EP3881160B1 - Joystick - Google Patents

Joystick Download PDF

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Publication number
EP3881160B1
EP3881160B1 EP19831776.0A EP19831776A EP3881160B1 EP 3881160 B1 EP3881160 B1 EP 3881160B1 EP 19831776 A EP19831776 A EP 19831776A EP 3881160 B1 EP3881160 B1 EP 3881160B1
Authority
EP
European Patent Office
Prior art keywords
handle
springs
face
joystick
neutral position
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.)
Active
Application number
EP19831776.0A
Other languages
German (de)
French (fr)
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EP3881160A1 (en
Inventor
Hervé Carton
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.)
Crouzet Automatismes SAS
Original Assignee
Crouzet Automatismes SAS
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Publication of EP3881160A1 publication Critical patent/EP3881160A1/en
Application granted granted 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
    • 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
    • G05G2009/04707—Mounting of controlling member with ball joint
    • 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
    • G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G2505/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • 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
    • G05G5/06—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in one or a limited number of definite positions only

Definitions

  • the invention relates to a joystick.
  • the male and female parts have corresponding bearing faces facing each other, these bearing faces being shaped to allow, by shape cooperation when they rub against each other, a rotational movement of the handle around one or more axes of rotation fixed with respect to the frame and perpendicular to the axis of the handle.
  • the handle comprises a first flange integral with the handle, this flange having, on each side of the handle, an upper face facing the upper part of the handle and a lower face facing the lower part of the handle.
  • the joystick comprises a first set of springs interposed between the fixed frame and the upper face of the rim, this first set of springs comprising one or more springs uniformly distributed around a vertical axis, this vertical axis being coincident with the axis of the handle when this handle is in the neutral position
  • This first set of springs is arranged so as to exert on the handle, in its inclined position, a mechanical moment which urges the handle towards its neutral position and, at the same time, a first vertical force, parallel to the vertical axis, which pushes the support face integral with the handle towards the support face integral with the frame.
  • Such joysticks are for example disclosed in DE9105251U1 Where DE102015102317A1 .
  • the invention aims to solve this problem by proposing a joystick in which the friction exerted on the bearing surfaces of the joint is limited. To this end, it relates to a joystick according to claim 1.
  • Embodiments of this joystick may include one or more of the features of the dependent claims.
  • the figure 1 to 4 represent a joystick 2 comprising a handle 4 and a fixed frame 6.
  • the handle 4 is movable in rotation, around a center 8 of rotation, between a neutral position, represented on the figures 1 and 4 and a reclined position, shown on the picture 3 .
  • the neutral position corresponds to the angular position occupied by the handle 4 in the absence of external stress and therefore when the handle 4 is not manipulated by a user.
  • the user is a human being.
  • the handle 4 extends mainly along an axis 10 from an upper part 12 to a lower part 14. Typically, the axis 10 passes through the center 8.
  • the axis 10 coincides with a vertical axis 20.
  • the axis 20 is fixed without any degree of freedom to the frame 6.
  • the vertical direction is marked by a direction Z of an orthogonal reference mark X, Y, Z.
  • the directions X and Y are horizontal and perpendicular to each other .
  • the Y direction is perpendicular to the plane of the sheet. Terms such as upper, lower, above, below, up and down and the like are defined with respect to the Z direction.
  • the position of the stick 4 corresponds to the angle ⁇ (see picture 3 ) between axes 10 and 20.
  • the upper part 12 comprises a gripping means which allows the user to move the handle 4 by hand between its inclined position and its neutral position.
  • the upper part 12 comprises a rod 22 which protrudes beyond the upper horizontal face 24 of the frame 6.
  • the handle 4 can pivot around all the horizontal axes passing through the center 8.
  • the handle 4 is mechanically connected to the frame 6 via a hinge 26.
  • Joint 26 forms a ball joint allowing all possible degrees of freedom in rotation around center 8 and no degree of freedom in translation.
  • no degree of freedom in translation means the fact that the maximum amplitudes of the displacements in translation along the directions X, Y and Z are negligible.
  • a displacement in translation is considered negligible if, for example, its amplitude is less than 5 mm and, preferably, less than 2 mm or 1 mm.
  • the joint 26 comprises a male part 28 and a female part 30.
  • the male part 28 is fixed without any degree of freedom to the lower part 14 of the handle 4.
  • the female part 30 is fixed without any degree of freedom. freedom to the chassis 6.
  • the male part 28 is received inside the female part 30.
  • the male part 28 comprises a bearing face 32 facing a corresponding bearing face 34 of the female part 30.
  • the bearing faces 32 and 34 are shaped to allow, by shape cooperation, only the degrees of freedom in rotation of the handle 4.
  • the faces 32 and 34 are formed by portions, respectively, of a first and a second sphere centered on the center 8 in the neutral position.
  • the face 32 is divided into an upper portion 36 and a lower portion 38.
  • the portions 36 and 38 are symmetrical to each other with respect to a horizontal plane passing through the center 8 when the handle is in its position. neutral.
  • Portion 36 corresponds to the band of a sphere located between two parallel and horizontal planes which intersect this sphere above its center. The center of this sphere coincides with the center 8.
  • the distance between these two horizontal planes is greater than 2 mm or 3 mm.
  • the diameter of the sphere is for example between 5 mm and 10 cm and, generally, close to 10 mm.
  • the portions 36 and 38 are separated from each other by a circular flange 40.
  • the flange 40 is centered on the axis 10 and goes completely around the axis 10.
  • the flange 40 extends mainly in a plane perpendicular to the axis 10 and passing through the center 8.
  • This rim 40 has an upper face 42 ( picture 2 ) and an underside 44 ( figure 2 ) parallel to each other. In the neutral position, the faces 42 and 44 are horizontal. In this neutral position, the face 44 is the symmetrical face 42 with respect to a horizontal plane passing through the center 8.
  • the face of the flange 40 which connects these faces 42 and 44 to each other is, for example, vertical in the position neutral.
  • the face 34 of the female part 30 is divided between an upper portion 50, located opposite the portion 36, and a lower portion 52 located opposite the portion 38.
  • the portion 52 is the mirror image of portion 50 with respect to a horizontal plane passing through center 8.
  • Portion 50 corresponds to the strip of a sphere between two horizontal planes which intersect the sphere above its center. The center of this sphere coincides with the center 8.
  • the vertical distance between these two horizontal planes is, in this embodiment, less than the distance between the two horizontal planes which define the portion 36.
  • this vertical distance is chosen so that all of this portion 50 can come to bear on the portion 36 in particular in the neutral position.
  • the portion 50 is separated from the portion 36 by a clearance J ( figure 1 ).
  • This clearance J is greater than 0.05 mm or 0.1 mm and preferably greater than 0.2 or 0.3 mm.
  • This clearance J is also generally less than 2 mm or 1 mm or 0.5 mm.
  • the clearance J corresponds to the thickness of the line which separates the bearing faces 32 and 34.
  • the handle 4 also includes a pusher 54 which can be moved in translation along the axis 10 between a depressed position, represented on the figure 4 , and a rest position represented on the figures 1 and 3 .
  • the pusher 54 comprises the rod 22 and a slider 56.
  • the pusher 54 is movable from its rest position to its depressed position by the hand of a user who pushes the rod 22 towards the inside of the frame 6. Conversely , the pusher 54 automatically returns to its rest position as soon as the user releases the rod 22.
  • the lower part 14 comprises a slider 58 arranged to allow sliding of the slider 56 along the axis 10 of the handle 4.
  • the slide 58 is here a cylindrical hole dug along the axis 10 and which crosses right through the lower part 14. By way of illustration, the cross section of this cylindrical hole is circular.
  • the slider 56 is here an essentially cylindrical part received inside the slider 58.
  • the slider 56 has an upper end 60 and a lower end 62.
  • the rod 22 is fixed without any degree of freedom on the upper end 60.
  • the upper end 60 is located in the extension of the portion 36 of the bearing face 32.
  • part of the end 60 is opposite the portion 50.
  • the lower end 62 When the pusher 54 is in the rest position, the lower end 62 is located in the extension of the portion 38 of the bearing face. Thus, in the inclined position ( picture 3 ), a part of the lower end 62 is located opposite the portion 52. Under these conditions, in the inclined position, the portion 52 forms a stop which prevents the movement of the pusher 54 in its depressed position.
  • the joystick 2 is arranged to allow the movement of the pusher 54 to its depressed position, only when the handle 4 is in its neutral position.
  • the frame 6 comprises a housing 66 comprising an upper opening which opens out vis-à-vis the lower end 62 when the handle 4 is in its neutral position.
  • this housing 66 is adapted to receive the lower end 62 when the pusher 54 is in its depressed position.
  • this housing 66 is centered on the axis 20 and extends in the direction Z. The dimensions of its cross section are slightly greater than the dimensions of the cross section of the lower end 62 to allow the movement of the pusher 54 in its depressed position only when the handle 4 is in its neutral position.
  • the hole 70 opens into a lower end of the slider 56.
  • the flat bottom 72 of the hole 70 is located on the side opposite this lower end of the slider.
  • the groove 74 extends parallel to the axis 10 over a distance greater than or equal to the length of the stroke of the pusher 54 between its rest and depressed positions. Groove 74 passes through hole 70.
  • the pin 76 is fixed without any degree of freedom to the slide 58. When the pusher 54 is moved between its rest positions and depressed, this pin slides inside the groove 74. Thus, it does not hinder the movement of pusher 54.
  • spring 78 When pusher 54 is moved to its depressed position, spring 78 is compressed between bottom 72 and pin 76 and therefore stores potential energy. When the user releases rod 72, spring 78 relaxes, which automatically returns pusher 54 to its rest position.
  • the joystick 2 uses the same permanent magnet 80 and the same electronic circuit 82.
  • the magnet 80 is fixed without any degree of freedom on the lower end 62.
  • the electronic circuit 82 is housed inside the housing 66.
  • This circuit 82 comprises a sensor 84 of magnetic field. Typically, it is a triaxial magnetometer. The circuit 82 is able, from the measurements made by the sensor 84, to establish both the angular position of the handle 4 and to detect the depressed position of the pusher 54.
  • the lower part 14 includes a pin 90 and the frame 6 includes a vertical groove 92.
  • a left end of the pin 90 is slidably received at the inside the groove 92.
  • the width of the groove 92 is 1.05 times greater than the width of the left end of the pin 90.
  • the left end of the pin 90 can also turn on itself at inside the groove 92.
  • the cross section of this left end is circular.
  • pin 90 The right end of pin 90 is fixed without any degree of freedom to lower part 14 of handle 4.
  • pin 90 extends horizontally, parallel to direction X when handle 4 is in its neutral position.
  • the pin 90 extends in the horizontal plane containing the center 8.
  • the flange 40 has a notch 94 ( figure 2 ) for the passage of piece 90.
  • the left end of the pin 90 slides inside the groove 92.
  • the left end of the pin 90 rotates on itself inside the groove 92.
  • the pin 90 allows the rotational movements of the handle 4 around any horizontal axis of rotation passing through the center 8.
  • the left end of the pin 90 comes into abutment against a vertical face of the groove 92, which blocks this rotation.
  • the frame 6 is mainly formed by an upper shell 100 and a lower shell 102.
  • the shells 100 and 102 are assembled one on the other without any degree of freedom.
  • the shell 100 has an opening 103 which opens into the upper face 24 and which is centered on the axis 20. This opening is crossed by the rod 22.
  • the wall of this opening 103 is frustoconical and also serves as a stop to limit the angular amplitude of the rotation of the handle 4 around the center 8.
