EP1185912A1 - Device for controlling an apparatus - Google Patents
Device for controlling an apparatusInfo
- Publication number
- EP1185912A1 EP1185912A1 EP00943765A EP00943765A EP1185912A1 EP 1185912 A1 EP1185912 A1 EP 1185912A1 EP 00943765 A EP00943765 A EP 00943765A EP 00943765 A EP00943765 A EP 00943765A EP 1185912 A1 EP1185912 A1 EP 1185912A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- axis
- guide element
- handle
- axes
- holding arm
- 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.)
- Granted
Links
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 an aircraft, aircraft simulator, robot or the like, with a handle which can be moved about two axes which are perpendicular to one another.
- Devices of this type are known and customary on the market in a wide variety of forms and designs. They are primarily used to control an aircraft, flight simulator, robot or the like element.
- a handle is essentially pivotable about two axes in order to control a corresponding device.
- a disadvantage of conventional devices is that they are extremely large and complex if, for example, they are equipped with drive motors for the corresponding two movement axes in order to track and / or control movement of the handle.
- these facilities are much too complex and expensive, so that they are used and used only to a limited extent.
- the present invention has for its object to provide a device of the type mentioned, which eliminates the disadvantages mentioned and with which a device for precise control of devices of all types is possible in a simple and inexpensive manner.
- the handle is mounted around a pivot point which corresponds approximately to an intersection of the axes.
- a holding arm is connected to a guide element, on which another guide element, on which the handle is also seated, rotates about the axis perpendicular to the axis.
- the two guide elements can contain drive elements 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 element.
- a rotary movement is supported by the corresponding drive device for controlling the device by means of the drive motor.
- a corresponding movement of the handle can be displayed, for example, during operation of an autopilot of an aircraft, and can be carried along by means of the drive devices.
- Such a device offers many possible uses, especially in the aerospace industry.
- the invention is not intended to be limited to this application.
- a device according to the invention on any devices, flight simulators, robots or the like.
- E.g. also in the Medical technology enables precise guidance and control of a robot, for example as an aid to surgery.
- Such a device should also be able to be used for fun parks, games, with a corresponding force or torque feedback and also in the field of telemanipulation. There is no limit to the invention here.
- corresponding stop elements and stop elements arranged separately for each rotary movement around the respective axis ensure freedom of movement of the two axes independently of one another.
- Another advantage is that this ensures a compact, lightweight design with the components of the drive motor, the transmission and the guide elements, which is very light overall.
- FIG. 1 shows a perspective top view of a device according to the invention for controlling a device in a rest position
- FIG. 2 shows a schematically represented top view of the device for controlling a device according to FIG. 1;
- FIG. 3 shows a schematically illustrated partial longitudinal section through the device according to FIG. 1;
- FIG. 4 shows a schematic top view of the device according to FIG. 1;
- FIG. 5 shows a schematic top view of the device according to FIG. 1;
- FIG. 6 shows a schematically illustrated top view of the device according to FIG. 5 as a further exemplary embodiment
- FIG. 7 shows a schematically illustrated top view of the device according to FIG. 5 as a further exemplary embodiment
- FIG. 8 shows a schematically illustrated top view of yet another exemplary embodiment of the device according to FIGS. 5 to 7;
- FIG. 9 shows a schematically represented side view of the device according to FIG. 1 with a stop element
- FIG. 10 shows a schematically illustrated top view of the device according to FIG. 9 with a stop element
- FIG. 11 shows a schematically illustrated top view of the functioning of the stop elements in relation to two rotatable axes
- Figure 12 is a schematic plan view of the operation of the stop elements and stopper elements on the two axes of rotation.
- a device Ri has a housing 1, in which a first guide element 3.1 is arranged on an end wall 2 so as to be rotatable about an axis A.
- 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 gear 6.1, as is shown in more detail in FIGS. 3 and 4.
- the guide element 3.1 has a holding arm 7, which consists of the
- Axis A runs out approximately at right angles by means of a holding plate 8 and forms a right angle with a receiving plate 9 adjoining it at approximately right angles.
- the receiving plate 9 runs approximately parallel to the axis A.
- a second guide element 3.2 is preferably mounted on the mounting plate 9 at right angles to the axis A and is rotatably mounted about the axis B via a second drive device 4.2, in particular drive motor 5.2.
- a second drive device 4.2 in particular drive motor 5.2.
