EP1267241A1 - Manual controller with control lever - Google Patents

Manual controller with control lever Download PDF

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Publication number
EP1267241A1
EP1267241A1 EP02009532A EP02009532A EP1267241A1 EP 1267241 A1 EP1267241 A1 EP 1267241A1 EP 02009532 A EP02009532 A EP 02009532A EP 02009532 A EP02009532 A EP 02009532A EP 1267241 A1 EP1267241 A1 EP 1267241A1
Authority
EP
European Patent Office
Prior art keywords
control device
hand control
joint
region
joystick
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.)
Withdrawn
Application number
EP02009532A
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German (de)
French (fr)
Inventor
Wolfgang Bredow
Thomas Burchard
Thomas Haug
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.)
Integrated Electronic Systems !SYS Consulting GmbH
Original Assignee
Integrated Electronic Systems !SYS Consulting GmbH
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 Integrated Electronic Systems !SYS Consulting GmbH filed Critical Integrated Electronic Systems !SYS Consulting GmbH
Publication of EP1267241A1 publication Critical patent/EP1267241A1/en
Withdrawn legal-status Critical Current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
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04722—Mounting of controlling member elastic, e.g. flexible shaft
    • G05G2009/04729—Mounting of controlling member elastic, e.g. flexible shaft melastomeric
    • 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

Definitions

  • Manual control devices with a joystick are used, for example, in the Area of industrial control technology for controlling construction machinery or also industrial robots.
  • the two-dimensional movements of the joystick (Joystick) are converted into electrical signals via contacts or relays, which in particular wireless to a receiver by means of a remote control transmitter are transmitted in or on the industrial device to be controlled and there a corresponding one Initiate movement, for example deflection of a working arm.
  • the joystick For swivel movement, the joystick must be held in a joint that is robust, insensitive to dirt, splashproof and has a high level of stability so that it can be used under the often harsh operating conditions in the field of industrial Control technology can work reliably.
  • a hand control device is shown in EP 0 683 906 B1.
  • it is Joint formed as an elastomeric joint, the cross-sectional design designed so is that at maximum deflection of the joystick an essentially straight line Surface cut line in the area of greatest stretch arises with increasing Deepening of the opposite area stressed by compression.
  • the object of the invention is therefore to develop the known elastomeric joint in such a way that higher reliability and greater stability are achieved.
  • the basic idea of the invention is to be seen in the fact that the relatively narrow-walled Design of the connection area used when pivoting Form of a truncated cone defect, more precisely defined stress areas arise, the walls predominantly used as stretching on the one hand and are defined as articulated, relatively low volume compression areas on the other hand.
  • the hand control unit consists of a housing 10, shown only schematically, in which a control stick 20 is held pivotably via a joint.
  • a control stick 20 is held pivotably via a joint.
  • the joystick 20 is a spring-loaded plunger 21 is held, the lower tip 22 sits on a bowl-shaped counter surface, usually by means of Contacting (not shown) switching elements to detect the position the joystick and generating a corresponding electrical signal (For example as described in EP 0 683 906 B1 mentioned at the beginning).
  • the joint has a central region, which is the first cylinder 31 to control the stick 20 encloses and fixed over a first width B1.
  • the joint is held by means of an edge region designed as a second cylinder 32, vulcanized, for example.
  • the connection area 32 between these two concentric cylinders 31,32 is a truncated cone with a small wall thickness formed with an opening angle ⁇ , which in the illustrated embodiment the upper edge of the first cylinder 31 with the lower edge of the second Cylinder 32 connects.
  • the joint is preferably a plastic injection molded part made of Netril-Butadiene Rubber (NBR).
  • connection area 33 has a wall thickness from about 2 mm to about the same order of magnitude as the wall thickness of the two cylinders 31 and 32, so that a relatively filigree joint is created that Pivots of the control stick 20 reacted easily and sensitively.
  • the joint 30 forms a floating bearing of the joystick in that the pivot point X, as defined in Figure 1, when pivoting about the Angle ⁇ according to FIG. 2 does not necessarily have to remain stationary, but as in illustrated embodiment has migrated slightly upwards. This takes place its reason for the most part in the relatively sensitive narrow-walled design of the connecting area 33.
  • Such longitudinal or transverse displacements but compensated by the fact that the spring-loaded plunger 21 on the supports shell-like inner surface of the lower housing part and thus a counter bearing forms, sliding out of the lower end of the joystick 20, as illustrated by dimension L2 compared to dimension L1 in FIG. 1.
  • connection area (33A) is almost exclusively stretched, i.e. in the plane of it Wall expansion, whereas the opposite area (33B) is a kind Wrinkle forms in which a certain accumulation of material occurs. That kind of Stress has proven to be "gentle" in that it is a long stability of the joint can be expected while being more sensitive Handling.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Position Input By Displaying (AREA)
  • Switches With Compound Operations (AREA)

