EP2469373A1 - Commande manuelle à plusieurs axes - Google Patents

Commande manuelle à plusieurs axes Download PDF

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Publication number
EP2469373A1
EP2469373A1 EP11192934A EP11192934A EP2469373A1 EP 2469373 A1 EP2469373 A1 EP 2469373A1 EP 11192934 A EP11192934 A EP 11192934A EP 11192934 A EP11192934 A EP 11192934A EP 2469373 A1 EP2469373 A1 EP 2469373A1
Authority
EP
European Patent Office
Prior art keywords
shift rod
actuator
control device
actuating member
longitudinal axis
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
Application number
EP11192934A
Other languages
German (de)
English (en)
Other versions
EP2469373B1 (fr
Inventor
Gerhard Schulein
Alwin Ehrensperger
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.)
W Gessmann GmbH
Original Assignee
W Gessmann 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 W Gessmann GmbH filed Critical W Gessmann GmbH
Publication of EP2469373A1 publication Critical patent/EP2469373A1/fr
Application granted granted Critical
Publication of EP2469373B1 publication Critical patent/EP2469373B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
    • 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 invention relates to a manual control device, which has an actuating member which is pivotally mounted on a shift rod about at least one perpendicular to the longitudinal axis of the shift rod actuator pivot axis, wherein the shift rod relative to a base body of the manual control device movably mounted around or along a plurality of shift rod movement axes is, and wherein return means are provided, by means of which the deflected from a rest position about the actuator pivot axis actuator is traceable to the rest position.
  • Such hand control devices are used, for example, to control handling equipment, cranes, vehicles, aircraft, etc. They are sometimes referred to as composite drives and can be designed as a joystick or joysticks, etc.
  • the actuator of the manual control device z.
  • As an actuating cap, a handle, etc., is mounted to a plurality of axes of movement relative to a base body of the manual control device movable. An actuation of the actuator to one of the axes of motion causes z.
  • Legs Control of an object to be handled about an object-related movement axis, which is assigned to the actuated movement axis.
  • the individual movement axes can each have different controls, eg. As elevator or ailerons, etc. of an aircraft, be assigned.
  • a generic hand control device is from the US 4,555,960 known.
  • the hand control unit described there is designed as a 6-axis control stick for an aircraft.
  • An actuating cap of the joystick is movable relative to a base body about or along six different axes of movement.
  • the actuator is pivotally mounted at one end of a shift rod about two actuator pivot axes and the shift rod in turn is pivotally mounted on the body about two more shift rod pivot axes. Due to the spatial separation of the bearing for the actuator pivot axes and the shift rod pivot axes they can be operated independently by an operator without difficulty.
  • the actuator pivot axes are each provided with a return unit, which returns the deflected from a rest position actuator each spring-loaded in the rest position.
  • the return units are formed by a drive pin, two pivotally arranged to each other Auslenkarmen and a tensioned between the Auslenkarmen spring element.
  • the drive pin is fixedly connected to a pivot shaft of the associated actuator pivot axis.
  • a deflection of the pivot shaft from the rest position causes via the drive pin a deflection of one of the deflection arms with pulling apart of the arranged between them Spring element.
  • the tensioned spring element causes a restoring force for the actuator.
  • the return means of the joystick according to the US 4,555,960 are built relatively complex and prone to failure.
  • the invention has set itself the goal of obtaining a hand control device which has robust and at the same time compact design return means for at least one actuator pivot axis.
  • the object is achieved in that the return means have at least two spring elements, which are arranged opposite to a deflection of the actuator from the rest position or zero position about the actuator pivot axis and opposite to each other radially to the longitudinal axis of the shift rod.