- At least one force sensor 11.1, 11.2 can be assigned to the handle 10 and / or the guide element 3.2, as is shown in particular in FIGS. 1 to 3.
- the force sensor 11.1, 11.2 has the task of detecting a direction of force and a movement when the handle 10 is moved manually, in order to force the handle 10 to be guided or also to be supported in the desired direction by rotating the guide elements 3.1, 3.2 accordingly by means of the drive devices 4.1, 4.2.
- force sensors 11.1, 11.2 and the drive devices 4.1, 4.2 are connected to a controller 12, as indicated in FIG. 1.
- the exemplary embodiment of the present invention according to FIG. 5 shows that the guide element 3.1 is supported on one side with respect to the housing 1 by means of bearing elements 13.
- bearing elements 13 can be used, so that the guide element 3.1 can be rotatably supported on one side about the axis A relative to the housing 1.
- the bearing elements 13 can absorb large forces.
- the holding arm 7 is angled to the guide element 3.1 as a component thereof.
- the leadership element sits there Q
- a device R 2 is shown, in which essentially all of 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 is rotatably supported at both ends relative to the holding arm 7 via additional bearing elements 14 about the axis B. Two-sided storage is implemented here. For this purpose, another mounting plate 9 connects to the holding plate 8 at the other end.
- a device R 3 is shown, in which, according to the exemplary embodiment according to FIG. 6, although the guide elements 3.2 are mounted on both sides about the axis B, the holding arm 7 not only at one end via the bearing elements 13 but also at the other end via further bearing elements 13, as indicated schematically here, is rotatable about the axis A.
- a two-sided storage is considered here.
- a device R is shown, in which the guide element 3.2 according to the exemplary embodiment of the device Ri according to FIG. 5 is rotatably supported on one side about the axis B.
- the holding arm 7 can be rotated on both sides about the axis A, as schematically indicated, stored on the other bearing elements 13.
- a device R 5 is shown which essentially corresponds in structure to the device according to FIGS. 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 stop elements 16.1, 16.2 can limit the movement of the guide element 3.1, 3.2. These connect to the end of the guide element 3.2.
- stop element 15.1 and stop 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 on the end wall 2 of the housing 1 in order to limit a direction of movement of the guide element 3.1 about the axis A with the two stop elements 16.3, 16.4 arranged radially on the rear of the holding plate 8 of the holding arm 7. It is advantageous in the present invention 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 to one another.
- Device R 5 shown as a top view. There is the movement of the guide element 3.1 around the axis A.
- the stop element 15.2 which is arranged at the end of the holding plate 8 and / or the mounting plate 9 thereof, is arranged opposite two on the end wall 2 of the housing 1
- Stopper elements 16.3, 16.4, as shown in Figure 12 can be limited.
- the stopper elements 16.1 to 16.4 can have corresponding adjustment devices in order to limit a precise stop accordingly.
- the stopper elements 16.1 to 16.4 and also the stop elements 15.1, 15.2 can be made of nylon, metal or the like. Materials in combination. It is also contemplated to dampen the corresponding stopper elements 16.1 to 16.4 in order to dampen an impact on a stop.
- Stopper elements 16.1 to 16.4 compared to the stop elements 15.1, 15.2 are possible.
