FR2688959A1 - Individual manipulator device for wireless remote control of a functional unit - Google Patents

Abstract

Individual manipulator device for wireless remote control of a functional unit, characterised in that it comprises a pivoting handle (1) which actuates an operating shaft (2) mounted in elastic return on either side of a mid position following a right-hand travel and a left-hand travel, each travel being subdivided into two successive regions by a subdivision means (26), the said shaft (2) controlling a displacement or position sensor for a transmission piece (9) integral with the shaft operated by the handle (1). The invention applies to the field of wireless remote control.

Description

The present invention relates to a unitary manipulator device

  single channel with pivoting joystick for controlling a radio transmitter

  wireless remote control of a functional unit.

  The invention also relates to the control method thus used and to the application of a joystick for the control of a remote control transmitter.

wireless.

  Various manipulators are known in the industrial field of wireless remote control allowing the operator to translate his orders by movements of the hand. These orders are used by a transmitter to transmit remote control signals to a receiver. First of all, it is the joystick control with one axis or two axes actuating contacts or potentiometers. The main drawbacks of this type of control are the size and the price. Furthermore, the sealing bellows required at the base of the handle.

  deteriorates quickly due to its heavy load.

  It is then a lever switch control. This, limited to all-or-nothing orders in one direction or the other, does not provide all the flexibility necessary in many

industrial applications.

  In addition, there are also problems

  sealing with this type of control.

  There are finally push button switches whose only possible operation in

  all or nothing seriously limits use.

  Indeed, in the industrial environment, the wireless remote control relates to machines or means of transport, handling or other, performing a work with several movements requiring many different orders often to

variable speed.

  An example is an overhead traveling crane comprising the following movement controls: forward and backward movement; raising and lowering of the winch cable; movement to the left or to the right of the carriage carrying the winch; displacement in rotation to the right and rotation to

left of the pliers.

  These multitudes of commands require several control elements, for example three handles joined together on a ventral desk or a keyboard.

carried by a case.

  These control elements prove to be bulky and expensive. In addition, their use is difficult, since it is not possible to control everything with one hand, and the size of the desk or of the box hinders the user in his movements. The present invention aims to provide a space-saving control device which is placed on the side of the user and offers him all

the ease of use desired.

  So we can control all movements

with one hand.

  The user is not hampered in his movements In addition, the contactless controller does not

  requires no special protection or sealing.

  The technical characteristics and other advantages of the invention are set out in the

  description which follows, given by way of example not

  limiting on an embodiment with reference to the accompanying drawings in which FIG. 1 is a perspective view of a remote control unit grouping together three control devices according to the invention; Figure 2 is a front perspective view of the manipulator device according to the invention, pivoting control sector dissociated; Figure 3 is a rear perspective view of the manipulator device according to the invention; Figure 4 is a simplified perspective view called "exploded" of the manipulator device according to the invention; FIG. 5 is a detailed view of the actuation mechanism in two stages according to two successive control ranges, support part shown in

transparent.

  The manipulator device according to the invention for wireless remote control circuit consists of:

following main organs.

  A single pivoting actuating lever 1 is mounted integral with one of the ends of an operating shaft 2 carried by two bearings 3 and 4 immobilized in a transverse bore of a block

  mechanical 5 terminated on one side by a shoulder 6.

  This swivel handle determines two

  right and left control strokes.

  On the mechanical block 5 are fixed or mounted all the elements and organs constituting the

  unitary manipulator device according to the invention.

  At the opposite end of the operating axis 2 is mounted, on a plastic bushing 7 fitted on said axis, a torsion spring 8 then a thick transmission part 9, for example metal, actuating a converter 10, sensor or displacement or position detector 11 and more generally a continuous or point converter for moving the lever into a variation of a

Physical size.

  By way of example, mention may be made of a potentiometer, an optical or capacitive encoder, a proximity detector, a step-by-step encoder, a magnetic sensor, a piezoresistive sensor, a

  inductive or Hall effect sensor, a photo-

electric or other equivalent.

  Mention may also be made of switches, inductive or capacitive proximity detectors, limit or passage detectors, or any other suitable for the application. This transmission part is shaped for example in control sector 12 with an opening angle directed upwards, the upper part of which in an arc of a circle 13 is shaped according to a toothing 14 which meshes with a drive pinion 15 to axis 16 mounted at the end of the converter 10 constituted in the example represented by a rotary potentiometer

referenced 11.

  The assembly of the transmission part 9 on the operating axis 2 is carried out by mounting and fixing the sector by its base which has for example a lower longitudinal opening 17 crossed by the corresponding flat end 18 of the axis of operation shaped or machined in two

opposite flats.