  • a spring element for returning the actuator is used in a deflection of the actuator to the associated actuator pivot axis in a pivoting direction and the other spring element in the opposite pivoting direction. In this way, simply constructing spring elements can be used, which must be effective only in a direction of loading.
  • a particularly play-free installation of the spring elements results in a preferred embodiment of the invention, in which the spring elements, at least in the rest position of the actuating member have a mutually compensating bias.
  • the return means are designed such that a first spring element is deformable by a deflection of the actuating member about the actuating member pivot axis in a pivoting direction, wherein the second spring element is prevented by means of an end stop on a deformation.
  • the second spring element deformable, wherein the first spring element is prevented by means of an end stop at a deformation.
  • all actuator movement axes and shift rod movement axes are each provided with separate return means.
  • the restoring forces that can be generated by the return means are preferably matched to one another in such a way that the risk of unintentionally actuating a movement axis when another is actuated is reduced.
  • the restoring forces felt by the operator on the actuating member are at least partially different in size, for example, the restoring forces for the actuating member pivot axes are noticeably smaller than those for switching rod pivot axes.
  • the restoring forces which result in the deflection of the actuator to an actuator pivot axis, much smaller than the restoring forces, which result in the deflection of the actuator to a - at least in the rest position of the actuator parallel - shift rod pivot axis.
  • an embodiment of the invention is characterized in which the actuator members pivot axes associated spring elements are supported at one end to one and the same component.
  • this component is formed by a bearing ring, on whose opposite end faces in each case a pair of spring elements abuts.
  • the shift rod is rotatably mounted on the base body about a coincident with the longitudinal axis of the shift rod shift rod rotation axis.
  • the shift rod rotation axis is advantageously provided with return means, which counter to a deflection about the shift rod rotation axis from a rest position are effective.
  • a particularly compact construction of the manual control device results in that the return means, which are associated with the axis of rotation, and the spring elements, which are associated with one of the actuator pivot axes, at least partially overlap each other along the longitudinal axis of the shift rod.
  • FIG. 1 shows a sectional view of a manual control unit 1.
  • the manual control unit 1 also called compound drive, is used for controlling z.
  • the manual control unit 1 is provided with a trained as an actuator cap actuator 2.
  • the actuator 2 is placed on a mounting plate 3 and fastened there by means of a screw, not shown.
  • the fixing plate 3 is in turn firmly connected by means of screws 4 with an actuator-hinge piece 5 is.
  • the actuator-hinge piece 5 is surrounded by a bearing ring 6, which in turn is arranged in an actuator-receiving sleeve 7.
  • the actuator-receiving sleeve 7 is rotatably mounted on one end of a shift rod 10 and axially immovable.
  • a grub screw 8 ( FIG. 2 ) is used to attach the actuator-receiving sleeve 7 to the shift rod 10.
  • a centering sleeve 11 (in FIG. 2 not shown) surrounds a lower, narrower portion of the actuator-receiving sleeve 7.
  • On the actuator-receiving sleeve 7 follows along the longitudinal axis 12 of the shift rod 10, a shift rod slider 13 which surrounds the shift rod 10 in sections.
  • the hand control unit 1 has a base body 14 and a shift rod bearing device 15 accommodated in the base body 14.
  • the base body 14 is provided with a mounting flange 16 on its upper side or on the side facing the actuating member 2.
  • the shift rod support 15 includes a shift rod pivot bracket 17, an annular shift rod link 18, and a shift rod pivot sleeve 19.
  • FIG. 2 which shows a sectional view of the manual control device 1 along a sectional plane, which in relation to the sectional plane according to FIG. 1 rotated by 90 °, it can be seen that the bearing ring 6 is pivotally mounted on the actuator-receiving sleeve 7 by means of two pivot bearing pins 28 about a second actuator pivot axis 29.
  • the pivot bearing pins 28 are arranged in cylindrical recesses 30 on the bearing ring 6 and in cylindrical recesses 31 on the actuator-receiving sleeve 7.