  • the frame 6 has a fixed horizontal border 104 which projects inside the frame 6 and which is opposite the rim 40 when the handle 4 is in its neutral position.
  • the border 104 is centered on the center 8 and makes practically the complete turn of the axis 20.
  • the border 104 is therefore essentially circular.
  • the edge 104 is traversed by the groove 92. It therefore includes a notch 110 ( picture 2 ) for the passage of the left end of piece 90.
  • the border 104 has an upper face 106 ( picture 2 ) and an underside 108 ( picture 2 ).
  • the face 108 is the symmetrical face 106 with respect to the horizontal plane containing the center 8.
  • the face 106 extends in a first horizontal plane and the face 42 of the flange 40 is extends in a second horizontal plane.
  • This first horizontal plane is either coincident with the second horizontal plane or located above this second horizontal plane.
  • the shortest distance which separates these first and second horizontal planes is generally between 0 mm and 1 mm or between 0 mm and 0.5 mm.
  • the border 104 is made using a ring wedged between the shells 100 and 102 during the assembly of these shells.
  • plates 124 and 126 are structurally identical. In the neutral position, the plate 126 is the mirror image of the plate 124 with respect to a horizontal plane located halfway between the faces 106 and 108 of the border 104. In this neutral position, the plate 124 extends in a horizontal plane. It is also supported, all around axis 20, directly on face 106.
  • the plate 124 is rigid, that is to say made of a hard material in the Young's modulus at 20° C. and for example greater than 50 GPa or 100 GPa. In the neutral position, plate 124 also extends above face 42 of flange 40. Here, plate 124 is a metal washer. Thus, when the handle 4 is inclined, one side of the face 42 bears directly on one side of the plate 124 and raises this side of the plate 124 upwards. The opposite side, with respect to the axis 10, of the plate 124 remains, meanwhile, directly resting on the face 106 of the edge 104. In other words, the plate 124 passes from a horizontal position, represented on the figure 1 , in a leaning position shown on the picture 3 .
  • the assembly 122 In the neutral position, the assembly 122 is the symmetrical of the assembly 120 with respect to the horizontal plane passing through the center 8. Moreover, here, the assemblies 120 and 122 are structurally identical. In particular, the stiffness and the length of the assemblies 120 and 122 are identical, except for manufacturing error margins.
  • the assembly 120 is interposed between the frame 6 and the faces 42 and 106. More precisely, the assembly 120 is directly supported, on an upper side, on the shell 100 and, on the opposite side, on the plate 124.
  • Assembly 120 may include one or more springs evenly distributed around axis 20.
  • assemblies 120 and 122 each include a single coil spring, respectively, 128 and 130.
  • the central axis of the spring 128 coincides with the axis 20.
  • the length of the spring 128 is adjusted so that in the neutral position, it permanently urges the plate 124 against the face 106.
  • the springs 128 and 130 are preloaded .
  • the spring 128 is compressed asymmetrically with respect to the axis 20.
  • the spring 128 is much more compressed on the left side than on the right side.
  • the vertical force F 1 exerted by the spring 128 on the left side of the face 42 is therefore greater than that exerted on the right side of this same face 42.
  • the spring 128 creates a mechanical moment with respect to the center 8 which tends to bring the handle 4 back to its neutral position.
  • the vertical force F 1 pushes the portion 38 of the support face 32 towards the portion 52 of the support face 34.
  • this vertical force F 1 is compensated, and ideally canceled, by a vertical force F 2 created at the same time by the lower spring 130. Indeed, in the inclined position of the picture 3 , the right side of the spring 130 is much more compressed than its left side. This generates on the rim 40 the vertical force F2.
  • the spring 130 is the symmetrical of the spring 128, the vertical force F 2 is in the opposite direction to the force F 1 and of amplitude substantially equal to the vertical force F 1 which is exerted at the same instant.
  • the amplitudes of the forces F 1 and F 2 are substantially equal if the amplitude of the force F 2 is between 0.9
  • the spring 130 considerably reduces the force which tends to press the portion 38 against the portion 52. Consequently, the friction between these two portions 38, 52 of the bearing faces of the articulation 26 is greatly reduced.
  • the spring 130 also generates a mechanical moment around the center 8 which tends to move the handle 4 towards its neutral position.
  • the spring 130 does not oppose the return of the handle 4 to its neutral position but, on the contrary, contributes to this displacement.
  • the springs 128 and 130 are also arranged to maintain, in the absence of external force on the handle 4, the male part 28 of the articulation 26 centered on the center 8.
  • the faces support 32 and 34 are mechanically separated from each other by the play J. Therefore, as soon as an external force exerted on the handle 4 tends to press either the portions 36 and 50, or the portions 38 and 52, one against the other, the combination of the vertical forces exerted by the springs 128 and 130 oppose this external force. This limits friction.
  • FIG. 7 schematically represent various other possible embodiments of a joystick, in which the friction is reduced by using the same principle as that described with reference to the figures 1 to 4 .
  • each element which fulfills the same function as a corresponding element of the joystick 2 bears the same numerical reference followed by the letters A, B and C for the embodiments, respectively, of the figures 5, 6 and 7 .
  • certain embodiment details represented in the case of the joystick 2 have been omitted from these figures. For example, pin 90 and groove 92 have not been shown. Thereafter, only the main differences between these embodiments of the figures 5 to 7 and the joystick 2 are described.
  • the figure 5 represents a joystick 150.
  • the main difference between the joystick 150 and the joystick 2 is that the male part 28A is fixed without any degree of freedom to the frame 6A and that the female part 30A is secured to the handle 4A.
  • the positioning of the support surfaces of the joystick 160 allows a movement in translation upwards of the handle 4B against the restoring forces of the spring 128B. However, in certain embodiments, it is not necessary to block such translational movement of the handle 4B.
  • the support face 34B is much smaller than in the joystick 2. This further reduces the friction between the support faces of the male 28B and female 30B parts.
  • This embodiment shows that it is possible to make the rim 40C elsewhere than in the lower part of the handle 4C.
  • the lower end of the pusher does not protrude beyond the portion 38 of the bearing face 32.
  • the lower end 62 is recessed at inside the lower part 14.
  • the portion 52 of the bearing surface 34 no longer serves as an abutment capable of preventing the pusher from moving towards its depressed position.
  • the pusher 54 can be moved between its rest and depressed positions, regardless of the angular position of the handle.
  • additional housings angularly offset from each other around the center 8 are provided to obtain additional angular positions of the handle 4 where the pusher 54 can be moved to its depressed position.
  • the cross-section of the housing 66 can also be enlarged to allow other angular positions of the handle 4 where the movement of the pusher 54 towards its depressed position is authorized.
  • the pusher is omitted.
  • slider 56 and slider 58 are omitted.
  • the portions 36, 38 and/or the portions 50, 52 are not symmetrical with each other.
  • the bearing faces of the male and female parts of the articulation are only located on a single side of the horizontal plane, passing through the center 8.
  • the portions 36 and 50 are omitted.
  • the handle 4 is only capable of pivoting around a single horizontal axis of rotation.
  • the joint 26 can be replaced by a joint performing only the pivot connection function.
  • the spherical bearing surfaces are replaced by Cylindrical bearing faces whose generatrices are parallel to the desired axis of rotation.
  • the upper and lower sets of springs are possible for the upper and lower sets of springs.
  • one or more elastomeric pads can be used to make the spring assemblies. It is also possible to use leaf springs or the like instead of coil springs.
  • the first and second springs have a stiffness at least 1.1 times or 1.2 times greater than the stiffness of the third and fourth springs.
  • the force to be exerted by the user to cause the handle 4 to pivot around the first axis is greater than the force required to cause the handle 4 to pivot around the second axis. It is therefore possible to create directions where the pivoting of the handle 4 is easier while limiting friction.
  • the sets 120 and 122 are not necessarily symmetrical to each other with respect to a horizontal plane passing through the center 8.
  • the spring 130 is replaced by a spring of identical stiffness, but whose diameter is 1.1 times smaller or 1.1 times larger than that of the spring 128.
  • the springs 128 and 130 are not preloaded. Thus, they do not oppose small movements of the handle 4 around its neutral position.
  • each set 120, 122 comprises several coil springs, for example, uniformly distributed around the vertical axis 20.
  • the joystick comprises a sensor dedicated to measuring the angular position of the stick 4 and a another sensor dedicated to measuring the position of the pusher 54.
  • the sensors used do not need to be based on the same technologies.
  • a mechanical sensor can also be used to detect the depressed position of the pusher 54.
  • the position of permanent magnet 80 and circuit 82 is reversed.
  • the permanent magnet is fixed on the frame 6 and the circuit 82 is fixed on the handle 4.
  • the number of axes around which the handle 4 can pivot can be limited.
  • the joystick comprises additional mechanical stops which limit the number of directions in which it is possible to move the rod 22.
  • the number of horizontal axes around which the handle 4 can pivot can be made less than or equal to 4 , 3, 2 or 1.
  • border 104 can be omitted.
  • the movable plates 124 and 126 are omitted.
  • the ends of the springs 128 and 130 bear directly on the faces 106 and 108 in the neutral position and on the faces 42 and 44 in the inclined position.
  • the rod 22 can be replaced by another means of gripping the handle 4 such as a handle, a button, a slider or the like.
  • the rod 22 is not moved by a human being but by a robot.
  • the assemblies 120 and 122 permanently urge the handle 4 into a position of equilibrium where, in the absence of vertical force exerted on the handle 4, the clearance J between the bearing surfaces of the articulation 26 exists. Under these conditions, the assemblies 120, 122 oppose any vertical force which tends to press the bearing surfaces 32, 34 against each other. This limits the friction between these bearing faces 32, 34 and limits the wear of the articulation 26. In addition, these assemblies 120, 122 simultaneously exert the function of restoring the handle to its neutral position. In particular, both assembly 120 and assembly 122 exert a moment which tends to bring handle 4 back to its neutral position.
  • the dimensions of the springs of these sets can be reduced compared to the case where only one of these sets would exert this return force.
  • manufacture of the joystick is simplified since it is the same sets of springs which fulfill both the function making it possible to limit friction and the function of returning the handle to its rest position.
  • the border 104 on which the assemblies 120, 122 rest in the neutral position makes it possible to precisely locate the location of this neutral position. Indeed, the location of the edge 104 relative to the frame is fixed and independent of the characteristics of the springs used. When this border 104 is omitted, the location of the neutral position depends on the characteristics of the springs. However, in practice, due to manufacturing errors, the springs of the sets 120, 122 are not always exactly identical. Thus, the neutral positions of all manufactured joysticks would not necessarily be identical. In other words, there would be an inaccuracy on the location of this neutral position. The presence of the border 104 makes it possible to greatly limit this inaccuracy.
  • plates 124 and 126 make it easy to obtain springs which bear simultaneously on the faces of rim 40 and, alternately, on edge 104.
  • the housing 66 makes it possible to restrict the number of angular positions of the handle 4 where the pusher 54 can be moved in its depressed position.
  • the same support face 32 fulfills both the function of support face for the articulation 26 and of abutment to prevent the movement of the pusher 54 towards its depressed position.
  • the production of the joystick 2 is therefore simplified.
  • bearing faces 32, 34 extend both above and below the horizontal plane containing the center 8 makes it possible to prevent any movement of the handle in translation inside the frame 6.

Description

L'invention concerne un joystick.The invention relates to a joystick.