  This drive pinion 15 actuates the displacement or position sensor or detector 11, that is to say a functional element transforming the rotational movement of the pinion into a physical magnitude which can be used directly or indirectly by a

electronic assembly.

  This displacement or position sensor or detector 11 is fixed to the upper part shaped as a wing 19 of the mechanical block 5 constituting

  the body of the manipulator device according to the invention.

  The mechanical block 5 comprises in the lower part of its rear face two stop rods 20 and 21 against one or the other of which arrive in contact-stop one or the other oblique edge corresponding to the control sector 12 thus limiting

its angular deviation.

  The rear face of this mechanical block also has, for example in alignment with the operating axes 2 and the axis 16 of the pinion 15, a support stud 22 against which arrive in support contact on one or the other of its sides, one or the other end branch 23 and 24 of the torsion spring 8

  mounted on the end of the operating shaft 2.

  The toothed control sector 12 carries in the middle part of its upper zone an actuating stud 25 whose geometric axis 16 is placed in alignment with the other two axes respectively

  of the sensor drive pinion.

  The purpose of this actuating pin 25 is to be in permanent contact with one and the other of the branches of the torsion spring 8 which it pushes.

  selectively in its pivoting movement.

  One of the features of the manipulator device relates to a fractionation means 26

  swivel strokes to the right and left.

  We will now describe the mechanism 27 corresponding to the fractionation means of each

race in two stages.

  The splitting mechanism 27 makes it possible to traverse the track or the path of the sensor in two

  displacements on either side of the midpoint.

  This mechanism consists of a cam 28 in

  ring shape integral with the operating axis, by-

  example by pin This cam 28 has two successive notches 29 and 30, that is to say slightly angularly offset and separated from each other by a

  slight flat 31 marking the middle position.

  These notches 29 and 30 are of depth and profile adapted to present a passable hard point, that is to say a narrow zone of greater mechanical resistance, in straight travel and

left of the joystick.

  This point of greatest mechanical resistance is provided by a pressure roller 32 of diameter

  suitable for the shape and depth of the notches.

  This roller 32 is mounted for rotation by its axis 33 in two opposite notches existing on the lower end edge of a movable cage 34 slidably housed in a longitudinal chamber 35 of a

  mechanical part 36 mounted on the mechanical block 5.

  This cage is mounted in constant elastic pressure stress downwards, that is to say towards the operating axis by a support spring 37 which permanently forces the roller 32 against the lateral surface of the cam 28 Le roller is forced against the cam, rolls on the surface of the latter and thus causes an additional mechanical resistance to the crossing of each notch This makes it possible to split each of the right and left races of the lever in two

  areas separated by a more resistant point.

  The intermediate zone between the two notches 29 and 30 comprising the slight flat 31 coincides with

  the middle position of the lever 1.

  The division of each of the right and left strokes into two parts makes it possible to carry out in operation two degrees of control, for example a first and a second speed in one direction and in

The other meaning.

  One can also envisage a command at reduced speed for the first range of the race and a progressive speed command for the second range of the race whose speed would be

  proportional to the angular deviation.

  In the case of a sensor in the form of a potentiometer, a first voltage difference can be determined between a median voltage value, for example 2.5 volts for a maximum of 5 volts, and two intermediate values corresponding to the position of the notches and an additional deviation up to or near the maximum, for example 0.5 volts

up to 4.5 volts.

  Thus, in operation by programmable electronics, we will be able to reliably interpret the variation of the physical quantity and

  generate a continuously variable order.

  The unitary manipulator device according to the invention is intended to equip a remote control unit 38, for example the unit as shown in FIG. 1 which includes an upper front panel 39 for controlling the inclined end plane

40.

  This case is contained in a bag 41 and is intended for the wireless remote control, for example

of an overhead crane.

  It comprises three unitary manipulator devices 42, 43 and 44 making it possible to control along three axes, that is to say along three paths, each corresponding to a motor for actuating the crane and its devices: trolley, winch, etc. On distinguishes for example the control of the longitudinal displacement motor of the bridge corresponding to the manipulator device 42, the movement control of the carriage corresponding to the

manipulator device 43.

  The third manipulator device 44 serves

  when controlling the winch motor fitted to the trolley.

  Other functions are provided in this box, such as fulfilled by switches 45,

46 and 47.

  An emergency stop button 48 is located on the

  side of the upper face of the case.