  • Grub screws 32 are used to fix the pivot bearing pins 28 in the cylindrical recesses 31 on the actuator-receiving sleeve 7.
  • the second actuator pivot axis 29 is also perpendicular to the longitudinal axis 12 of the shift rod 10 and in the plane of the FIG. 2 ,
  • the second actuator pivot axis 29 is perpendicular to the first actuator pivot axis 24 each other.
  • the actuator 2 is ever in both pivoting directions by an angle up to a maximum of about 20 ° about the actuator pivot axes 24, 29, starting from a in the FIGS. 1 and 2 shown rest position or zero position pivotable.
  • the actuating member 2 is further movably mounted together with the shift rod 10 around or along four different shift rod movement axes relative to the main body 14.
  • the shift rod 10 is coincident with a with the longitudinal axis 12 of the shift rod 10 Shift rod rotation axis 34 rotatably mounted on the shift rod slider 13 and on the shift rod joint sleeve 19.
  • the shift rod 10 including the shift rod pivot sleeve 19 is pivotally mounted to the main body 14 via the shift rod link 18 about a first shift rod pivot axis 36.
  • the first shift rod pivot axis 36 extends in the plane of the FIG. 1 .
  • the shift rod joint piece 18 is pivotally mounted on the base body 14 about the first shift rod pivot axis 36 by means of two screw-in pivot bearing pins (not shown).
  • the first shift rod pivot axis 36 extends perpendicular to the longitudinal axis 12 of the shift rod 10. In this rest position, it also extends parallel to the first actuator pivot axis 24th
  • shift rod 10 is mounted on the shift rod pivot piece 18 about a second shift rod pivot axis 37, which in the plane of the FIG. 2 , and perpendicular to the first shift rod pivot axis 36 extends. In the rest position of the manual control device 1, it is also directed parallel to the second actuator pivot axis 29.
  • the pivot bearing defining the second shift rod pivot axis 37 is formed by two pivot bearing pins (not shown) that can be screwed into corresponding recesses on the shift rod pivot 18 and on bearing extensions of the shift rod pivot sleeve 19 ( FIG. 2 ).
  • the shift rod-Schenkbügel 17 is pivotally mounted about the second shift rod pivot axis 37 on the body by means not shown, screw-in pivot bearing pins.
  • Free postings 39 ( FIG. 1 , there only indicated) on the shift rod joint piece 18 ensure undisturbed pivoting of the shift rod 10 including shift rod joint sleeve 19 relative to the shift rod joint piece 18 to the second shift rod pivot axis 37th
  • the actuator 2 is thus movable relative to the main body 14 about the first and second actuator pivot axis 24, 29, the shift rod rotation axis 34, the first and second shift rod pivot axis 36, 37 and along the shift rod translation axis 35. Overall, therefore, results in a 6-axis manual control unit.
  • the actuator pivot axes 24, 29 and the shift rod rotation axis 34 intersect in a central point of attack 38 of the actuator 2. From the FIGS. 1 and 2 It can be seen that the components associated with the actuator pivot axes 24, 29 are compact are housed in the trained as an actuating cap actuator 2.
  • first and second shift rod pivot axis 36, 37 cut the shift rod 10 at a significantly greater distance to the central point 38 of the actuator 2, so that the actuator 2 in a pivoting movement about one of the shift rod pivot axes 36, 37 on a circular path with a relatively large radius moves.
  • the distance or pivot lever is different depending on the position of the actuator 2 along the shift rod translation axis 35. In all positions of the actuator 2 along the shift rod translation axis 35, the distance or pivot lever but still much larger than that of the actuator pivot axes 24, 29th
  • the actuator pivot axes 24, 29 and the shift rod pivot axes 36, 37 can be operated independently.
  • the restoring forces of the return means described below are coordinated so that an operation in particular the Betuschistsorgan- and the shift rod pivot axes 24, 29, 36, 37 independently without difficulty is possible by the restoring forces, which in the deflection of the actuator 2 to one of the actuator pivot axes 24, 29 result, are noticeably smaller for the operator than those restoring forces, which result in the deflection of the actuator 2 to one of the shift rod pivot axes 36, 37.
  • Each of the movement axes 24, 29, 34 to 37 are each associated with return means 40.