Abstract

A manual control device comprises a joystick with a plastic linkage that enables it to be moved in two dimensions within a housing. The sleeve type linkage has an inner region that encloses the joystick and an outer region that is fixed to the housing. The inner and outer regions are formed as concentric first and second cylinders (31, 32) with the connection region (33) between the cylinders having the shape of a truncated cone.

Description

Technischer HintergrundTechnical background

Handsteuergeräte mit einem Steuerknüppel werden beispielsweise eingesetzt im Bereich der industriellen Steuerungstechnik zur Steuerung von Baumaschinen oder auch Industrie-Robotern. Die zweidimensionalen Bewegungen des Steuerknüppels (Joystick) werden hierbei über Kontakte oder Relais in elektrische Signale umgesetzt, die insbesondere drahtlos mittels eines Fernsteuersenders an einen Empfänger im oder am zu steuernden Industriegerät übertragen werden und dort eine entsprechende Bewegung, beispielsweise Auslenkung eines Arbeitsarms, veranlassen.Manual control devices with a joystick are used, for example, in the Area of industrial control technology for controlling construction machinery or also industrial robots. The two-dimensional movements of the joystick (Joystick) are converted into electrical signals via contacts or relays, which in particular wireless to a receiver by means of a remote control transmitter are transmitted in or on the industrial device to be controlled and there a corresponding one Initiate movement, for example deflection of a working arm.

Zur Schwenkbewegung muss der Steuerknüppel in einem Gelenk gehalten sein, das robust, schmutzunempfindlich, spritzwasserdicht ist und eine hohe Standfestigkeit aufweist, damit es unter den oft rauhen Einsatzbedingungen im Bereich der industriellen Steuertechnik zuverlässig arbeiten kann.For swivel movement, the joystick must be held in a joint that is robust, insensitive to dirt, splashproof and has a high level of stability so that it can be used under the often harsh operating conditions in the field of industrial Control technology can work reliably.

Stand der TechnikState of the art

Ein erfindungsgemäßes Handsteuergerät zeigt die EP 0 683 906 B1. Hier ist das Gelenk als Elastomergelenk ausgebildet, dessen Querschnittsgestaltung so ausgelegt ist, dass bei maximaler Auslenkung des Steuerknüppels eine im wesentlich geradlinige Oberflächenschnittlinie im Bereich größter Dehnung entsteht, bei zunehmender Vertiefung des auf Stauchung beanspruchten gegenüberliegenden Bereichs.A hand control device according to the invention is shown in EP 0 683 906 B1. Here it is Joint formed as an elastomeric joint, the cross-sectional design designed so is that at maximum deflection of the joystick an essentially straight line Surface cut line in the area of greatest stretch arises with increasing Deepening of the opposite area stressed by compression.

Diese Lösung ermöglicht eine gute Beibehaltung eines fixen Gelenkpunktes auch in der verschwenkten Position des Steuerknüppels, die relativ voluminöse Ausgestaltung des Elastomergelenks führt allerdings zu einer großvolumigen Stauchung oder Streckung der verschiedenen Bereiche bei deren Beanspruchung bei der Verschwenkung, die bei häufiger Beanspruchung zu einer Ermüdung dieses Elastomergelenks führt. This solution enables good retention of a fixed hinge point even in the pivoted position of the joystick, the relatively voluminous design of the elastomer joint, however, leads to a large-volume compression or Extension of the different areas when they are subjected to the pivoting, that with frequent use leads to fatigue of this elastomer joint leads.

Darstellung der ErfindungPresentation of the invention

Aufgabe der Erfindung ist daher, das vorbekannte Elastomergelenk so weiterzubilden, dass eine höhere Zuverlässigkeit und höhere Standfestigkeit erreicht wird.The object of the invention is therefore to develop the known elastomeric joint in such a way that higher reliability and greater stability are achieved.