Des joysticks connus comportent :

  • un châssis fixe,
  • un manche qui s'étend, le long d'un axe appelé « axe du manche », depuis une partie supérieure jusqu'à une partie inférieure reçue à l'intérieur du châssis fixe, la partie supérieure étant accessible depuis l'extérieur du châssis et permettant de déplacer le manche en rotation entre une position neutre et une position inclinée, la position neutre étant la position du manche en absence de sollicitation extérieure sur le manche,
  • une articulation comportant une partie mâle et une partie femelle, l'une de la partie mâle et de la partie femelle étant fixée sans aucun degré de liberté sur la partie inférieure du manche, et l'autre de la partie mâle et de la partie femelle étant fixée sans aucun degré de liberté sur le châssis fixe.
Known joysticks include:
  • a fixed frame,
  • a handle which extends, along an axis called "handle axis", from an upper part to a lower part received inside the fixed frame, the upper part being accessible from outside the frame and making it possible to move the handle in rotation between a neutral position and an inclined position, the neutral position being the position of the handle in the absence of external stress on the handle,
  • a joint comprising a male part and a female part, one of the male part and of the female part being fixed without any degree of freedom on the lower part of the handle, and the other of the male part and of the female part being fixed without any degree of freedom on the fixed frame.

Les parties mâle et femelle comportent des faces d'appui correspondantes et en vis-à-vis, ces faces d'appui étant conformées pour autoriser, par coopération de forme lorsqu'elles frottent l'une sur l'autre, un mouvement de rotation du manche autour d'un ou plusieurs axes de rotation fixes par rapport au châssis et perpendiculaires à l'axe du manche.The male and female parts have corresponding bearing faces facing each other, these bearing faces being shaped to allow, by shape cooperation when they rub against each other, a rotational movement of the handle around one or more axes of rotation fixed with respect to the frame and perpendicular to the axis of the handle.

Le manche comporte un premier rebord solidaire du manche, ce rebord présentant, de chaque côté du manche, une face supérieure tournée vers la partie supérieure du manche et une face inférieure tournée vers la partie inférieure du manche.The handle comprises a first flange integral with the handle, this flange having, on each side of the handle, an upper face facing the upper part of the handle and a lower face facing the lower part of the handle.

Le joystick comporte un premier ensemble de ressorts interposé entre le châssis fixe et la face supérieure du rebord, ce premier ensemble de ressorts comportant un ou plusieurs ressorts uniformément répartis autour d'un axe vertical, cet axe vertical étant confondu avec l'axe du manche lorsque ce manche est dans la position neutre Ce premier ensemble de ressorts est agencé de manière à exercer sur le manche, dans sa position inclinée, un moment mécanique qui sollicite le manche vers sa position neutre et, en même temps, une première force verticale, parallèle à l'axe vertical, qui pousse la face d'appui solidaire du manche vers la face d'appui solidaire du châssis.The joystick comprises a first set of springs interposed between the fixed frame and the upper face of the rim, this first set of springs comprising one or more springs uniformly distributed around a vertical axis, this vertical axis being coincident with the axis of the handle when this handle is in the neutral position This first set of springs is arranged so as to exert on the handle, in its inclined position, a mechanical moment which urges the handle towards its neutral position and, at the same time, a first vertical force, parallel to the vertical axis, which pushes the support face integral with the handle towards the support face integral with the frame.

De tels joysticks sont par exemple divulgués dans DE9105251U1 ou DE102015102317A1 .Such joysticks are for example disclosed in DE9105251U1 Where DE102015102317A1 .

Pour réduire l'usure des joysticks, il est souhaitable de limiter autant que possible les frottements entre les faces d'appui de l'articulation du joystick.To reduce the wear of the joysticks, it is desirable to limit as much as possible the friction between the bearing surfaces of the articulation of the joystick.

L'invention vise à résoudre ce problème en proposant un joystick dans lequel les frottements exercés sur les faces d'appui de l'articulation sont limités. À cet effet, elle a pour objet un joystick conforme à la revendication 1.The invention aims to solve this problem by proposing a joystick in which the friction exerted on the bearing surfaces of the joint is limited. To this end, it relates to a joystick according to claim 1.

Les modes de réalisation de ce joystick peuvent comporter une ou plusieurs des caractéristiques des revendications dépendantes.Embodiments of this joystick may include one or more of the features of the dependent claims.

L'invention sera mieux comprise à la lecture de la description qui va suivre, donnée uniquement à titre d'exemple non limitatif, et faite en se référant aux dessins sur lesquels :

  • la figure 1 est une illustration schématique en coupe verticale d'un joystick ;
  • la figure 2 est une illustration schématique, en perspective et en vue éclatée, des principaux éléments du joystick de la figure 1 ;
  • les figures 3 et 4 sont des illustrations schématiques, en coupe verticale, du joystick de la figure 1 dans différentes positions ;
  • les figures 5 à 7 sont des illustrations schématiques, en coupe verticale, de différents autres modes de réalisation possibles du joystick de la figure 1.
The invention will be better understood on reading the following description, given solely by way of non-limiting example, and made with reference to the drawings in which:
  • the figure 1 is a schematic vertical sectional illustration of a joystick;
  • the picture 2 is a schematic illustration, in perspective and in exploded view, of the main elements of the joystick of the figure 1 ;
  • them figures 3 and 4 are schematic illustrations, in vertical section, of the joystick of the figure 1 in different positions;
  • them figures 5 to 7 are schematic illustrations, in vertical section, of various other possible embodiments of the joystick of the figure 1 .

Dans ces figures, les mêmes références sont utilisées pour désigner les mêmes éléments. Dans la suite de cette description, les caractéristiques et fonctions bien connues de l'homme du métier ne sont pas décrites en détail.In these figures, the same references are used to designate the same elements. In the remainder of this description, the characteristics and functions well known to those skilled in the art are not described in detail.

Chapitre I : Exemples de modes de réalisationChapter I: Examples of embodiments

La figure 1 à 4 représentent un joystick 2 comportant un manche 4 et un châssis fixe 6.The figure 1 to 4 represent a joystick 2 comprising a handle 4 and a fixed frame 6.

Le manche 4 est déplaçable en rotation, autour d'un centre 8 de rotation, entre une position neutre, représentée sur les figures 1 et 4 et une position inclinée, représentée sur la figure 3. La position neutre correspond à la position angulaire qu'occupe le manche 4 en absence de sollicitation extérieure et donc lorsque le manche 4 n'est pas manipulé par un utilisateur. L'utilisateur est un être humain.The handle 4 is movable in rotation, around a center 8 of rotation, between a neutral position, represented on the figures 1 and 4 and a reclined position, shown on the picture 3 . The neutral position corresponds to the angular position occupied by the handle 4 in the absence of external stress and therefore when the handle 4 is not manipulated by a user. The user is a human being.

Le manche 4 s'étend principalement le long d'un axe 10 depuis une partie supérieure 12 jusqu'à une partie inférieure 14. Typiquement, l'axe 10 passe par le centre 8.The handle 4 extends mainly along an axis 10 from an upper part 12 to a lower part 14. Typically, the axis 10 passes through the center 8.

Dans ce mode de réalisation, dans la position neutre, l'axe 10 est confondu avec un axe 20 vertical. L'axe 20 est fixé sans aucun degré de liberté au châssis 6. Dans les figures, la direction verticale est repérée par une direction Z d'un repère orthogonal X, Y, Z. Les directions X et Y sont horizontales et perpendiculaires entre elles. Ici, la direction Y est perpendiculaire au plan de la feuille. Les termes tels que supérieur, inférieur, au-dessus, au-dessous, haut et bas et similaires sont définis par rapport à la direction Z. La position du manche 4 correspond à l'angle α (voir figure 3) entre les axes 10 et 20.In this embodiment, in the neutral position, the axis 10 coincides with a vertical axis 20. The axis 20 is fixed without any degree of freedom to the frame 6. In the figures, the vertical direction is marked by a direction Z of an orthogonal reference mark X, Y, Z. The directions X and Y are horizontal and perpendicular to each other . Here, the Y direction is perpendicular to the plane of the sheet. Terms such as upper, lower, above, below, up and down and the like are defined with respect to the Z direction. The position of the stick 4 corresponds to the angle α (see picture 3 ) between axes 10 and 20.

La partie supérieure 12 comporte un moyen de préhension qui permet à l'utilisateur de déplacer à la main le manche 4 entre sa position inclinée et sa position neutre. Par exemple, la partie supérieure 12 comporte une tige 22 qui fait saillie au-delà de la face horizontale supérieure 24 du châssis 6.The upper part 12 comprises a gripping means which allows the user to move the handle 4 by hand between its inclined position and its neutral position. For example, the upper part 12 comprises a rod 22 which protrudes beyond the upper horizontal face 24 of the frame 6.

Dans ce mode de réalisation, le manche 4 peut pivoter autour de tous les axes horizontaux passant par le centre 8. À cet effet, le manche 4 est mécaniquement raccordé au châssis 6 par l'intermédiaire d'une articulation 26.In this embodiment, the handle 4 can pivot around all the horizontal axes passing through the center 8. For this purpose, the handle 4 is mechanically connected to the frame 6 via a hinge 26.

L'articulation 26 forme une liaison rotule autorisant tous les degrés possibles de liberté en rotation autour du centre 8 et aucun degré de liberté en translation. Par « aucun degré de liberté en translation » on désigne le fait que les amplitudes maximales des déplacements en translation le long des directions X, Y et Z sont négligeables. Un déplacement en translation est considérée comme négligeable si, par exemple, son amplitude est inférieure à 5 mm et, de préférence, inférieure à 2 mm ou 1 mm.Joint 26 forms a ball joint allowing all possible degrees of freedom in rotation around center 8 and no degree of freedom in translation. By "no degree of freedom in translation" means the fact that the maximum amplitudes of the displacements in translation along the directions X, Y and Z are negligible. A displacement in translation is considered negligible if, for example, its amplitude is less than 5 mm and, preferably, less than 2 mm or 1 mm.

L'articulation 26 comporte une partie mâle 28 et une partie femelle 30. La partie mâle 28 est fixée sans aucun degré de liberté à la partie inférieure 14 du manche 4. À l'inverse, la partie femelle 30 est fixée sans aucun degré de liberté au châssis 6. La partie mâle 28 est reçue à l'intérieur de la partie femelle 30.The joint 26 comprises a male part 28 and a female part 30. The male part 28 is fixed without any degree of freedom to the lower part 14 of the handle 4. Conversely, the female part 30 is fixed without any degree of freedom. freedom to the chassis 6. The male part 28 is received inside the female part 30.

La partie mâle 28 comporte une face d'appui 32 en vis-à-vis d'une face d'appui 34 correspondante de la partie femelle 30. Les faces d'appui 32 et 34 sont conformées pour autoriser, par coopération de forme, seulement les degrés de liberté en rotation du manche 4. À cet effet, les faces 32 et 34 sont formées par des portions, respectivement, d'une première et d'une deuxième sphères centrées sur le centre 8 dans la position neutre.The male part 28 comprises a bearing face 32 facing a corresponding bearing face 34 of the female part 30. The bearing faces 32 and 34 are shaped to allow, by shape cooperation, only the degrees of freedom in rotation of the handle 4. For this purpose, the faces 32 and 34 are formed by portions, respectively, of a first and a second sphere centered on the center 8 in the neutral position.

Ici, la face 32 est divisée en une portion supérieure 36 et une portion inférieure 38. Les portions 36 et 38 sont symétriques l'une de l'autre par rapport à un plan horizontal passant par le centre 8 lorsque le manche est dans sa position neutre. La portion 36 correspond à la bande d'une sphère située entre deux plans parallèles et horizontaux qui coupent cette sphère au-dessus de son centre. Le centre de cette sphère est confondu avec le centre 8. Typiquement, la distance entre ces deux plans horizontaux est supérieure à 2 mm ou 3 mm. Le diamètre de la sphère est par exemple compris entre 5 mm et 10 cm et, généralement, proche de 10 mm.Here, the face 32 is divided into an upper portion 36 and a lower portion 38. The portions 36 and 38 are symmetrical to each other with respect to a horizontal plane passing through the center 8 when the handle is in its position. neutral. Portion 36 corresponds to the band of a sphere located between two parallel and horizontal planes which intersect this sphere above its center. The center of this sphere coincides with the center 8. Typically, the distance between these two horizontal planes is greater than 2 mm or 3 mm. The diameter of the sphere is for example between 5 mm and 10 cm and, generally, close to 10 mm.