  • return means 40 that is from a rest position referred to the associated movement axis 24, 29, 34 to 37 deflected actuator 2 traceable to the rest position.
  • the return means 40 for the first actuator pivot axis 24 have two radially to the longitudinal axis 12 of the shift rod 10 oppositely arranged spring elements in the form of helical compression springs 41 ( FIG. 2 ).
  • the two helical compression springs 41 are radially spaced from the longitudinal axis 12 of the shift rod 10 to the same extent.
  • Their tension axles 42 and / or spring axles run parallel to the longitudinal axis 12 of the shift rod 10.
  • the helical compression springs 41 are supported on the actuating member 2, while at the other end the helical compression springs 41 are supported via abutment tappets 43 on the upper end face of the bearing ring 6.
  • the plunger 43 are guided displaceably in cylindrical plunger mounts 45 on the mounting plate 3.
  • the plunger seat 45 thus forms an end stop for the plunger 43 and for the left helical compression spring 41, on which the plunger 43 is disposed when the actuator 2 is arranged in the rest position and which, starting from the rest position, prevents decompression of the left helical compression spring 41.
  • the restoring force constituted by the compression of the right helical compression spring 41 counteracts the deflection movement of the actuating member 2 and, when the operator releases the actuating member 2, causes a return movement of the actuating member 2 into the in FIG. 2 shown rest position. Analogous conditions arise in a counterclockwise pivoting movement in FIG. 2 In this case, only the left helical compression spring 41 is effective.
  • the return means 40 which are associated with the second actuator pivot axis 29, are similar to the above-described return means 40 of the first actuator pivot axis 24 is formed. They likewise comprise two spring elements in the form of helical compression springs 50 (FIG. FIG. 1 ).
  • the helical compression springs 50 are also arranged radially opposite to the longitudinal axis 12 of the shift rod 10 and have the same radial distance from the longitudinal axis 12 of the shift rod 10.
  • the clamping axes 51 of the helical compression springs 50 are perpendicular to the second actuator pivot axis 29 and parallel to the longitudinal axis 12 of the shift rod 10.
  • the helical compression springs 50 are supported at one end to a bracket 55, the other end on abutment ram 52 on the lower end face of the bearing ring. 6
  • the bracket 55 is guided by about 190 ° to the lower portion of the actuator-receiving sleeve 7.
  • the bracket 55 is fixedly connected to the upper portion of the actuator-receiving sleeve 7, which has a larger diameter than the lower portion.
  • the lower ends of the helical compression springs 50 are fastened to the bracket 55 by means of rivet pins 64.
  • the abutment plungers 52 of the helical compression springs 50 are displaceably guided in plunger mounts 54 on the actuating member receiving sleeve 7.
  • the plunger mounts 54 form analogous to the plunger mounts 45 on the mounting plate 3 end stops for the plunger 52 from which abut the plunger 52 in the rest position of the actuator 2.
  • FIG. 1 left helical compression spring 50 counteracts a deflection of the actuator 2 to the second actuator pivot axis 29 counterclockwise according to FIG. 1
  • FIG. 1 right helical compression spring 50 counteracts a deflection of the actuator in the clockwise direction according to FIG. 1
  • the helical compression springs 50 are in the in FIG. 1 shown ratios, ie in the rest position of the actuator, provided with a bias. Due to the end stops, once the actuator 2 has left the rest position with respect to the second actuator pivot axis 29, only one of the helical compression springs 50 is effective.
  • the return means 40 associated with the shift rod rotation axis 34 have a leg spring 56 which surrounds the shift rod 10 and the lower (narrower) portion of the actuation member receiving sleeve 7 ( FIG. 2 ). Between the leg spring 56 and the lower portion of the actuator-receiving sleeve 7, an upper and a lower sliding sleeve 65 and 66 are arranged.
  • FIG. 2 It can be seen that the lower sliding sleeve 66 is provided with a radially projecting bearing lug 67.
  • the upper sliding sleeve has a corresponding contact lug (not shown).
  • two drive pins 68 and 69 ( Figures 2 and 4 ) intended.
  • the driver pin 68 is fixedly connected to the actuator-receiving sleeve 7
  • the driver pin 69 is fixedly connected to the shift rod slider 13.