Erfindungsgemäß wird diese Aufgabe gemäß dem kennzeichnenden Teil des Patentanspruchs 1 gelöst.According to the invention, this object is achieved according to the characterizing part of the patent claim 1 solved.

Der Grundgedanke der Erfindung ist darin zu sehen, dass durch die relativ schmalwandige Gestaltung des bei Verschwenkung beanspruchten Verbindungsbereichs in Form eines Kegelstumpfmangels genauer definierte Beanspruchungsbereiche entstehen, die vorwiegend als auf Dehnung beanspruchte Wandungen einerseits und als gelenkartige, relativ gering volumige Stauchbereiche andererseits definiert sind.The basic idea of the invention is to be seen in the fact that the relatively narrow-walled Design of the connection area used when pivoting Form of a truncated cone defect, more precisely defined stress areas arise, the walls predominantly used as stretching on the one hand and are defined as articulated, relatively low volume compression areas on the other hand.

Im Zusammenhang mit einer geeigneten Wahl des Öffnungswinkels des kegelstumpfartigen Verbindungsbereichs, des Materials des Gelenks und der Wandstärke des Verbindungsbereichs lassen sich die gestellten Anforderungen lösen.In connection with a suitable choice of the opening angle of the truncated cone Connection area, the material of the joint and the wall thickness of the connection area the requirements can be solved.

Kurze Beschreibung der ZeichnungenBrief description of the drawings

Ein bevorzugtes Ausführungsbeispiel der erfindungsgemäßen Lösung wird nun anhand von Zeichnungen näher erläutert, es zeigen:

Figur 1:
Eine schematische Schnittdarstellung des Steuerknüppels mit Gelenk in Normal/Ruhestellung, und
Figur 2:
eine Schnittdarstellung des Steuerknüppels der Figur 1 in ausgelenkter Position.
A preferred embodiment of the solution according to the invention will now be explained in more detail with reference to drawings, in which:
Figure 1:
A schematic sectional view of the joystick with joint in normal / rest position, and
Figure 2:
a sectional view of the joystick of Figure 1 in the deflected position.

Beschreibung des AusführungsbeispielsDescription of the embodiment

Das Handsteuergerät besteht aus einem nur schematisch dargestellten Gehäuse 10, in dem über ein Gelenk ein Steuerknüppel 20 verschwenkbar gehalten ist. Im Steuerknüppel 20 ist ein federbeaufschlagter Stössel 21 gehalten, dessen untere Spitze 22 auf einer schalenförmigen Gegenfläche aufsitzt, über die in der Regel mittels Kontaktierung von (nicht dargestellten) Schaltelementen eine Erkennung der Position des Steuerknüppels und Erzeugung eines entsprechenden elektrischen Signals erfolgt (beispielsweise wie in der eingangs genannten EP 0 683 906 B1 beschrieben).The hand control unit consists of a housing 10, shown only schematically, in which a control stick 20 is held pivotably via a joint. In the joystick 20 is a spring-loaded plunger 21 is held, the lower tip 22 sits on a bowl-shaped counter surface, usually by means of Contacting (not shown) switching elements to detect the position the joystick and generating a corresponding electrical signal (For example as described in EP 0 683 906 B1 mentioned at the beginning).

Das Gelenk besitzt einen Mittelbereich, der als erster Zylinder 31 den Steuerknüppel 20 über eine erste Breite B1 umschließt und fixiert. Am umgebenden Gehäuse 10 ist das Gelenk mittels eines als zweiter Zylinder 32 ausgebildeten Randbereichs gehalten, beispielsweise einvulkanisiert. Der Verbindungsbereich 32 zwischen diesen beiden konzentrisch liegenden Zylindern 31,32 ist als Kegelstumpf mit geringer Wandstärke mit einem Öffnungswinkel α ausgebildet, der beim dargestellten Ausführungsbeispiel den oberen Rand des ersten Zylinders 31 mit dem unteren Rand des zweiten Zylinders 32 verbindet. Das Gelenk ist vorzugsweise ein Kunststoff-Spritzgussteil aus Netril-Butadien Rubber (NBR). Der Verbindungsbereich 33 weist eine Wandstärke von etwa 2 mm auf, etwa in der gleichen Größenordnung liegt die Wandstärke der beiden Zylinder 31 und 32, so dass ein relativ filigranes Gelenk entsteht, das auf Verschwenkungen des Steuerknüppels 20 leicht und empfindlich reagiert.The joint has a central region, which is the first cylinder 31 to control the stick 20 encloses and fixed over a first width B1. On the surrounding housing 10 the joint is held by means of an edge region designed as a second cylinder 32, vulcanized, for example. The connection area 32 between these two concentric cylinders 31,32 is a truncated cone with a small wall thickness formed with an opening angle α, which in the illustrated embodiment the upper edge of the first cylinder 31 with the lower edge of the second Cylinder 32 connects. The joint is preferably a plastic injection molded part made of Netril-Butadiene Rubber (NBR). The connection area 33 has a wall thickness from about 2 mm to about the same order of magnitude as the wall thickness of the two cylinders 31 and 32, so that a relatively filigree joint is created that Pivots of the control stick 20 reacted easily and sensitively.

