements 14 about the axis B. A two-sided storage is realized here. For this purpose, another receiving plate 9 adjoins the holding plate 8 at the other end.
  • a device R 3 is shown, in which according to the embodiment according to Figure 6, although the guide elements 3.2 are mounted on both sides about the axis B, but the support arm 7 not only at one end on the bearing elements 13 but also at the other end via further bearing elements 13, as schematically indicated here about the axis A is rotatably mounted. At a two-sided storage is thought here.
  • a device R 4 is shown, in which the guide element 3.2 according to the embodiment of the device R 1 according to Figure 5 is mounted on one side about the axis B rotatable.
  • the holding arm 7 is rotatable on both sides about the axis A, as schematically indicated, stored on the other bearing elements 13. This type of storage should also be encompassed by the present inventive concept.
  • a device R 5 is shown, which substantially corresponds to its structure of the device according to Figures 1 to 4.
  • a stop element 15.1 is arranged on the holding plate 8, which limits a rotational movement of the guide element 3.2 with respect to its end positions.
  • Corresponding Stopperlemente 16.1, 16.2 can limit the movement of the guide element 3.1, 3.2. These close the front side of the guide element 3.2.
  • stop element 15.1 and stopper element 16.1, 16.2 are arranged approximately near the axis A within the holding plate 8 of the holding arm 7.
  • a further stop element 15.2 is preferably fixed to the end wall 2 of the housing 1 in order to restrict a direction of movement of the guide element 3.1 about the axis A with the two stopper elements 16.3, 16.4 arranged radially on the holding plate 8 of the holding arm 7.
  • An advantage of the present invention is that each direction of movement of the guide elements 3.1, 3.2 is independent either about the axis A or about the axis B and the two stop elements 15.1, 15.2 are not coupled together.
  • the operation of the device R 5 is shown schematically as a plan view.
  • the guide element 3.1 is shown schematically as a plan view.
  • the stop element 15.2 which end side of the holding plate 8 and / or the receiving plate 9 is arranged opposite two arranged on the end wall 2 of the housing 1 stopper elements 16.3, 16.4, as shown in Figure 12 limited.
  • the stopper elements 16.1 to 16.4 can have corresponding adjusting devices in order to limit an exact stop accordingly.
  • the stopper elements 16.1 to 16.4 and also the stop elements 15.1, 15.2 may be made of nylon, metal or the like. Materials may also be made in combination. It is also contemplated to dampen the respective stopper elements 16.1 to 16.4 to dampen impact with a stop.

Landscapes

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

Claims (12)