  • the lower end of the leg spring 56 is in a circumferential direction of the shift rod axis of rotation 34 on the contact lug 67 of the lower sliding sleeve 66 on the drive pin 68 ( FIG. 2 ), wherein the upper end of the leg spring 56 in the opposite circumferential direction over the bearing lug (not shown) of the upper sliding sleeve 67 rests against the driving pin 69.
  • the maximum deflection angle of the shift rod rotation axis 34 is limited in both directions by rotation stop means to about 5 °.
  • a rotation stop means the heads 80 ( FIG. 4 ). Heads 80 protrude into lateral notches on the shift rod slider 13. They limit the rotational movement of the actuator 2 about the shift rod pivot 34 by engaging the shift rod assembly at the respective maximum rotational position of the actuator 2. Slider 13 come to rest.
  • FIG. 1 overlap the helical compression springs 50, which are associated with the second actuator pivot axis 29, and the leg spring 56 at least partially along the longitudinal axis 12 of the shift rod 10, so that there is a particularly compact built hand control unit 1.
  • the return means 40 of the shift rod translation axle 35 are formed by two helical compression springs 60 seated on the shift rod 10 and disposed on opposite sides of the shift rod hinge sleeve 19.
  • a helical compression spring 60 is interposed between the shift rod slider 19 and one at a radial one. Paragraph of the shift rod 10 adjacent bearing sleeve 61 supported.
  • the other helical compression spring 60 is supported between an abutment ring 62 attached to the shift rod 10 and an abutment sleeve 63 resting against the shift rod joint sleeve 19.
  • the two helical compression springs are in the in FIGS. 1 and 2 shown rest position of the actuator 2 and the shift rod 10 biased against each other.
  • the return means of the first and second shift rod pivot axis 36, 37 are also formed with spring elements, not shown, which between the shift rod joint piece 18 and the base body 14 for the first shift rod pivot axis 36 and which between the shift rod pivot bracket 17 and the main body 14th are arranged for the second shift rod pivot axis 37.
  • the Figures 3 and 4 show exploded views of the hand control unit 1 from two different directions. From top to bottom are the Figures 3 and 4 the actuator 2, the helical compression springs 41 including the plunger 43, the actuator-hinge piece 5, the bearing ring 6, the actuator-receiving sleeve 7, the helical compression springs 50 including the plunger 52 and the centering sleeve 11 can be seen.
  • a sensor unit 70 based on the Hall effect is provided.
  • the sensor unit 70 has a permanent magnet 71, which is fastened to the underside of the actuator joint piece 6 ( FIG. 1 ).
  • a 2-D Hall sensor 72 is fixed to the permanent magnet 71 opposite to the actuator-receiving sleeve 7.
  • the permanent magnet 71 changes its position relative to the 2-D Hall sensor 72, which then generates a corresponding measurement signal.
  • the 2-D Hall sensor 72 is connected via signal lines, not shown, which are laid through an axial passage opening 73 of the shift rod 10, with an evaluation unit, not shown. This results in a particularly compact sensor unit 70 for the actuator pivot axes 24, 29th
  • a Hall effect based on the sensor unit 74 is also provided.
  • a permanent magnet 75 ( FIG. 4 ) is provided on a along the longitudinal axis 12 of the shift rod 10 extending mounting bar 76, which is firmly bolted to the shift rod slider 13.
  • a Hall-effect sensor (not shown) arranged, which generates measurement signals as a function of the relative position of the permanent magnet 75 and the Hall effect sensor and an evaluation unit via signal lines, not shown, which are also laid through the axial passage opening 73 of the shift rod 10.
  • the actuator 2 may also have other shapes.
  • the actuator 2 may be formed hemispherical.
  • the manual control unit may also be provided with a protective sleeve, which surrounds the actuating rod 2 and the base body 14, in particular the shift rod 10, etc. protective.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Gear-Shifting Mechanisms (AREA)
  • Transmission Devices (AREA)
  • Mechanical Control Devices (AREA)
  • Pivots And Pivotal Connections (AREA)
EP11192934.5A 2010-12-21 2011-12-12 Commande manuelle à plusieurs axes Active EP2469373B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010063746A DE102010063746A1 (de) 2010-12-21 2010-12-21 Mehrachsiges Handsteuergerät