Ici, les portions 36 et 38 sont séparées l'une de l'autre par un rebord circulaire 40. Le rebord 40 est centré sur l'axe 10 et fait le tour complet de l'axe 10. Le rebord 40 s'étend principalement dans un plan perpendiculaire à l'axe 10 et passant par le centre 8. Ce rebord 40 présente une face supérieure 42 (figure 2) et une face inférieure 44 (figure 2) parallèles entre elles. Dans la position neutre, les faces 42 et 44 sont horizontales. Dans cette position neutre, la face 44 est le symétrique de la face 42 par rapport à un plan horizontal passant par le centre 8. La face du rebord 40 qui relie entre elles ces faces 42 et 44 est, par exemple, verticale dans la position neutre.Here, the portions 36 and 38 are separated from each other by a circular flange 40. The flange 40 is centered on the axis 10 and goes completely around the axis 10. The flange 40 extends mainly in a plane perpendicular to the axis 10 and passing through the center 8. This rim 40 has an upper face 42 ( picture 2 ) and an underside 44 ( figure 2 ) parallel to each other. In the neutral position, the faces 42 and 44 are horizontal. In this neutral position, the face 44 is the symmetrical face 42 with respect to a horizontal plane passing through the center 8. The face of the flange 40 which connects these faces 42 and 44 to each other is, for example, vertical in the position neutral.

De façon correspondante, la face 34 de la partie femelle 30 est divisée entre une portion supérieure 50, située en vis-à-vis de la portion 36, et une portion inférieure 52 située en vis-à-vis de la portion 38. La portion 52 est le symétrique de la portion 50 par rapport à un plan horizontal passant par le centre 8. La portion 50 correspond à la bande d'une sphère comprise entre deux plans horizontaux qui coupent la sphère au-dessus de son centre. Le centre de cette sphère est confondu avec le centre 8. La distance verticale entre ces deux plans horizontaux est, dans ce mode de réalisation, inférieure à la distance entre les deux plans horizontaux qui définissent la portion 36. Ici, cette distance verticale est choisie pour que la totalité de cette portion 50 puisse venir en appui sur la portion 36 notamment dans la position neutre.Correspondingly, the face 34 of the female part 30 is divided between an upper portion 50, located opposite the portion 36, and a lower portion 52 located opposite the portion 38. The portion 52 is the mirror image of portion 50 with respect to a horizontal plane passing through center 8. Portion 50 corresponds to the strip of a sphere between two horizontal planes which intersect the sphere above its center. The center of this sphere coincides with the center 8. The vertical distance between these two horizontal planes is, in this embodiment, less than the distance between the two horizontal planes which define the portion 36. Here, this vertical distance is chosen so that all of this portion 50 can come to bear on the portion 36 in particular in the neutral position.

En absence de sollicitation extérieure sur le manche 4, la portion 50 est séparée de la portion 36 par un jeu J (figure 1). Ce jeu J est supérieur à 0,05 mm ou 0,1 mm et, de préférence, supérieur à 0,2 ou 0,3 mm. Ce jeu J est également généralement inférieur à 2 mm ou 1 mm ou 0,5 mm. Sur les figures 1 à 4, le jeu J correspond à l'épaisseur du trait qui sépare les faces d'appui 32 et 34.In the absence of external stress on the handle 4, the portion 50 is separated from the portion 36 by a clearance J ( figure 1 ). This clearance J is greater than 0.05 mm or 0.1 mm and preferably greater than 0.2 or 0.3 mm. This clearance J is also generally less than 2 mm or 1 mm or 0.5 mm. On the figures 1 to 4 , the clearance J corresponds to the thickness of the line which separates the bearing faces 32 and 34.

Le manche 4 comporte aussi un poussoir 54 déplaçable en translation le long de l'axe 10 entre une position enfoncée, représentée sur la figure 4, et une position de repos représentée sur les figures 1 et 3. Le poussoir 54 comporte la tige 22 et un coulisseau 56. Le poussoir 54 est déplaçable de sa position de repos vers sa position enfoncée par la main d'un utilisateur qui pousse la tige 22 vers l'intérieur du châssis 6. À l'inverse, le poussoir 54 revient automatiquement vers sa position de repos dès que l'utilisateur relâche la tige 22. À cet effet, la partie inférieure 14 comporte une coulisse 58 agencée pour permettre le coulissement du coulisseau 56 le long de l'axe 10 du manche 4. Par exemple, la coulisse 58 est ici un trou cylindrique creusé le long de l'axe 10 et qui traverse de part en part la partie inférieure 14. À titre d'illustration, la section transversale de ce trou cylindrique est circulaire.The handle 4 also includes a pusher 54 which can be moved in translation along the axis 10 between a depressed position, represented on the figure 4 , and a rest position represented on the figures 1 and 3 . The pusher 54 comprises the rod 22 and a slider 56. The pusher 54 is movable from its rest position to its depressed position by the hand of a user who pushes the rod 22 towards the inside of the frame 6. Conversely , the pusher 54 automatically returns to its rest position as soon as the user releases the rod 22. For this purpose, the lower part 14 comprises a slider 58 arranged to allow sliding of the slider 56 along the axis 10 of the handle 4. For example, the slide 58 is here a cylindrical hole dug along the axis 10 and which crosses right through the lower part 14. By way of illustration, the cross section of this cylindrical hole is circular.

De façon correspondante, le coulisseau 56 est ici une pièce essentiellement cylindrique reçue à l'intérieur de la coulisse 58. Le coulisseau 56 comporte une extrémité supérieure 60 et une extrémité inférieure 62. La tige 22 est fixée sans aucun degré de liberté sur l'extrémité supérieure 60. Par exemple, l'extrémité supérieure 60 se situe dans le prolongement de la portion 36 de la face d'appui 32. Ainsi, dans la position inclinée (figure 3), une partie de l'extrémité 60 est en vis-à-vis de la portion 50.Correspondingly, the slider 56 is here an essentially cylindrical part received inside the slider 58. The slider 56 has an upper end 60 and a lower end 62. The rod 22 is fixed without any degree of freedom on the upper end 60. For example, the upper end 60 is located in the extension of the portion 36 of the bearing face 32. Thus, in the inclined position ( picture 3 ), part of the end 60 is opposite the portion 50.

Lorsque le poussoir 54 est dans la position de repos, l'extrémité inférieure 62 se situe dans le prolongement de la portion 38 de la face d'appui. Ainsi, dans la position inclinée (figure 3), une partie de l'extrémité inférieure 62 se trouve en vis-à-vis de la portion 52. Dans ces conditions, dans la position inclinée, la portion 52 forme une butée qui interdit le déplacement du poussoir 54 dans sa position enfoncée.When the pusher 54 is in the rest position, the lower end 62 is located in the extension of the portion 38 of the bearing face. Thus, in the inclined position ( picture 3 ), a part of the lower end 62 is located opposite the portion 52. Under these conditions, in the inclined position, the portion 52 forms a stop which prevents the movement of the pusher 54 in its depressed position.

Ici, le joystick 2 est agencé pour autoriser le déplacement du poussoir 54 vers sa position enfoncée, uniquement lorsque le manche 4 est dans sa position neutre. À cet effet, le châssis 6 comporte un logement 66 comportant une ouverture supérieure qui débouche en vis-à-vis de l'extrémité inférieure 62 lorsque le manche 4 est dans sa position neutre. Comme représenté sur la figure 4, ce logement 66 est apte à recevoir l'extrémité inférieure 62 lorsque le poussoir 54 est dans sa position enfoncée. Ici, ce logement 66 est centré sur l'axe 20 et s'étend dans la direction Z. Les dimensions de sa section transversale sont légèrement supérieures aux dimensions de la section transversale de l'extrémité inférieure 62 pour autoriser le déplacement du poussoir 54 dans sa position enfoncée uniquement lorsque le manche 4 est dans sa position neutre.Here, the joystick 2 is arranged to allow the movement of the pusher 54 to its depressed position, only when the handle 4 is in its neutral position. To this end, the frame 6 comprises a housing 66 comprising an upper opening which opens out vis-à-vis the lower end 62 when the handle 4 is in its neutral position. As shown on the figure 4 , this housing 66 is adapted to receive the lower end 62 when the pusher 54 is in its depressed position. Here, this housing 66 is centered on the axis 20 and extends in the direction Z. The dimensions of its cross section are slightly greater than the dimensions of the cross section of the lower end 62 to allow the movement of the pusher 54 in its depressed position only when the handle 4 is in its neutral position.

Pour ramener automatiquement le poussoir 54 vers sa position de repos, celui-ci est également équipé d'un mécanisme de rappel à ressort. Par exemple, ce mécanisme de rappel comporte :

  • un trou borgne 70 creusé à l'intérieur du coulisseau 56 le long de l'axe 10,
  • une rainure oblongue 74 qui traverse de part en part le coulisseau 56 dans la direction Y,
  • une goupille 76 qui traverse de part en part le coulisseau 56 en passant à travers la rainure 74, et ;
  • un ressort 78 interposé entre un fond plat 72 du trou 70 et la goupille 76.
To automatically return the plunger 54 to its rest position, the latter is also equipped with a spring return mechanism. For example, this callback mechanism includes:
  • a blind hole 70 dug inside the slider 56 along the axis 10,
  • an oblong groove 74 which crosses right through the slider 56 in the Y direction,
  • a pin 76 which passes right through the slider 56 passing through the groove 74, and;
  • a spring 78 interposed between a flat bottom 72 of the hole 70 and the pin 76.

Le trou 70 débouche dans une extrémité inférieure du coulisseau 56. Le fond plat 72 du trou 70 est situé du côté opposé à cette extrémité inférieure du coulisseau.The hole 70 opens into a lower end of the slider 56. The flat bottom 72 of the hole 70 is located on the side opposite this lower end of the slider.

La rainure 74 s'étend parallèlement à l'axe 10 sur une distance supérieure ou égale à la longueur de la course du poussoir 54 entre ses positions de repos et enfoncée. La rainure 74 passe à travers le trou 70.The groove 74 extends parallel to the axis 10 over a distance greater than or equal to the length of the stroke of the pusher 54 between its rest and depressed positions. Groove 74 passes through hole 70.

La goupille 76 est fixée sans aucun degré de liberté à la coulisse 58. Lorsque le poussoir 54 est déplacé entre ses positions de repos et enfoncée, cette goupille coulisse à l'intérieur de la rainure 74. Ainsi, elle n'entrave pas le déplacement du poussoir 54.The pin 76 is fixed without any degree of freedom to the slide 58. When the pusher 54 is moved between its rest positions and depressed, this pin slides inside the groove 74. Thus, it does not hinder the movement of pusher 54.

Lorsque le poussoir 54 est déplacé vers sa position enfoncée, le ressort 78 est comprimé entre le fond 72 et la goupille 76 et emmagasine donc de l'énergie potentielle. Lorsque l'utilisateur relâche la tige 72, le ressort 78 se détend, ce qui ramène automatiquement le poussoir 54 dans sa position de repos.When pusher 54 is moved to its depressed position, spring 78 is compressed between bottom 72 and pin 76 and therefore stores potential energy. When the user releases rod 72, spring 78 relaxes, which automatically returns pusher 54 to its rest position.