  1. Dispositif de commande d'un appareil, tel que par exemple un avion, un simulateur de vol, un robot ou autre, avec une poignée (10) pouvant être déplacée autour de deux axes (A, B) perpendiculaires l'un à l'autre, un élément de guidage (3.1) étant prévu rotatif autour d'un premier axe (A) sur lequel est disposé, environ perpendiculairement et de manière rotative autour d'un deuxième axe (B), un autre élément de guidage (3.2) sur lequel est placée la poignée (10),
    caractérisé par le fait que
    les éléments de guidage (3.1, 3.2) montés dans les axes (A, B) peuvent être entraînés séparément, chacun par l'intermédiaire d'un dispositif d'entraînement (4.1, 4.2) intégré dans ces derniers.
  2. Dispositif selon la revendication 1, caractérisé par le fait qu'à la poignée (10) est associé au moins un capteur de force (11.1, 11.2) destiné à la commande et/ou au réglage du déplacement des éléments de guidage (3.1, 3.2) sur les axes (A, B).
  3. Dispositif selon la revendication 1 ou 2, caractérisé par le fait que la poignée (10) est montée autour d'un point de rotation (P) correspondant à un point d'intersection (S) des axes (A, B), un élément de guidage (3.1) étant monté dans un boîtier (1), et qu'à l'extérieur du boîtier (1) est prévu, excentré par rapport à l'axe (A), un bras de maintien (7) disposé selon un angle, auquel aboute, perpendiculairement à l'axe (A), le deuxième élément de guidage (3.2) de manière rotative autour de l'axe (B), et que le premier élément de guidage (3.1) est, par l'intermédiaire d'un élément de roulement (13), monté de manière rotative autour de l'axe (A) d'un côté par rapport au boîtier (1).
  4. Dispositif selon la revendication 2 ou 3, caractérisé par le fait que le dispositif d'entraînement (4.1, 4.2) présente un moteur d'entraînement (5.1. 5.2) et éventuellement un engrenage (6.1, 6.2).
  5. Dispositif selon au moins l'une des revendications 2 à 4, caractérisé par le fait que les dispositifs d'entraînement (4.1, 4.2), les moteurs d'entraînement (5.1, 5.2), les engrenages (6.1, 6.2) ainsi que l'au moins un capteur de force (11.1, 11.2) sont reliés à une commande (12).
  6. Dispositif selon l'une des revendications 3 à 5, caractérisé par le fait que le deuxième élément de guidage (3.2) est monté perpendiculairement au premier élément de guidage (3.1), par rapport à leurs bras de maintien (7), par l'intermédiaire d'autres éléments de roulement (14).
  7. Dispositif selon au moins l'une des revendications 3 à 6, caractérisé par le fait que le deuxième élément de guidage (3.2) est monté d'un côté sur le bras de maintien (7), excentré par rapport à l'axe (A), de manière déplaçable autour de l'axe (B).
  8. Dispositif selon au moins l'une des revendications 3 à 7, caractérisé par le fait que le bras de maintien (7) est monté des deux côtés autour de l'axe (A).
  9. Dispositif selon au moins l'une des revendications 3 à 8, caractérisé par le fait que le bras de maintien (7) est réalisé en U, entre lequel le deuxième élément de guidage (3.2) est monté, des deux côtés, excentré par rapport à l'axe (A), de manière déplaçable autour de l'axe (B).
  10. Dispositif selon au moins l'une des revendications 3 à 9, caractérisé par le fait que le bras de maintien (7) est monté des deux côtés de manière déplaçable autour de l'axe (A) et que sur ce dernier est monté des deux côtés l'élément de guidage (3.2), de manière déplaçable autour de l'axe (B).
  11. Dispositif selon au moins l'une des revendications 3 à 10, caractérisé par le fait que le premier élément de guidage (3.1) est pivotable de manière limitée avec un élément de butée (15.2), par rapport à au moins un élément d'arrêtoir (16.3, 16.4), autour de l'axe (A) et/ou que le deuxième élément de guidage (3.2) est pivotable de manière limitée avec au moins un élément d'arrêtoir (16.1, 16.2), par rapport à au moins un élément de butée (15.1), autour de l'axe (B), sans que la liberté de mouvement de l'autre axe respectif (A ou B) ne soit limitée ou réduite, l'élément de butée (15.2) étant disposé, pour limiter le déplacement du premier élément de guidage (3.1) autour de l'axe (A), sur une plaque de réception (9) du bras de maintien (7), et qu'au moins un élément d'arrêtoir correspondant (16.3, 16.4) est associé à une paroi latérale (2) du boîtier (1).
  12. Dispositif selon la revendication 11, caractérisé par le fait que les éléments d'arrêtoir (16.1 à 16.4) délimitent de manière réglable un trajet des éléments de butée (15.1, 15.2) et sont éventuellement munis, pour le réglage fin des positions de fin de course, d'un dispositif d'ajustage.
EP00943765A 1999-06-11 2000-06-06 Dispositif de commande d'un appareil Expired - Lifetime EP1185912B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP05002529A EP1528449B1 (fr) 1999-06-11 2000-06-06 Dispositif de commande d'un appareil