Das Gelenk 30 bildet insofern eine schwimmende Lagerung des Steuerknüppels, als der Gelenkpunkt X, wie er in Figur 1 definiert ist, bei einer Verschwenkung um den Winkel β gemäß Figur 2 nicht zwangsläufig ortsfest bleiben muss, sondern wie im dargestellten Ausführungsbeispiel geringfügig nach oben gewandert ist. Dies findet seinen Grund zum großen Teil in der relativ empfindlichen schmalwandigen Ausführung des Verbindungsbereichs 33. Derartige Längs- oder Querverschiebungen werden aber dadurch kompensiert, dass sich der federbeaufschlagte Stössel 21 auf die schalenartige Innenfläche des unteren Gehäuseteils abstützt und so ein Gegenlager bildet, wobei er sich aus dem unteren Ende des Steuerknüppels 20 herausschiebt, wie durch das Maß L2 gegenüber dem Maß L1 in Figur 1 verdeutlicht wird.The joint 30 forms a floating bearing of the joystick in that the pivot point X, as defined in Figure 1, when pivoting about the Angle β according to FIG. 2 does not necessarily have to remain stationary, but as in illustrated embodiment has migrated slightly upwards. This takes place its reason for the most part in the relatively sensitive narrow-walled design of the connecting area 33. Such longitudinal or transverse displacements but compensated by the fact that the spring-loaded plunger 21 on the supports shell-like inner surface of the lower housing part and thus a counter bearing forms, sliding out of the lower end of the joystick 20, as illustrated by dimension L2 compared to dimension L1 in FIG. 1.

Die Schnittdarstellung der Figur 2 zeigt, dass der eine Teil des Verbindungsbereichs (33A) nahezu ausschließlich auf Dehnung beansprucht wird, also in der Ebene seiner Wandungsausdehnung, wogegen der gegenüberliegende Bereich (33B) eine Art Gelenkfalte ausbildet, in der eine gewisse Materialanhäufung auftritt. Diese Art der Beanspruchung hat sich als "schonend" insofern herausgestellt, als dass sie eine lange Standfestigkeit des Gelenks erwarten lässt bei gleichzeitig einfacher sensibler Handhabung.The sectional view of Figure 2 shows that part of the connection area (33A) is almost exclusively stretched, i.e. in the plane of it Wall expansion, whereas the opposite area (33B) is a kind Wrinkle forms in which a certain accumulation of material occurs. That kind of Stress has proven to be "gentle" in that it is a long stability of the joint can be expected while being more sensitive Handling.

Die dargestellte Anordnung des Kegelstumpfmantels mit seinem oberen Ende zum oberen Ende des Steuerknüppels 20 hin zeigend bewirkt einen hohen Widerstand des Steuerknüppels gegen axiale Zugbeanspruchung (Herausziehen aus dem Gehäuse). Gegen axiale Druckbeanspruchung (Hineindrücken in das Gehäuse), die durch diese Formgebung weniger behindert wird, ist vorgesehen, dass dies durch eine Begrenzung der Verschiebelänge L des Stössels 21 vermieden wird.The arrangement shown of the truncated cone with its upper end to Pointing the upper end of the joystick 20 causes a high resistance of the control stick against axial tensile stress (pulling out of the housing). Against axial pressure (pushing into the housing), the is less hindered by this shape, it is provided that this by a limitation of the displacement length L of the plunger 21 is avoided.