Dans ce mode de réalisation, pour mesurer la position angulaire du manche 4 par rapport au châssis 6 et pour détecter la position enfoncée du poussoir 54, le joystick 2 utilise un même aimant permanent 80 et un même circuit électronique 82. L'aimant 80 est fixé sans aucun degré de liberté sur l'extrémité inférieure 62. Le circuit électronique 82 est logé à l'intérieur du logement 66. Ce circuit 82 comporte un capteur 84 de champ magnétique. Typiquement, il s'agit d'un magnétomètre triaxial. Le circuit 82 est apte, à partir des mesures réalisées par le capteur 84, à établir à la fois la position angulaire du manche 4 et à détecter la position enfoncée du poussoir 54.In this embodiment, to measure the angular position of the handle 4 relative to the frame 6 and to detect the depressed position of the pusher 54, the joystick 2 uses the same permanent magnet 80 and the same electronic circuit 82. The magnet 80 is fixed without any degree of freedom on the lower end 62. The electronic circuit 82 is housed inside the housing 66. This circuit 82 comprises a sensor 84 of magnetic field. Typically, it is a triaxial magnetometer. The circuit 82 is able, from the measurements made by the sensor 84, to establish both the angular position of the handle 4 and to detect the depressed position of the pusher 54.

Pour empêcher que le manche 4 puisse être tourné sur lui-même autour de l'axe 10, la partie inférieure 14 comporte un pion 90 et le châssis 6 comporte une rainure verticale 92. Une extrémité gauche du pion 90 est reçue à coulissement à l'intérieur de la rainure 92. À cet effet, la largeur de la rainure 92 est 1,05 fois supérieure à la largeur de l'extrémité gauche du pion 90. L'extrémité gauche du pion 90 peut également tourner sur elle-même à l'intérieur de la rainure 92. Par exemple, à cet effet, la section transversale de cette extrémité gauche est circulaire.To prevent the handle 4 from being able to be turned on itself around the axis 10, the lower part 14 includes a pin 90 and the frame 6 includes a vertical groove 92. A left end of the pin 90 is slidably received at the inside the groove 92. For this purpose, the width of the groove 92 is 1.05 times greater than the width of the left end of the pin 90. The left end of the pin 90 can also turn on itself at inside the groove 92. For example, for this purpose, the cross section of this left end is circular.

L'extrémité droite du pion 90 est fixée sans aucun degré de liberté à la partie inférieure 14 du manche 4. Par exemple, le pion 90 s'étend horizontalement, parallèlement à la direction X lorsque le manche 4 est dans sa position neutre. Dans ce mode de réalisation, le pion 90 s'étend dans le plan horizontal contenant le centre 8. À cet effet, le rebord 40 comporte une entaille 94 (figure 2) pour le passage du pion 90.The right end of pin 90 is fixed without any degree of freedom to lower part 14 of handle 4. For example, pin 90 extends horizontally, parallel to direction X when handle 4 is in its neutral position. In this embodiment, the pin 90 extends in the horizontal plane containing the center 8. For this purpose, the flange 40 has a notch 94 ( figure 2 ) for the passage of piece 90.

Lorsque le manche 4 est incliné autour d'un axe parallèle à la direction Y, l'extrémité gauche du pion 90 coulisse à l'intérieur de la rainure 92. Lorsque le manche 4 est incliné autour d'un axe parallèle à la direction X, l'extrémité gauche du pion 90 tourne sur elle-même à l'intérieur de la rainure 92. Ainsi, le pion 90 autorise les déplacements en rotation du manche 4 autour de tout axe de rotation horizontal passant par le centre 8. Par contre, si un utilisateur essaie de faire tourner le manche 4 autour de l'axe 10, l'extrémité gauche du pion 90 vient en butée contre une face verticale de la rainure 92, ce qui bloque cette rotation.When the handle 4 is tilted around an axis parallel to the direction Y, the left end of the pin 90 slides inside the groove 92. When the handle 4 is tilted around an axis parallel to the direction X , the left end of the pin 90 rotates on itself inside the groove 92. Thus, the pin 90 allows the rotational movements of the handle 4 around any horizontal axis of rotation passing through the center 8. On the other hand , if a user tries to rotate the handle 4 around the axis 10, the left end of the pin 90 comes into abutment against a vertical face of the groove 92, which blocks this rotation.

Ici, le châssis 6 est principalement formé par une coquille supérieure 100 et une coquille inférieure 102. Les coquilles 100 et 102 sont assemblées l'une sur l'autre sans aucun degré de liberté. La coquille 100 comporte une ouverture 103 qui débouche dans la face supérieure 24 et qui est centrée sur l'axe 20. Cette ouverture est traversée par la tige 22. La paroi de cette ouverture 103 est tronconique et sert également de butée pour limiter l'amplitude angulaire de la rotation du manche 4 autour du centre 8.Here, the frame 6 is mainly formed by an upper shell 100 and a lower shell 102. The shells 100 and 102 are assembled one on the other without any degree of freedom. The shell 100 has an opening 103 which opens into the upper face 24 and which is centered on the axis 20. This opening is crossed by the rod 22. The wall of this opening 103 is frustoconical and also serves as a stop to limit the angular amplitude of the rotation of the handle 4 around the center 8.

Le châssis 6 comporte une bordure horizontale fixe 104 qui fait saillie à l'intérieur du châssis 6 et qui se trouve en vis-à-vis du rebord 40 lorsque le manche 4 est dans sa position neutre. La bordure 104 est centrée sur le centre 8 et fait pratiquement le tour complet de l'axe 20. Ici, la bordure 104 est donc essentiellement circulaire. Dans ce mode de réalisation, la bordure 104 est traversée par la rainure 92. Elle comporte donc une entaille 110 (figure 2) pour le passage de l'extrémité gauche du pion 90.The frame 6 has a fixed horizontal border 104 which projects inside the frame 6 and which is opposite the rim 40 when the handle 4 is in its neutral position. The border 104 is centered on the center 8 and makes practically the complete turn of the axis 20. Here, the border 104 is therefore essentially circular. In this embodiment, the edge 104 is traversed by the groove 92. It therefore includes a notch 110 ( picture 2 ) for the passage of the left end of piece 90.

La bordure 104 présente une face supérieure 106 (figure 2) et une face inférieure 108 (figure 2). La face 108 est le symétrique de la face 106 par rapport au plan horizontal contenant le centre 8. Lorsque le manche 4 est dans sa position neutre, la face 106 s'étend dans un premier plan horizontal et la face 42 du rebord 40 s'étend dans un second plan horizontal. Ce premier plan horizontal est soit confondu avec le second plan horizontal soit situé au-dessus de ce second plan horizontal. Par exemple, la distance la plus courte qui sépare ces premier et second plans horizontaux est généralement comprise entre 0 mm et 1 mm ou entre 0 mm et 0,5 mm. Par exemple, la bordure 104 est réalisée à l'aide d'un anneau coincé entre les coquilles 100 et 102 lors de l'assemblage de ces coquilles.The border 104 has an upper face 106 ( picture 2 ) and an underside 108 ( picture 2 ). The face 108 is the symmetrical face 106 with respect to the horizontal plane containing the center 8. When the handle 4 is in its neutral position, the face 106 extends in a first horizontal plane and the face 42 of the flange 40 is extends in a second horizontal plane. This first horizontal plane is either coincident with the second horizontal plane or located above this second horizontal plane. For example, the shortest distance which separates these first and second horizontal planes is generally between 0 mm and 1 mm or between 0 mm and 0.5 mm. For example, the border 104 is made using a ring wedged between the shells 100 and 102 during the assembly of these shells.

Le joystick 2 comporte un mécanisme de rappel du manche 4 vers sa position neutre. Ce mécanisme est ici en plus conçu pour limiter les frottements entre les faces d'appui 32 et 34 de l'articulation 26. Ce mécanisme comporte :

  • un ensemble supérieur 120 et un ensemble inférieur 122 de ressorts, et
  • des plaques annulaires mobiles supérieure 124 et inférieure 126.
Joystick 2 includes a mechanism for returning handle 4 to its neutral position. This mechanism is here also designed to limit friction between the bearing faces 32 and 34 of the joint 26. This mechanism comprises:
  • an upper set 120 and a lower set 122 of springs, and
  • movable upper 124 and lower 126 annular plates.

Ici, les plaques 124 et 126 sont structurellement identiques. Dans la position neutre, la plaque 126 est le symétrique de la plaque 124 par rapport à un plan horizontal situé à mi-distance entre les faces 106 et 108 de la bordure 104. Dans cette position neutre, la plaque 124 s'étend dans un plan horizontal. Elle est aussi en appui, tout autour de l'axe 20, directement, sur la face 106.Here, plates 124 and 126 are structurally identical. In the neutral position, the plate 126 is the mirror image of the plate 124 with respect to a horizontal plane located halfway between the faces 106 and 108 of the border 104. In this neutral position, the plate 124 extends in a horizontal plane. It is also supported, all around axis 20, directly on face 106.

La plaque 124 est rigide, c'est-à-dire réalisée dans un matériau dur dans le module de Young à 20° C et par exemple supérieur à 50 GPa ou 100 GPa. Dans la position neutre, la plaque 124 s'étend également au-dessus de la face 42 du rebord 40. Ici, la plaque 124 est une rondelle métallique. Ainsi, quand le manche 4 est incliné, un côté de la face 42 vient directement en appui sur un côté de la plaque 124 et soulève vers le haut ce côté de la plaque 124. Le côté opposé, par rapport à l'axe 10, de la plaque 124 reste, quant à lui, directement en appui sur la face 106 de la bordure 104. Autrement dit, la plaque 124, passe d'une position horizontale, représentée sur la figure 1, à une position penchée représentée sur la figure 3.The plate 124 is rigid, that is to say made of a hard material in the Young's modulus at 20° C. and for example greater than 50 GPa or 100 GPa. In the neutral position, plate 124 also extends above face 42 of flange 40. Here, plate 124 is a metal washer. Thus, when the handle 4 is inclined, one side of the face 42 bears directly on one side of the plate 124 and raises this side of the plate 124 upwards. The opposite side, with respect to the axis 10, of the plate 124 remains, meanwhile, directly resting on the face 106 of the edge 104. In other words, the plate 124 passes from a horizontal position, represented on the figure 1 , in a leaning position shown on the picture 3 .

Dans la position neutre, l'ensemble 122 est le symétrique de l'ensemble 120 par rapport au plan horizontal passant par le centre 8. De plus, ici, les ensembles 120 et 122 sont structurellement identiques. En particulier, la raideur et la longueur des ensembles 120 et 122 sont identiques aux marges d'erreur de fabrication près.In the neutral position, the assembly 122 is the symmetrical of the assembly 120 with respect to the horizontal plane passing through the center 8. Moreover, here, the assemblies 120 and 122 are structurally identical. In particular, the stiffness and the length of the assemblies 120 and 122 are identical, except for manufacturing error margins.

L'ensemble 120 est interposé entre le châssis 6 et les faces 42 et 106. Plus précisément, l'ensemble 120 est directement en appui, d'un côté supérieur, sur la coquille 100 et, du côté opposé, sur la plaque 124. L'ensemble 120 peut comporter un ou plusieurs ressorts uniformément répartis autour de l'axe 20. Dans ce mode de réalisation, les ensembles 120 et 122 comportent chacun un seul ressort hélicoïdal, respectivement, 128 et 130.The assembly 120 is interposed between the frame 6 and the faces 42 and 106. More precisely, the assembly 120 is directly supported, on an upper side, on the shell 100 and, on the opposite side, on the plate 124. Assembly 120 may include one or more springs evenly distributed around axis 20. In this embodiment, assemblies 120 and 122 each include a single coil spring, respectively, 128 and 130.