- Stop element of one guide element the other guide element can be operated without restriction in its rotating range or pivoting range. This is intended to be encompassed by the present inventive concept.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Manipulator (AREA)
- Mechanical Control Devices (AREA)
- Transmission Devices (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05002529A EP1528449B1 (en) | 1999-06-11 | 2000-06-06 | Device for controlling an apparatus |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19926784A DE19926784A1 (en) | 1999-06-11 | 1999-06-11 | Device for controlling a device |
DE19926784 | 1999-06-11 | ||
PCT/EP2000/005134 WO2000077589A1 (en) | 1999-06-11 | 2000-06-06 | Device for controlling an apparatus |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05002529A Division EP1528449B1 (en) | 1999-06-11 | 2000-06-06 | Device for controlling an apparatus |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1185912A1 true EP1185912A1 (en) | 2002-03-13 |
EP1185912B1 EP1185912B1 (en) | 2006-02-01 |
Family
ID=7911002
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00943765A Expired - Lifetime EP1185912B1 (en) | 1999-06-11 | 2000-06-06 | Device for controlling an apparatus |
EP05002529A Expired - Lifetime EP1528449B1 (en) | 1999-06-11 | 2000-06-06 | Device for controlling an apparatus |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05002529A Expired - Lifetime EP1528449B1 (en) | 1999-06-11 | 2000-06-06 | Device for controlling an apparatus |
Country Status (4)
Country | Link |
---|---|
US (1) | US6708580B1 (en) |
EP (2) | EP1185912B1 (en) |
DE (3) | DE19926784A1 (en) |
WO (1) | WO2000077589A1 (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10258197A1 (en) * | 2002-12-12 | 2004-07-08 | Tonic Fitness Technology, Inc., Hsi Kang | Directly driven pivoting rod drive device without dead points for high speed, high load response desktop PC system controls rotation angles of motor shafts driving frames with low operating forces |
DE10305261A1 (en) * | 2003-02-07 | 2004-08-26 | Wittenstein Ag | Device for controlling a vehicle |
US7701161B2 (en) * | 2006-10-02 | 2010-04-20 | Honeywell International Inc. | Motor balanced active user interface assembly |
GB0714916D0 (en) | 2007-07-31 | 2007-09-12 | Wittenstein Aerospace & Simula | Control device |
WO2009016361A2 (en) * | 2007-07-31 | 2009-02-05 | Wittenstein Aerospace & Simulation Limited | 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 |
DE202017105886U1 (en) | 2017-09-27 | 2017-11-29 | Spohn & Burkhardt GmbH & Co. KG | switching device |
CN112870630B (en) * | 2021-02-04 | 2022-10-04 | 李从宇 | Neurology department uses low limbs rehabilitation training device suitable for disabled person |
US20220316970A1 (en) * | 2021-03-30 | 2022-10-06 | Cae Inc. | Calibration adaptor bracket, apparatus and method |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3776058A (en) * | 1972-05-17 | 1973-12-04 | Us Navy | Multi-axis hand controller |
US4704798A (en) * | 1976-07-06 | 1987-11-10 | Hird Edwin A | Measurement digitizer |
SE436154B (en) * | 1980-01-24 | 1984-11-12 | Olsbergs Hydraulic Ab | DEVICE TO CONTROL MEDIA SUPPLY TO A NUMBER OF CONSUMERS |
JPS5868634U (en) * | 1981-10-31 | 1983-05-10 | テクトロニクス・インコ−ポレイテツド | Jyoi Staitsuku |
DE3404047A1 (en) | 1984-02-06 | 1985-08-08 | Siemens AG, 1000 Berlin und 8000 München | CONTROL STAFF |
FR2590044B1 (en) * | 1985-09-27 | 1988-01-29 | Applic Mach Motrices | MOTORIZED ELECTRICAL CONTROL DEVICE |
JP2996930B2 (en) * | 1997-04-04 | 2000-01-11 | 三和電子株式会社 | Joystick controller |
DE19818866C1 (en) * | 1998-04-28 | 1999-11-11 | Daimler Chrysler Ag | Selector device for an automatic motor vehicle transmission |
US6128971A (en) * | 1998-12-21 | 2000-10-10 | Caterpillar Inc. | Control device |
US6429849B1 (en) * | 2000-02-29 | 2002-08-06 | Microsoft Corporation | Haptic feedback joystick |
-
1999
- 1999-06-11 DE DE19926784A patent/DE19926784A1/en not_active Withdrawn
-
2000
- 2000-06-06 DE DE50012502T patent/DE50012502D1/en not_active Expired - Lifetime
- 2000-06-06 EP EP00943765A patent/EP1185912B1/en not_active Expired - Lifetime
- 2000-06-06 US US10/009,185 patent/US6708580B1/en not_active Expired - Lifetime
- 2000-06-06 WO PCT/EP2000/005134 patent/WO2000077589A1/en active IP Right Grant
- 2000-06-06 DE DE50012165T patent/DE50012165D1/en not_active Expired - Lifetime
- 2000-06-06 EP EP05002529A patent/EP1528449B1/en not_active Expired - Lifetime
Non-Patent Citations (1)
Title |
---|
See references of WO0077589A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE19926784A1 (en) | 2000-12-14 |
DE50012502D1 (en) | 2006-05-18 |
EP1185912B1 (en) | 2006-02-01 |
US6708580B1 (en) | 2004-03-23 |
DE50012165D1 (en) | 2006-04-13 |
EP1528449A1 (en) | 2005-05-04 |
EP1528449B1 (en) | 2006-03-29 |
WO2000077589A1 (en) | 2000-12-21 |
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