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19926784 1999-06-11
DE19926784A DE19926784A1 (de) 1999-06-11 1999-06-11 Vorrichtung zum Steuern einer Einrichtung
PCT/EP2000/005134 WO2000077589A1 (fr) 1999-06-11 2000-06-06 Dispositif de commande d'un appareil

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP05002529A Division EP1528449B1 (fr) 1999-06-11 2000-06-06 Dispositif de commande d'un appareil

Publications (2)

Publication Number Publication Date
EP1185912A1 EP1185912A1 (fr) 2002-03-13
EP1185912B1 true EP1185912B1 (fr) 2006-02-01

Family

ID=7911002

Family Applications (2)

Application Number Title Priority Date Filing Date
EP05002529A Expired - Lifetime EP1528449B1 (fr) 1999-06-11 2000-06-06 Dispositif de commande d'un appareil
EP00943765A Expired - Lifetime EP1185912B1 (fr) 1999-06-11 2000-06-06 Dispositif de commande d'un appareil

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP05002529A Expired - Lifetime EP1528449B1 (fr) 1999-06-11 2000-06-06 Dispositif de commande d'un appareil

Country Status (4)

Country Link
US (1) US6708580B1 (fr)
EP (2) EP1528449B1 (fr)
DE (3) DE19926784A1 (fr)
WO (1) WO2000077589A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202017105886U1 (de) 2017-09-27 2017-11-29 Spohn & Burkhardt GmbH & Co. KG Schalteinrichtung

Families Citing this family (12)

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DE10258197A1 (de) * 2002-12-12 2004-07-08 Tonic Fitness Technology, Inc., Hsi Kang Direkt angetriebene Antriebs-Schwingstangen-Einrichtung ohne Totpunkte
DE10305261A1 (de) * 2003-02-07 2004-08-26 Wittenstein Ag Vorrichtung zum Steuern eines Fahrzeuges
US7701161B2 (en) * 2006-10-02 2010-04-20 Honeywell International Inc. Motor balanced active user interface assembly
GB2463625B (en) * 2007-07-31 2012-05-23 Wittenstein Aerospace & Simulation Ltd Control device
GB0714916D0 (en) * 2007-07-31 2007-09-12 Wittenstein Aerospace & Simula Control device
US8096206B2 (en) * 2007-12-05 2012-01-17 Liebherr-Aerospace Lindenberg Gmbh Control device
US20090266948A1 (en) * 2008-04-29 2009-10-29 Honeywell International Inc. Human-machine interface two axis gimbal mechanism
CN112870630B (zh) * 2021-02-04 2022-10-04 李从宇 一种适用于残障人士的神经科用下肢康复训练器
US20220316970A1 (en) * 2021-03-30 2022-10-06 Cae Inc. Calibration adaptor bracket, apparatus and method
DE102022134686A1 (de) * 2022-12-22 2024-06-27 Inventus Engineering Gmbh Bedieneinrichtung mit wenigstens einem schwenkbaren Bedienhebel
WO2024156994A1 (fr) * 2023-01-25 2024-08-02 Bae Systems Plc Agencement de manette active et système de commande
EP4406847A1 (fr) * 2023-01-25 2024-07-31 BAE SYSTEMS plc Agencement de papillon actif et système de commande

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202017105886U1 (de) 2017-09-27 2017-11-29 Spohn & Burkhardt GmbH & Co. KG Schalteinrichtung
WO2019063516A1 (fr) 2017-09-27 2019-04-04 Spohn & Burkhardt GmbH & Co. KG Équipement commutateur

Also Published As

Publication number Publication date
DE50012502D1 (de) 2006-05-18
DE50012165D1 (de) 2006-04-13
WO2000077589A1 (fr) 2000-12-21
EP1185912A1 (fr) 2002-03-13
EP1528449A1 (fr) 2005-05-04
DE19926784A1 (de) 2000-12-14
US6708580B1 (en) 2004-03-23
EP1528449B1 (fr) 2006-03-29

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