L'axe centrale du ressort 128 est confondu avec l'axe 20. La longueur du ressort 128 est ajustée pour que dans la position neutre, il sollicite en permanence la plaque 124 contre la face 106. Typiquement, les ressorts 128 et 130 sont précontraints. Ainsi, dès que le manche 4 est éloigné de sa position neutre, une force de rappel apparaît. Dans la position inclinée du manche 4, et donc dans la position penchée de la plaque 124, le ressort 128 est comprimé de façon asymétrique par rapport à l'axe 20. Par exemple, dans le cas de la position inclinée représentée sur la figure 3, le ressort 128 est beaucoup plus comprimé du côté gauche que du côté droit. La force verticale F1 exercée par le ressort 128 sur le côté gauche de la face 42 est donc plus grande que celle exercée sur le côté droit de cette même face 42. Dans ces conditions, le ressort 128 crée un moment mécanique par rapport au centre 8 qui tend à ramener le manche 4 vers sa position neutre. Simultanément, la force verticale F1 pousse la portion 38 de la face d'appui 32 vers la portion 52 de la face d'appui 34. Toutefois, cette force verticale F1 est compensée, et idéalement annulée, par une force verticale F2 créée dans le même temps par le ressort inférieur 130. En effet, dans la position inclinée de la figure 3, le côté droit du ressort 130 est beaucoup plus comprimé que son côté gauche. Cela génère sur le rebord 40 la force verticale F2. Puisque le ressort 130 est le symétrique du ressort 128, la force verticale F2 est de sens opposé à la force F1 et d'amplitude sensiblement égale à la force verticale F1 qui s'exerce au même instant. Ici, on considère que les amplitudes des forces F1 et F2 sont sensiblement égales si l'amplitude de la force F2 est comprise entre 0,9|F1| et 1,1|F1| et, de préférence, entre 0,95|F1| et 1,05|F1|, où |F1| est l'amplitude de la force F1. Ainsi, le ressort 130 diminue considérablement la force qui tend à plaquer la portion 38 contre la portion 52. Par conséquent, les frottements entre ces deux portions 38, 52 des faces d'appui de l'articulation 26 sont très fortement diminués.The central axis of the spring 128 coincides with the axis 20. The length of the spring 128 is adjusted so that in the neutral position, it permanently urges the plate 124 against the face 106. Typically, the springs 128 and 130 are preloaded . Thus, as soon as the stick 4 is moved away from its neutral position, a restoring force appears. In the inclined position of the handle 4, and therefore in the inclined position of the plate 124, the spring 128 is compressed asymmetrically with respect to the axis 20. For example, in the case of the inclined position represented on the picture 3 , the spring 128 is much more compressed on the left side than on the right side. The vertical force F 1 exerted by the spring 128 on the left side of the face 42 is therefore greater than that exerted on the right side of this same face 42. Under these conditions, the spring 128 creates a mechanical moment with respect to the center 8 which tends to bring the handle 4 back to its neutral position. Simultaneously, the vertical force F 1 pushes the portion 38 of the support face 32 towards the portion 52 of the support face 34. However, this vertical force F 1 is compensated, and ideally canceled, by a vertical force F 2 created at the same time by the lower spring 130. Indeed, in the inclined position of the picture 3 , the right side of the spring 130 is much more compressed than its left side. This generates on the rim 40 the vertical force F2. Since the spring 130 is the symmetrical of the spring 128, the vertical force F 2 is in the opposite direction to the force F 1 and of amplitude substantially equal to the vertical force F 1 which is exerted at the same instant. Here, it is considered that the amplitudes of the forces F 1 and F 2 are substantially equal if the amplitude of the force F 2 is between 0.9|F 1 | and 1.1| F1 | and preferably between 0.95|F 1 | and 1.05|F 1 |, where |F 1 | is the amplitude of the force F 1 . Thus, the spring 130 considerably reduces the force which tends to press the portion 38 against the portion 52. Consequently, the friction between these two portions 38, 52 of the bearing faces of the articulation 26 is greatly reduced.

Dans le même temps, le ressort 130 génère lui aussi un moment mécanique autour du centre 8 qui tend à déplacer le manche 4 vers sa position neutre. Ainsi, le ressort 130 ne s'oppose pas au retour du manche 4 vers sa position neutre mais, au contraire, contribue à ce déplacement.At the same time, the spring 130 also generates a mechanical moment around the center 8 which tends to move the handle 4 towards its neutral position. Thus, the spring 130 does not oppose the return of the handle 4 to its neutral position but, on the contrary, contributes to this displacement.

Les ressorts 128 et 130 sont également agencés pour maintenir, en absence de force extérieure sur le manche 4, la partie mâle 28 de l'articulation 26 centrée sur le centre 8. Ainsi, en absence de force verticale sur le manche 4, les faces d'appui 32 et 34 sont mécaniquement séparées l'une de l'autre par le jeu J. Dès lors, dès qu'une force extérieure exercée sur le manche 4 tend à plaquer soit les portions 36 et 50, soit les portions 38 et 52, l'une contre l'autre, la combinaison des forces verticales exercées par les ressorts 128 et 130 s'opposent à cette force extérieure. Ceci limite les frottements.The springs 128 and 130 are also arranged to maintain, in the absence of external force on the handle 4, the male part 28 of the articulation 26 centered on the center 8. Thus, in the absence of vertical force on the handle 4, the faces support 32 and 34 are mechanically separated from each other by the play J. Therefore, as soon as an external force exerted on the handle 4 tends to press either the portions 36 and 50, or the portions 38 and 52, one against the other, the combination of the vertical forces exerted by the springs 128 and 130 oppose this external force. This limits friction.

Les figures 5 à 7 représentent schématiquement différents autres modes de réalisation possibles d'un joystick, dans lequel les frottements sont diminués en utilisant le même principe que celui décrit en référence aux figures 1 à 4. Dans ces figures, chaque élément qui remplit la même fonction qu'un élément correspondant du joystick 2 porte la même référence numérique suivie des lettres A, B et C pour les modes de réalisation, respectivement, des figures 5, 6 et 7. De plus, pour simplifier les figures 5 à 7, certains détails de réalisation représentés dans le cas du joystick 2 ont été omis sur ces figures. Par exemple, le pion 90 et la rainure 92 n'ont pas été représentés. Par la suite, seules les principales différences entre ces modes de réalisation des figures 5 à 7 et le joystick 2 sont décrites.The figures 5 to 7 schematically represent various other possible embodiments of a joystick, in which the friction is reduced by using the same principle as that described with reference to the figures 1 to 4 . In these figures, each element which fulfills the same function as a corresponding element of the joystick 2 bears the same numerical reference followed by the letters A, B and C for the embodiments, respectively, of the figures 5, 6 and 7 . Moreover, to simplify the figures 5 to 7 , certain embodiment details represented in the case of the joystick 2 have been omitted from these figures. For example, pin 90 and groove 92 have not been shown. Thereafter, only the main differences between these embodiments of the figures 5 to 7 and the joystick 2 are described.

La figure 5 représente un joystick 150. La principale différence entre le joystick 150 et le joystick 2 est que la partie mâle 28A est fixée sans aucun degré de liberté au châssis 6A et que la partie femelle 30A est solidaire du manche 4A.The figure 5 represents a joystick 150. The main difference between the joystick 150 and the joystick 2 is that the male part 28A is fixed without any degree of freedom to the frame 6A and that the female part 30A is secured to the handle 4A.

La figure 6 représente un joystick 160. Les principales différences entre les joysticks 160 et 2 sont les suivantes :

  • le manche 4B est dépourvu de poussoir ;
  • les faces d'appui des parties mâle 32B et femelle 34B de l'articulation 26B sont uniquement situées sous un plan horizontal passant par le centre 8B, et
  • la face d'appui 34B ne comporte pas de portion sphérique mais se limite à une fine bande annulaire 34B d'appui, centrée sur l'axe vertical 20B.
The figure 6 represents a 160 joystick. The main differences between the 160 and 2 joysticks are as follows:
  • the handle 4B has no pusher;
  • the bearing surfaces of the male 32B and female 34B parts of the articulation 26B are only located under a horizontal plane passing through the center 8B, and
  • the support surface 34B does not have a spherical portion but is limited to a thin annular support strip 34B, centered on the vertical axis 20B.

Le positionnement des faces d'appui du joystick 160 autorise un déplacement en translation vers le haut du manche 4B à l'encontre des forces de rappel du ressort 128B. Toutefois, dans certains modes de réalisation, il n'est pas nécessaire de bloquer un tel déplacement en translation du manche 4B.The positioning of the support surfaces of the joystick 160 allows a movement in translation upwards of the handle 4B against the restoring forces of the spring 128B. However, in certain embodiments, it is not necessary to block such translational movement of the handle 4B.

Dans le mode de réalisation de la figure 6, la face d'appui 34B est beaucoup plus petite que dans le joystick 2. Cela permet de diminuer encore plus les frottements entre les faces d'appui des parties mâles 28B et femelle 30B.In the embodiment of the figure 6 , the support face 34B is much smaller than in the joystick 2. This further reduces the friction between the support faces of the male 28B and female 30B parts.

La figure 7 représente un joystick 170. Les principales différences entre les joysticks 170 et 2 sont les suivantes :

  • le manche 4C est dépourvu de poussoir ;
  • les faces d'appui 32C et 34C sont entièrement situées sous le plan horizontal passant par le centre 8C, et
  • le rebord 40C n'est plus situé au niveau de l'articulation 26C, mais au-dessus de cette articulation 26C.
The figure 7 represents a 170 joystick. The main differences between the 170 and 2 joysticks are as follows:
  • the 4C handle has no pusher;
  • the bearing faces 32C and 34C are located entirely under the horizontal plane passing through the center 8C, and
  • the rim 40C is no longer located at the level of the joint 26C, but above this joint 26C.

Ce mode de réalisation montre qu'il est possible de réaliser le rebord 40C ailleurs que dans la partie inférieure du manche 4C.This embodiment shows that it is possible to make the rim 40C elsewhere than in the lower part of the handle 4C.

Chapitre II : VARIANTES :Chapter II: VARIANTS: Variantes du poussoir : Pusher variants :

En variante, dans la position enfoncée, l'extrémité inférieure du poussoir ne fait pas saillie au-delà de la portion 38 de la face d'appui 32. Autrement dit, dans la position enfoncée, l'extrémité inférieure 62 est en retrait à l'intérieur de la partie inférieure 14. Dans ces conditions, la portion 52 de la face d'appui 34 ne sert plus de butée apte à empêcher le déplacement du poussoir vers sa position enfoncée. Ainsi, le poussoir 54 peut être déplacé entre ses positions de repos et enfoncée, quelle que soit la position angulaire du manche.Alternatively, in the depressed position, the lower end of the pusher does not protrude beyond the portion 38 of the bearing face 32. In other words, in the depressed position, the lower end 62 is recessed at inside the lower part 14. Under these conditions, the portion 52 of the bearing surface 34 no longer serves as an abutment capable of preventing the pusher from moving towards its depressed position. Thus, the pusher 54 can be moved between its rest and depressed positions, regardless of the angular position of the handle.

Dans un autre mode de réalisation, des logements supplémentaires, décalés angulairement les uns par rapport aux autres autour du centre 8 sont prévus pour obtenir des positions angulaires supplémentaires du manche 4 où le poussoir 54 peut être déplacé vers sa position enfoncée.In another embodiment, additional housings, angularly offset from each other around the center 8 are provided to obtain additional angular positions of the handle 4 where the pusher 54 can be moved to its depressed position.

La section transversale du logement 66 peut également être agrandie pour autoriser d'autres positions angulaires du manche 4 où le déplacement du poussoir 54 vers sa position enfoncée est autorisé.The cross-section of the housing 66 can also be enlarged to allow other angular positions of the handle 4 where the movement of the pusher 54 towards its depressed position is authorized.

Dans un mode de réalisation simplifié, le poussoir est omis. Dans ce cas, le coulisseau 56 et la coulisse 58 sont omis.In a simplified embodiment, the pusher is omitted. In this case, slider 56 and slider 58 are omitted.