Claims (8)

Handsteuergerät mit einem Steuerknüppel, der mittels eines als Kunststoff-Formteil elastisch ausgebildeten Gelenks in einem Gehäuse um zwei orthogonale Achsen schwenkbar gelagert ist, wobei das Gelenk einen manschettenartig ausgebildeten Mittelbereich aufweist, der den Steuerknüppel umschließt, sowie einen Randbereich, der ortsfest im Gehäuse befestigt ist,
dadurch gekennzeichnet, dass Mittelbereich und Randbereich als konzentrisch verlaufende, erste und zweite Zylinder (31,32) ausgebildet sind, und dass ein bei der Verschwenkung beanspruchter Verbindungsbereich (33) zwischen den Zylindern (31,32) kegelstumpfartig ausgebildet ist.Hand control device with a joystick, which is pivoted about two orthogonal axes in a housing by means of a joint which is elastically formed as a plastic molded part, the joint having a cuff-like central region which encloses the joystick, and an edge region which is fixed in place in the housing .
characterized in that the central region and the edge region are designed as concentric first and second cylinders (31, 32), and in that a connecting region (33) between the cylinders (31, 32) that is subjected to the pivoting is designed as a truncated cone. Handsteuergerät nach Anspruch 1, dadurch gekennzeichnet, dass die Breite (B1) des den Mittelbereich bildenden ersten Zylinders (31) größer ist als die Breite (B2) des den Randbereich bildenden zweiten Zylinders (32).Hand control device according to claim 1, characterized in that the width (B1) of the first cylinder (31) forming the central region is greater than the width (B2) of the second cylinder (32) forming the peripheral region. Handsteuergerät nach Anspruch 1, dadurch gekennzeichnet, dass der Öffnungswinkel (α) des kegelstumpfartigen Verbindungsbereichs (33) 40-60° beträgt.Hand control device according to claim 1, characterized in that the opening angle (α) of the frustoconical connection area (33) is 40-60 °. Handsteuergerät nach Anspruch 1, dadurch gekennzeichnet, dass sich der Verbindungsbereich (33) in Richtung zum oberen Ende des Steuerknüppels (20) hin verjüngt.Hand control device according to claim 1, characterized in that the connecting region (33) tapers towards the upper end of the control stick (20). Handsteuergerät nach Anspruch 1, dadurch gekennzeichnet, dass das Kunststoff-Formteil aus Netril Butadien Rubber (NBR) ist.Hand control device according to claim 1, characterized in that the plastic molded part is made of Netril Butadiene Rubber (NBR). Handsteuergerät nach Anspruch 1, dadurch gekennzeichnet, dass die mittlere Stärke der Wandung des Verbindungsbereichs (33) etwa 2 mm beträgt. Hand control device according to claim 1, characterized in that the average thickness of the wall of the connecting region (33) is approximately 2 mm. Handsteuergerät nach Anspruch 1, dadurch gekennzeichnet, dass im unteren Ende des Steuerknüppels (20) ein federbeaufschlagter Stössel (21) gelagert ist, dessen untere Spitze (22) ein Gegenlager zum Gelenk derart bildet, dass es vertikale und/oder horizontale Verschiebungen des Gelenkpunktes (X) beim Verschwenken des Steuerknüppels (20) kompensiert.Hand control device according to claim 1, characterized in that a spring-loaded plunger (21) is mounted in the lower end of the control stick (20), the lower tip (22) of which forms a counter bearing to the joint in such a way that it displaces the joint point vertically and / or horizontally ( X) compensated when swiveling the control stick (20). Handsteuergerät nach Anspruch 7, dadurch gekennzeichnet, dass der Stössel (21) um eine Mindestlänge (L) aus dem unteren Ende des Steuerknüppels (20) herausragt, um ein Hineindrücken des Steuerknüppels (20) in das Gehäuse zu begrenzen.Hand control device according to claim 7, characterized in that the plunger (21) protrudes from the lower end of the control stick (20) by a minimum length (L) in order to limit pressing of the control stick (20) into the housing.
EP02009532A 2001-06-12 2002-04-26 Manual controller with control lever Withdrawn EP1267241A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10128436A DE10128436C1 (en) 2001-06-12 2001-06-12 Hand control device with a joystick
DE10128436 2001-06-12

Publications (1)

Publication Number Publication Date
EP1267241A1 true EP1267241A1 (en) 2002-12-18

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EP (1) EP1267241A1 (en)
DE (1) DE10128436C1 (en)

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US6624807B2 (en) 2003-09-23
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