  Beyond the means described and more generally, the invention relates to a method for making wireless remote control orders and to the use of a joystick associated with a sensor, a detector or a contactor for control a wireless remote control transmitter for

  remote actuation of a functional unit.

  The method and the application relate to the control of a remote control transmitter using a single pivoting joystick corresponding to a single channel or to a single control axis. The method consists in using a single lever pivoting to the right and to the left from a midpoint to mechanically actuate a detector or a sensor of position or angular or other displacement, or a detector or a proximity switch of passage or limit switch to trigger orders to a remote control transmitter

wireless.

  More particularly, the stroke of the lever in each of its movements of movement to the left or to the right is divided into at least two

  distinct and successive ranges of use.

  There is a first operating range in one direction or another to a

first fixed or variable speed.

  This first range is followed by a second range of use after the passage of a passable hard point in the pivoting of the

  joystick at a predetermined angular position.

  This second range is used to control the change to a second fixed or variable speed, for example in proportion to the

angular displacement.

  Regarding the application, it is the use of a single pivoting joystick associated with a position or displacement or passage sensor or sensor or with a contactor as a means of forming an order or several successive orders from the hand of an operator along an axis or a control channel in the field

  of the wireless remote control of a functional unit.

  It is the exploitation of the position of the joystick on either side of a midpoint to form and give orders of walk or speed

  in one direction of travel or the other.

  More particularly, the angular control zone is divided on either side of the median position corresponding to the midpoint into a first control range used for operating at a first fixed or variable speed and into a second control range used for switching to a second fixed or variable speed In the case of a variable speed, one of the variations envisaged is a variation proportional to the angular deviation of the lever relative to its median position. The passage between the first range and the second range is carried out in the form of a point or a zone of greater mechanical resistance to

  displacement, for example, a passable hard point.

Claims (14)

  1 unit manipulator device for controlling a wireless remote control transmitter of a functional unit, characterized in that it consists of a pivoting lever (1) on either side of a middle position, integral an operating axis (2) on which is mounted a transmission part (9) actuating a displacement or position sensor (11) or a motion detector, the operating axis (2) being mounted as a return by elastic means towards the middle position and having a stroke to the right and a stroke to the left, each   split into two successive command ranges.   2 Device according to claim 1, characterized in that the transmission part (9) is an arcuate sector (13) toothed meshing on   a pinion (15) mounted at the end of the sensor.   3 Device according to claims 1 and   2, characterized in that the elastic means is a torsion spring (8) mounted on a bush (7) fitted on the operating shaft (2), the two end branches (23,24) of which are in contact with a stud (25) integral with the toothed sector (12) on the   bisector of the angle delimited by the sector.   4 Device according to any one of   previous claims, characterized in that the   strokes on the right and on the left are divided into two ranges by a fractionation means (26) providing a point of greater passable mechanical resistance in the pivoting movement.   Device according to claim 4, characterized in that the fractionation means (26)   is of the pressure roller (32) and cam (28) type.   6 Device according to claim 5, characterized in that the cam (28) is integral with the operating axis and provided with two notches (29,30)   in which the roller sags.   7 Device according to any one of   previous claims, characterized in that the   displacement sensor is a potentiometer with an electric midpoint. 8 Device according to any one of   previous claims, characterized in that the   displacement sensor is an optical encoder.   9 Device according to any one of   previous claims, characterized in that the   displacement or position sensor is a magnetic sensor. Device according to any one of   previous claims, characterized in that the   displacement sensor is a piezoresistive sensor.   11 Device according to claim 1, characterized in that the first range is used for a command to operate at a first speed, and in that the second range is used for controlling an operation at a second gear.   12 Device according to claim 1, characterized in that the first range is used for a command to operate at a first speed, and in that the second range is used for the continuous control of an operation at variable speed.   13 Device according to claim 12, characterized in that the speed is variable in proportion to the angular deviation of the lever. 14 Application of a single pivoting joystick associated with a displacement detector or sensor, or with a contactor as a means of making orders along an axis in the field of wireless remote control.   Application according to claim 14, characterized in that for each position of the lever on either side of a midpoint, at least an order is given.   16 Application according to claims 14   and 15, characterized in that for each position of the lever on either side of the midpoint, there is a first control range followed by a second control range.   17 Application according to claim 16, characterized in that the first control range is used for operation at a first speed and the second control range for   shifting to a second gear.   18 Application according to claim 16, characterized in that the first control range is used for operation at a first speed and the second control range at a variable speed.   19 Application according to claim 18, characterized in that the variable speed is continuously variable in proportion to the deviation angle of the joystick.