Variantes de l'articulation :Variants of the joint:

En variante, les portions 36, 38 et/ou les portions 50, 52 ne sont pas symétriques l'une de l'autre.As a variant, the portions 36, 38 and/or the portions 50, 52 are not symmetrical with each other.

Dans un mode de réalisation simplifié, les faces d'appui des parties mâle et femelle de l'articulation sont uniquement situées d'un seul côté du plan horizontal, passant par le centre 8. Par exemple, les portions 36 et 50 sont omises.In a simplified embodiment, the bearing faces of the male and female parts of the articulation are only located on a single side of the horizontal plane, passing through the center 8. For example, the portions 36 and 50 are omitted.

Dans un mode de réalisation particulier, le manche 4 est uniquement apte à pivoter autour d'un seul axe de rotation horizontal. Dans ce cas, l'articulation 26 peut être remplacée par une articulation réalisant uniquement la fonction de liaison pivot. À titre d'illustration, pour cela, les faces d'appui sphériques sont remplacées par des faces d'appui cylindriques dont les génératrices sont parallèles à l'axe de rotation souhaité.In a particular embodiment, the handle 4 is only capable of pivoting around a single horizontal axis of rotation. In this case, the joint 26 can be replaced by a joint performing only the pivot connection function. By way of illustration, for this, the spherical bearing surfaces are replaced by Cylindrical bearing faces whose generatrices are parallel to the desired axis of rotation.

Variantes des ensembles de ressorts : Variants of spring sets :

De nombreux modes de réalisation différents sont possibles pour les ensembles supérieur et inférieur de ressorts. Par exemple, un ou plusieurs tampons élastomères peuvent être utilisés pour réaliser les ensembles de ressorts. Il est aussi possible d'utiliser des lames ressorts ou similaires à la place des ressorts hélicoïdaux.Many different embodiments are possible for the upper and lower sets of springs. For example, one or more elastomeric pads can be used to make the spring assemblies. It is also possible to use leaf springs or the like instead of coil springs.

Comme décrit précédemment, pour limiter les frottements, lorsque le manche 4 pivote autour d'un premier axe parallèle à la direction Y, la force verticale F1 exercée par l'ensemble 120 sur le manche 4 est compensée par la force verticale F2. Il en est de même lorsque le manche 4 pivote autour d'un deuxième axe parallèle à la direction X. Par contre, il n'est pas nécessaire que les amplitudes des forces verticales F1 et F2 soient égales dans ces deux situations. Par exemple, en variante, les amplitudes des forces verticales F1 et F2 lorsque le manche 4 pivote autour du premier axe sont supérieures aux amplitudes des forces verticales F1 et F2 lorsque le manche 4 pivote autour du deuxième axe. Cela est possible si, par exemple, les ensembles 120 et 122 comportent chacun :

  • un premier et un deuxième ressorts situés chacun d'un côté respectif d'un premier plan vertical passant par le centre 8 et parallèle à la direction Y, et ;
  • un troisième et un quatrième ressorts situés chacun d'un coté respectif d'un deuxième plan vertical passant par le centre 8 et parallèle à la direction X.
As described above, to limit friction, when the handle 4 pivots around a first axis parallel to the direction Y, the vertical force F 1 exerted by the assembly 120 on the handle 4 is compensated by the vertical force F 2 . The same applies when the handle 4 pivots around a second axis parallel to the direction X. On the other hand, it is not necessary for the amplitudes of the vertical forces F 1 and F 2 to be equal in these two situations. For example, as a variant, the amplitudes of the vertical forces F 1 and F 2 when the handle 4 pivots around the first axis are greater than the amplitudes of the vertical forces F 1 and F 2 when the handle 4 pivots around the second axis. This is possible if, for example, sets 120 and 122 each include:
  • a first and a second spring each located on a respective side of a first vertical plane passing through the center 8 and parallel to the direction Y, and;
  • a third and a fourth spring each located on a respective side of a second vertical plane passing through the center 8 and parallel to the direction X.

Les premier et deuxième ressorts ont une raideur au moins 1,1 fois ou 1,2 fois supérieure à la raideur des troisième et quatrième ressorts. Dans ce cas, la force à exercer par l'utilisateur pour faire pivoter le manche 4 autour du premier axe est supérieure à la force requise pour faire pivoter le manche 4 autour du deuxième axe. Il est donc possible de créer des directions où le pivotement du manche 4 est plus facile tout en limitant les frottements.The first and second springs have a stiffness at least 1.1 times or 1.2 times greater than the stiffness of the third and fourth springs. In this case, the force to be exerted by the user to cause the handle 4 to pivot around the first axis is greater than the force required to cause the handle 4 to pivot around the second axis. It is therefore possible to create directions where the pivoting of the handle 4 is easier while limiting friction.

Dans la position neutre, les ensembles 120 et 122 ne sont pas nécessairement les symétriques l'un de l'autre par rapport à un plan horizontal passant par le centre 8. Par exemple, le ressort 130 est remplacé par un ressort de raideur identique, mais dont le diamètre est 1,1 fois plus petit ou 1,1 fois plus grand que celui du ressort 128.In the neutral position, the sets 120 and 122 are not necessarily symmetrical to each other with respect to a horizontal plane passing through the center 8. For example, the spring 130 is replaced by a spring of identical stiffness, but whose diameter is 1.1 times smaller or 1.1 times larger than that of the spring 128.

Dans un autre mode de réalisation, les ressorts 128 et 130 ne sont pas précontraints. Ainsi, ils ne s'opposent pas aux petits déplacements du manche 4 autour de sa position neutre.In another embodiment, the springs 128 and 130 are not preloaded. Thus, they do not oppose small movements of the handle 4 around its neutral position.

En variante, chaque ensemble 120, 122 comporte plusieurs ressorts hélicoïdaux, par exemple, uniformément répartis autour de l'axe vertical 20.Alternatively, each set 120, 122 comprises several coil springs, for example, uniformly distributed around the vertical axis 20.

Autres variantes :Other variants:

Il est possible de mesurer la position angulaire du manche 4 et de détecter la position du poussoir 54 en utilisant des capteurs différents. Par exemple, le joystick comporte un capteur dédié à la mesure de la position angulaire du manche 4 et un autre capteur dédié à la mesure de la position du poussoir 54. Dans ce cas, les capteurs utilisés n'ont pas besoin d'être basés sur les mêmes technologies. Ainsi, il est possible d'utiliser un capteur mécanique pour détecter une ou plusieurs positions angulaires du manche 4 au lieu d'un capteur magnétique. De même, un capteur mécanique peut également être utilisé pour détecter la position enfoncée du poussoir 54. Dans un autre exemple, il est possible d'utiliser un capteur magnétique uniquement pour mesurer la position angulaire du manche 4 et un autre capteur magnétique uniquement pour détecter la position enfoncée du poussoir 54.It is possible to measure the angular position of the handle 4 and to detect the position of the pusher 54 using different sensors. For example, the joystick comprises a sensor dedicated to measuring the angular position of the stick 4 and a another sensor dedicated to measuring the position of the pusher 54. In this case, the sensors used do not need to be based on the same technologies. Thus, it is possible to use a mechanical sensor to detect one or more angular positions of the handle 4 instead of a magnetic sensor. Similarly, a mechanical sensor can also be used to detect the depressed position of the pusher 54. In another example, it is possible to use a magnetic sensor only to measure the angular position of the stick 4 and another magnetic sensor only to detect the depressed position of pusher 54.

Dans un autre mode de réalisation, la position de l'aimant permanent 80 et du circuit 82 est inversée. Dans ce cas, l'aimant permanent est fixé sur le châssis 6 et le circuit 82 est fixé sur le manche 4.In another embodiment, the position of permanent magnet 80 and circuit 82 is reversed. In this case, the permanent magnet is fixed on the frame 6 and the circuit 82 is fixed on the handle 4.

Le nombre d'axes autour duquel le manche 4 peut pivoter peut être limité. Par exemple, le joystick comporte des butées mécaniques supplémentaires qui limitent le nombre de directions dans lequel il est possible de déplacer la tige 22. Ainsi, le nombre d'axes horizontaux autour duquel le manche 4 peut pivoter peut être rendu inférieur ou égale à 4, 3, 2 ou 1.The number of axes around which the handle 4 can pivot can be limited. For example, the joystick comprises additional mechanical stops which limit the number of directions in which it is possible to move the rod 22. Thus, the number of horizontal axes around which the handle 4 can pivot can be made less than or equal to 4 , 3, 2 or 1.

Si une localisation précise de la position neutre n'est pas nécessaire, la bordure 104 peut être omise.If precise location of the neutral position is not required, border 104 can be omitted.

Dans un mode de réalisation simplifié, les plaques mobiles 124 et 126 sont omises. Dans ce cas, les extrémités des ressorts 128 et 130 viennent directement en appui sur les faces 106 et 108 dans la position neutre et sur les faces 42 et 44 dans la position inclinée.In a simplified embodiment, the movable plates 124 and 126 are omitted. In this case, the ends of the springs 128 and 130 bear directly on the faces 106 and 108 in the neutral position and on the faces 42 and 44 in the inclined position.

La tige 22 peut être remplacée par un autre moyen de préhension du manche 4 tel qu'une poignée, un bouton, un curseur ou autre. Dans une autre variante, la tige 22 n'est pas déplacée par un être humain mais par un robot.The rod 22 can be replaced by another means of gripping the handle 4 such as a handle, a button, a slider or the like. In another variant, the rod 22 is not moved by a human being but by a robot.

Les différentes variantes décrites ici peuvent être combinées.The different variants described here can be combined.

Chapitre III : AVANTAGES DES MODES DE RÉALISATION DÉCRITSChapter III: ADVANTAGES OF THE EMBODIMENTS DESCRIBED

Les ensembles 120 et 122 sollicitent en permanence le manche 4 dans une position d'équilibre où, en absence de force verticale exercée sur le manche 4, le jeu J entre les faces d'appui de l'articulation 26 existe. Dans ces conditions, les ensembles 120, 122 s'opposent à toute force verticale qui tend à plaquer les faces d'appui 32, 34 l'une contre l'autre. Cela limite les frottements entre ces faces d'appui 32, 34 et limite l'usure de l'articulation 26. De plus, ces ensembles 120, 122 exercent en même temps la fonction de rappel du manche dans sa position neutre. En particulier, aussi bien l'ensemble 120 que l'ensemble 122 exercent un moment qui tend à ramener le manche 4 vers sa position neutre. Ainsi, pour la même force de rappel exercée sur la manche 4, les dimensions des ressorts de ces ensembles peuvent être diminuées par rapport au cas où un seul de ces ensembles exercerait cette force de rappel. Enfin, la fabrication du joystick est simplifiée puisque ce sont les mêmes ensembles de ressorts qui remplissent à la fois la fonction permettant de limiter les frottements et la fonction de rappel du manche dans sa position de repos.The assemblies 120 and 122 permanently urge the handle 4 into a position of equilibrium where, in the absence of vertical force exerted on the handle 4, the clearance J between the bearing surfaces of the articulation 26 exists. Under these conditions, the assemblies 120, 122 oppose any vertical force which tends to press the bearing surfaces 32, 34 against each other. This limits the friction between these bearing faces 32, 34 and limits the wear of the articulation 26. In addition, these assemblies 120, 122 simultaneously exert the function of restoring the handle to its neutral position. In particular, both assembly 120 and assembly 122 exert a moment which tends to bring handle 4 back to its neutral position. Thus, for the same return force exerted on the sleeve 4, the dimensions of the springs of these sets can be reduced compared to the case where only one of these sets would exert this return force. Finally, the manufacture of the joystick is simplified since it is the same sets of springs which fulfill both the function making it possible to limit friction and the function of returning the handle to its rest position.

