EP0447334A1 - Manipulator mit Dehnme streifen - Google Patents

Manipulator mit Dehnme streifen Download PDF

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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
Authority
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.)
Ceased
Application number
EP91420084A
Other languages
English (en)
French (fr)
Inventor
Denis Frigiere
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.)
Thales Avionics SAS
Original Assignee
Thales Avionics SAS
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 Thales Avionics SAS filed Critical Thales Avionics SAS
Publication of EP0447334A1 publication Critical patent/EP0447334A1/de
Ceased 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
    • G05G2009/04722—Mounting of controlling member elastic, e.g. flexible shaft
    • 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
    • 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)
EP91420084A 1990-03-15 1991-03-12 Manipulator mit Dehnme streifen Ceased EP0447334A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9003574 1990-03-15
FR9003574A FR2659789B1 (fr) 1990-03-15 1990-03-15 Manipulateur a jauges de contrainte.

Publications (1)

Publication Number Publication Date
EP0447334A1 true EP0447334A1 (de) 1991-09-18

Family

ID=9394930

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91420084A Ceased EP0447334A1 (de) 1990-03-15 1991-03-12 Manipulator mit Dehnme streifen

Country Status (3)

Country Link
US (1) US5228348A (de)
EP (1) EP0447334A1 (de)
FR (1) FR2659789B1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2684464A1 (fr) * 1991-11-29 1993-06-04 Sextant Avionique Poignee de manipulation.
WO1993020535A2 (en) * 1992-03-25 1993-10-14 Penny & Giles Blackwood Limited Joystick
EP0567698A1 (de) * 1992-04-29 1993-11-03 Kayaba Industry Co., Ltd. Eingangsglied
GB2287526A (en) * 1994-03-02 1995-09-20 Alps Electric Co Ltd Coordinate inputting apparatus and keyboard

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2707911B1 (fr) * 1993-07-23 1995-09-22 Sextant Avionique Manipulateur à actionnement multimode.
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 (de) * 1997-09-15 1999-02-11 Siemens Ag Betätigungsvorrichtung, insbesondere für Lenkstockhebel in Kraftfahrzeugen, zur Realisierung von Schaltfunktionen und Verfahren zur Anwendung einer solchen Betätigungsvorrichtung
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 (de) * 2001-11-16 2003-05-28 Bosch Gmbh Robert Bedienelement
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 (ja) * 2012-08-31 2014-03-17 Sony Corp ヘッドマウントディスプレイ
US9122309B2 (en) 2012-11-13 2015-09-01 Honeywell International Inc. Active human-machine interface with force sensor overload protection

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0023864B1 (de) * 1979-08-02 1983-07-06 Association Des Ouvriers En Instruments De Precision Handbetätigte Führungsvorrichtung, insbesondere Handgriff zum Führen der Bewegungen eines angetriebenen Werkzeuges
EP0151479A2 (de) * 1984-02-06 1985-08-14 Siemens Aktiengesellschaft Steuervorrichtung
US4758692A (en) * 1987-05-19 1988-07-19 Otto Engineering, Inc. Joystick type control device
GB2211280A (en) * 1987-10-16 1989-06-28 Daco Scient Limited Joystick

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2895086A (en) * 1957-03-11 1959-07-14 Sperry Rand Corp Control stick transducer
US3447766A (en) * 1967-02-14 1969-06-03 Bendix Corp Control stick with solid state sensors
SE368369B (de) * 1972-10-18 1974-07-01 Saab Scania Ab
CA1081342A (en) * 1978-10-18 1980-07-08 Atomic Energy Of Canada Limited - Energie Atomique Du Canada, Limitee Three dimensional strain gage transducer
US4437351A (en) * 1981-04-13 1984-03-20 Sperry Corporation Control stick force transducer
US4558609A (en) * 1983-01-06 1985-12-17 Wico Corporation Joystick controller with interchangeable handles
JPS60126721A (ja) * 1983-12-12 1985-07-06 Shimadzu Corp 操作レバ−装置
CA1272768A (en) * 1986-05-12 1990-08-14 Warner & Swasey Company (The) Joystick controller for three axis control of a powered element

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0023864B1 (de) * 1979-08-02 1983-07-06 Association Des Ouvriers En Instruments De Precision Handbetätigte Führungsvorrichtung, insbesondere Handgriff zum Führen der Bewegungen eines angetriebenen Werkzeuges
EP0151479A2 (de) * 1984-02-06 1985-08-14 Siemens Aktiengesellschaft Steuervorrichtung
US4758692A (en) * 1987-05-19 1988-07-19 Otto Engineering, Inc. Joystick type control device
GB2211280A (en) * 1987-10-16 1989-06-28 Daco Scient Limited Joystick

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
METALLOBERFLACHE. vol. 36, no. 7, juillet 1982, M}nchen DE pages 327 - 332; R.Suchentrunk: "Galvanoformung von Hochfrequenzbauteilen" *
PATENT ABSTRACTS OF JAPAN vol. 9, no. 289 (P-405)(2012) 15 novembre 1985, & JP-A-60 126721 (SHIMAZU SEISAKUSHO) 06 juillet 1985, *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2684464A1 (fr) * 1991-11-29 1993-06-04 Sextant Avionique Poignee de manipulation.
EP0545832A1 (de) * 1991-11-29 1993-06-09 CROUZET Automatismes Steuerknüppel
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 (de) * 1992-04-29 1993-11-03 Kayaba Industry Co., Ltd. Eingangsglied
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 (fr) 1996-09-27
US5228348A (en) 1993-07-20
FR2659789A1 (fr) 1991-09-20

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