Publications (2)

Publication Number Publication Date
EP2469373A1 true EP2469373A1 (fr) 2012-06-27
EP2469373B1 EP2469373B1 (fr) 2016-03-30

Family

ID=45464239

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11192934.5A Active EP2469373B1 (fr) 2010-12-21 2011-12-12 Commande manuelle à plusieurs axes

Country Status (5)

Country Link
US (1) US8967014B2 (fr)
EP (1) EP2469373B1 (fr)
CN (1) CN102622040B (fr)
DE (1) DE102010063746A1 (fr)
HK (1) HK1174105A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010063746A1 (de) * 2010-12-21 2012-06-21 W. Gessmann Gmbh Mehrachsiges Handsteuergerät
DE202011109036U1 (de) 2011-12-13 2012-10-15 Jan Rotard Bedienorgan mit translatorischen und rotatorischen Freiheitsgraden
DE102015202103A1 (de) * 2015-02-06 2016-08-11 Kässbohrer Geländefahrzeug AG Fahrzeug, insbesondere Kettenfahrzeug zur Schneepistengestaltung und -pflege
EP3460619A4 (fr) * 2016-12-22 2020-01-15 Kubota Corporation Dispositif de direction et machine de travail
EP3908900B1 (fr) * 2019-01-10 2022-09-07 Makersan Makina Otomotiv Sanayi Ticaret Anonim Sirketi Manette mobile selon plusieurs axes présentant une sécurité améliorée
CN111240396B (zh) * 2020-01-21 2021-09-03 连云港杰瑞电子有限公司 一种球面密封式二维自由度操纵杆及操纵方法
CN112306144B (zh) * 2020-10-27 2021-12-14 连云港杰瑞电子有限公司 一种任意驻停式球面二维自由度操纵杆及操纵方法

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US3771037A (en) * 1973-03-15 1973-11-06 Nasa Solid state controller three-axes controller
US4555960A (en) 1983-03-23 1985-12-03 Cae Electronics, Ltd. Six degree of freedom hand controller
EP1898126A2 (fr) * 2006-09-05 2008-03-12 Itt Manufacturing Enterprises, Inc. Levier de vitesse

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Publication number Priority date Publication date Assignee Title
US3771037A (en) * 1973-03-15 1973-11-06 Nasa Solid state controller three-axes controller
US4555960A (en) 1983-03-23 1985-12-03 Cae Electronics, Ltd. Six degree of freedom hand controller
EP1898126A2 (fr) * 2006-09-05 2008-03-12 Itt Manufacturing Enterprises, Inc. Levier de vitesse

Also Published As

Publication number Publication date
US8967014B2 (en) 2015-03-03
HK1174105A1 (zh) 2013-05-31
DE102010063746A1 (de) 2012-06-21
US20120152719A1 (en) 2012-06-21
EP2469373B1 (fr) 2016-03-30
CN102622040B (zh) 2016-04-06
CN102622040A (zh) 2012-08-01

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