La bordure 104 sur laquelle les ensembles 120, 122 sont en appui dans la position neutre permet de localiser précisément l'emplacement de cette position neutre. En effet, l'emplacement de la bordure 104 par rapport au châssis est fixe et indépendant des caractéristiques des ressorts utilisés. Lorsque cette bordure 104 est omise, l'emplacement de la position neutre dépend des caractéristiques des ressorts. Or, en pratique, à cause d'erreurs de fabrication, les ressorts des ensembles 120, 122 ne sont pas toujours exactement identiques. Ainsi, les positions neutres de tous les joysticks fabriqués ne seraient pas nécessairement identiques. Autrement dit, il existerait une imprécision sur l'emplacement de cette position neutre. La présence de la bordure 104 permet de fortement limiter cette imprécision.The border 104 on which the assemblies 120, 122 rest in the neutral position makes it possible to precisely locate the location of this neutral position. Indeed, the location of the edge 104 relative to the frame is fixed and independent of the characteristics of the springs used. When this border 104 is omitted, the location of the neutral position depends on the characteristics of the springs. However, in practice, due to manufacturing errors, the springs of the sets 120, 122 are not always exactly identical. Thus, the neutral positions of all manufactured joysticks would not necessarily be identical. In other words, there would be an inaccuracy on the location of this neutral position. The presence of the border 104 makes it possible to greatly limit this inaccuracy.

L'utilisation des plaques 124 et 126 permet d'obtenir facilement des ressorts qui viennent en appui simultanément sur les faces du rebord 40 et, en alternance, sur la bordure 104.The use of plates 124 and 126 makes it easy to obtain springs which bear simultaneously on the faces of rim 40 and, alternately, on edge 104.

L'utilisation d'un même aimant et d'un même capteur pour déterminer la position du poussoir 54 et la position angulaire du manche 4 simplifie la réalisation du joystick.The use of the same magnet and the same sensor to determine the position of the pusher 54 and the angular position of the handle 4 simplifies the production of the joystick.

Le logement 66 permet de restreindre le nombre de positions angulaires du manche 4 où le poussoir 54 peut être déplacé dans sa position enfoncée. Pour cela, la même face d'appui 32 remplit à la fois la fonction de face d'appui pour l'articulation 26 et de butée pour empêcher le déplacement du poussoir 54 vers sa position enfoncée. La réalisation du joystick 2 est donc simplifiée.The housing 66 makes it possible to restrict the number of angular positions of the handle 4 where the pusher 54 can be moved in its depressed position. For this, the same support face 32 fulfills both the function of support face for the articulation 26 and of abutment to prevent the movement of the pusher 54 towards its depressed position. The production of the joystick 2 is therefore simplified.

Le fait que le logement 66 soit centré sur l'axe vertical 20 permet d'enfoncer le poussoir 54 uniquement lorsque le manche 4 est dans sa position neutre.The fact that the housing 66 is centered on the vertical axis 20 makes it possible to depress the pusher 54 only when the handle 4 is in its neutral position.

Le fait que les faces d'appui 32, 34 s'étendent à la fois au-dessus et au-dessous du plan horizontal contenant le centre 8 permet d'empêcher tout déplacement du manche en translation à l'intérieur du châssis 6.The fact that the bearing faces 32, 34 extend both above and below the horizontal plane containing the center 8 makes it possible to prevent any movement of the handle in translation inside the frame 6.

Claims (9)

  1. Joystick comprising:
    - a fixed body (6),
    - a handle (4) that extends, along an axis (10) called the "axis of the handle", from an upper portion (12) to a lower portion (14) that is accommodated inside the fixed body, the upper portion being accessible from outside the body and allowing the handle to be rotated between a neutral position and an inclined position, the neutral position being the position of the handle in the absence of external stress on the handle,
    - an articulation (26) comprising a male portion (28) and a female portion (30), one of the male portion and of the female portion being fastened with no degree of freedom to the lower portion of the handle, and the other of the male portion and of the female portion being fastened with no degree of freedom to the fixed body, and in which:
    - the male and female portions comprise corresponding and facing bearing faces (32, 34), these bearing faces being shaped to permit, via shape-shape interaction when they rub against each other, a rotational movement of the handle about one or more axes of rotation that are fixed with respect to the body and perpendicular to the axis of the handle;
    - the handle comprises a first rim (40) that is integral with the handle, this rim having, on each side of the handle, an upper face (42) that is turned toward the upper portion of the handle and a lower face (44) that is turned toward the lower portion of the handle;
    - the joystick comprises a first set (120) of springs that is interposed between the fixed body and the upper face of the rim, this first set of springs comprising one or more springs (128) that are uniformly distributed around a vertical axis (20), this vertical axis being coincident with the axis of the handle when this handle is in the neutral position, and this first set of springs being arranged so as to exert, on the handle, in its inclined position, a mechanical moment that urges the handle toward its neutral position and, at the same time, a first vertical force, parallel to the vertical axis, that pushes the bearing face that is integral with the handle toward the bearing face that is integral with the body;
    characterized in that:
    - the joystick comprises a second set (122) of springs that is interposed between the fixed body and the lower face (44) of the rim, this second set of springs comprising one or more springs (130) that are uniformly distributed around the vertical axis, this second set of springs being arranged so as to exert, on the handle, in the inclined position, a mechanical moment that urges the handle toward the neutral position and, at the same time, a second vertical force, parallel to the vertical axis, of direction opposite to the first vertical force and the amplitude of which is comprised between 0.9|F1| and 1.1|F1|, where |F1| is the amplitude of the first vertical force exerted by the first set of springs in the same inclined position, and
    - the first and second sets (120, 122) of springs are able, in the absence of external stress on the handle in a direction parallel to the vertical axis, to maintain a non-zero clearance (J) between all the bearing faces of the articulation.
  2. Joystick according to Claim 1, wherein:
    - the joystick comprises a border (104) that is integral with the body, this border having, on each side of the vertical axis, an upper face (106) that is turned toward the upper portion of the handle and a lower face (108) that is turned toward the lower portion of the handle,
    - the upper face (106) of the border is located in the same horizontal plane, i.e. in a plane perpendicular to the vertical axis, as the plane that contains the upper face (42) of the rim when the handle is in its neutral position or above this horizontal plane in a direction directed from the lower portion to the upper portion of the handle,
    - the lower face (108) of the border is located in the same horizontal plane as the plane that contains the lower face (44) of the rim when the handle is in its neutral position or below this horizontal plane,
    - the first set (120) of springs is also interposed between the body and the upper face of the border so as to bear against the border in the neutral position of the handle, and
    - the second set (122) of springs is also interposed between the body and the lower face of the border so as to bear against the border in the neutral position of the handle.
  3. Joystick according to Claim 2, wherein the joystick comprises:
    - a first movable plate (124) that bears, on one side, against one end of the one or more springs of the first set (120) and that bears, on the opposite side, against the upper face (42) of the rim, when the handle is in its inclined position, and against the upper face (106) of the border when the handle is in its neutral position, and
    - a second movable plate (126) that bears, on one side, against one end of the one or more springs of the second set (122) and that bears, on the opposite side, against the lower face (44) of the rim, when the handle is in its inclined position, and against the lower face (108) of the border when the handle is in its neutral position.
  4. Joystick according to any one of the preceding claims, wherein the handle comprises:
    - a slide (58) that extends along the axis (10) of the handle;
    - a pusher (54) that is able, by sliding inside the slide, to move between a rest position and a depressed position.
  5. Joystick according to Claim 4, wherein the joystick comprises:
    - a permanent magnet (80) and a magnetic-field sensor (84), one of the permanent magnet and of the magnetic-field sensor being fastened with no degree of freedom to the pusher (54) and the other of the permanent magnet and of the magnetic-field sensor being fastened with no degree of freedom to the body; and
    - an electronic circuit (82) able to:
    • acquire the measurements of the sensor (84), and
    • determine, from these acquired measurements, both a position of the pusher and an inclination of the handle.
  6. Joystick according to Claim 4 or 5, wherein:
    - the body comprises a housing (66) able to accommodate a lower end (62) of the pusher when the latter is in its depressed position, and
    - the bearing face (34) that is integral with the body encircles the aperture of this housing that is turned toward the pusher, this bearing face (34) thus forming a stop that is able to prevent the movement of the pusher to its depressed position when the lower end of the pusher is not directly opposite the aperture of this housing.
  7. Joystick according to Claim 6, wherein the housing (66) is centered on the vertical axis (20) and the body has no other housing able to accommodate the lower end of the pusher in its depressed position.
  8. Joystick according to any one of the preceding claims, wherein the bearing faces (32, 34) of the male and female portions of the articulation are segments of first and second concentric spheres, respectively.
  9. Joystick according to any one of the preceding claims, wherein the stiffness of the one or more springs of the second set (122) is equal to within plus or minus 10% to the stiffness of the one or more springs of the first set (120).
EP19831776.0A 2018-11-15 2019-11-11 Joystick Active EP3881160B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1860532A FR3088739B1 (en) 2018-11-15 2018-11-15 JOYSTICK
PCT/FR2019/052678 WO2020099771A1 (en) 2018-11-15 2019-11-11 Joystick

Publications (2)

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EP3881160A1 EP3881160A1 (en) 2021-09-22
EP3881160B1 true EP3881160B1 (en) 2022-10-26

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US (1) US11409321B2 (en)
EP (1) EP3881160B1 (en)
ES (1) ES2934841T3 (en)
FR (1) FR3088739B1 (en)
WO (1) WO2020099771A1 (en)

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* Cited by examiner, † Cited by third party
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US3394611A (en) 1966-04-25 1968-07-30 Bell Telephone Labor Inc Output control device with adjustable self-returning null
US4333360A (en) * 1980-07-03 1982-06-08 Borg-Warner Corporation Transmission shift control apparatus
WO1990009565A1 (en) * 1989-02-14 1990-08-23 Michael Alan Stern Opto-electrical joystick switch
DE9105251U1 (en) * 1991-04-29 1991-09-12 Bohl, Alexander, 8494 Waldmuenchen, De
US5349881A (en) * 1993-05-03 1994-09-27 Olorenshaw George M Multi-axial centering spring mechanism
JPH08227316A (en) 1995-02-21 1996-09-03 Shinko Electric Co Ltd Joy stick device
JP3410007B2 (en) 1997-11-26 2003-05-26 ホシデン株式会社 Multi-directional key switch
JP4194165B2 (en) * 1998-04-10 2008-12-10 富士通コンポーネント株式会社 pointing device
JP3737901B2 (en) * 1999-02-23 2006-01-25 アルプス電気株式会社 Multi-directional input device
DE102004045067B4 (en) 2004-09-15 2009-01-15 Wergen, Gerhard, Dipl.-Ing. (FH) Analog actuator
FR2912232B1 (en) 2007-02-05 2009-05-22 Philippe Hurtel SUSPENDED 3D OPTICAL MOUSE
FR2954980B1 (en) 2010-01-04 2012-02-10 Guillemot Corp JOYSTICK WITH COMPENSATION SPRINGS, MANUFACTURING METHOD AND CORRESPONDING LEVER.
FR2959861B1 (en) 2010-05-10 2012-05-04 Crouzet Automatismes JOYSTICK TYPE CONTROL DEVICE.
DE102015102317A1 (en) * 2015-02-18 2016-08-18 Elobau Gmbh & Co. Kg joystick
EP3701216A4 (en) * 2017-10-27 2021-09-22 Fluidity Technologies, Inc. Multi-axis gimbal mounting for controller providing tactile feedback for the null command

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ES2934841T3 (en) 2023-02-27
US20220011807A1 (en) 2022-01-13
EP3881160A1 (en) 2021-09-22
US11409321B2 (en) 2022-08-09
FR3088739A1 (en) 2020-05-22
WO2020099771A1 (en) 2020-05-22
FR3088739B1 (en) 2020-11-13

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