JP3706365B2 - Direct drive power joystick mechanism - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a direct drive type power joystick mechanism, and is a general purpose power type joystick mechanism applicable to a high power source direct drive, high speed and high load response system, which can withstand the high power drive of a traditional desktop computer joystick. The present invention relates to a direct drive type power joystick mechanism which can improve the problem of use that is not easily broken and has insufficient mechanical strength or the load problem caused by not having the power drive of a general industrial control stick.
[0002]
[Prior art]
There are three main types of joystick mechanisms in traditional desktop computers: a ball type, a cross-over type, and a double-sided type.
1. The ball type has a control stick that is operated by the user in its design method, and there is a friction ball at the bottom end of the control stick, which is activated by the friction method. If the friction force is insufficient, slipping occurs. There is a drawback that the response becomes slow.
2. The cross-cross type adopts a mechanical structure design, and when driving with high power is required, the mechanism is likely to break unless the thickness of the structure is increased. However, if the thickness is increased, it becomes heavier, which is inconvenient in operation, has a large frictional force, and is slow to respond.
3. The twin-co type lacks support for powerful mechanism means, and therefore cannot be driven using excessive mechanical force. If large power is used, eccentricity, idle rotation between gears, and mechanism breakage are caused. There is a risk of forming.
[0003]
Therefore, the above three kinds of traditional desktop computer joystick mechanisms are limited in application and cannot achieve industrial utility value in terms of good versatility, and need to be improved. is there.
[0004]
[Problems to be solved by the invention]
In view of the above-mentioned drawbacks of the prior art, the present invention provides a kind of direct drive power joystick mechanism. The direct drive type power joystick mechanism of the present invention is a kind of non-singular direct drive type power joystick mechanism, so-called "non-singularity" indicates that there is no singularity, and a mechanism without singularity is the most preferable mechanism design. Yes, the singular point is the dead point, and the mechanism with the dead point becomes unstable when the dead point is encountered, and can cause dangerous situations such as collapse, catching, and discontinuity of movement. The present invention belongs to a non-singular mechanism, which is a very good mechanism design.
[0005]
The main object of the present invention is to provide a general-purpose direct drive power joystick mechanism that is applied to a direct drive by a large power source and a high speed and high load response system, so that a traditional joystick cannot withstand a large power drive. It is intended to effectively improve drawbacks in use such as easy tearing, insufficient mechanical strength, and excessive frictional force.
[0006]
[Means for Solving the Problems]
The invention of claim 1 is a direct drive type power joystick mechanism,
A control rod is provided with a coordinate saddle at the bottom end, and there is a guide hole penetrating laterally at the center of this saddle. The guide hole penetrates the guide hole from the bottom to the upper center of the guide hole. A control hole, and a positioning hole whose axial direction is perpendicular to the axial direction of the guide hole at one side end of the saddle ,
First and second L-shaped rod means, each having a lateral wall and a vertical wall, the first and second L-shaped rod means jointly partition the control rod's saddle on the inside, and the first L-shaped rod means There is a hole seat having bearing means inside corresponding to the guide hole of the seat, and there is a hole seat having bearing means inside corresponding to the positioning hole of the collar seat on the vertical wall of the second L-shaped rod means. First and second L-shaped scissors means;
Two motors, which are provided with a position detection encoder, transmit the received coordinate information to the control device, cause the control device to control the rotation angle of the motor, and the second L-shaped rod The two motors attached to the lateral wall end side of the means, and connected to and driven by the vertical walls of the corresponding first L-shaped rod means and the lateral walls of the second L-shaped rod means, the rotation axes of the two motors;
The first and second interlocking means are inserted into the guide hole in the saddle at the bottom end of the control rod and positioned so as to protrude from the bearing hole in the lateral wall of the first L-shaped rod means. A portion corresponding to the hole has a perforation, and a screw part is inserted from below the center hole of the saddle to penetrate the perforation of the first interlocking means and is fixed to the center hole of the saddle. The second interlocking means has one end Is fixed in the positioning hole at the control rod side end, and the other end is positioned in the bearing hole of the vertical wall of the second L-shaped rod means with a shaft,
The position detection encoders of the two motors detect the amount of movement that occurs when the control stick is operated as described above, and the coordinate information is sent to the motor control device accurately and quickly. The presence / absence and rotation angle are controlled, thereby accurately controlling the rotation amount of the rotation shaft of the motor, the first and second L-shaped rod means are driven, and the auxiliary power is connected to the first and second L-shaped rod means. This is a direct drive power joystick mechanism that is provided to the control stick and allows the user to easily operate the control stick to achieve direct drive, high load, and high speed response.
According to a second aspect of the present invention, in the direct drive type power joystick mechanism according to the first aspect, a protective rod is provided on a peripheral side of the control rod and the two L-shaped rod means to form a protective function, and A direct drive type power joystick mechanism is provided, characterized in that a circular spout is provided at the upper end of the protective rod to project the upper end of the control rod and to limit the movement angle of the control rod.
According to a third aspect of the present invention, in the direct drive type power joystick mechanism according to the first aspect, the guide hole provided in the center of the saddle is a rectangular elliptical hole. Power joystick mechanism.
According to a fourth aspect of the present invention, in the direct drive power joystick mechanism according to the first aspect, the positioning hole of the saddle is a female screw hole, and the fixed end of the second interlocking means with the positioning hole is a threaded projection. It is a direct drive power joystick mechanism characterized by its body.
According to a fifth aspect of the present invention, in the direct drive type power joystick mechanism according to the first aspect, a portion of the center hole of the saddle located above the guide hole is a screw hole so that the screw part is located from below to above. The direct drive power joystick mechanism is used for fixing after passing through the perforation of the first interlocking means.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
The direct drive power joystick mechanism of the present invention is
It is a control stick, a lateral capsule-shaped guide hole is provided in the center of the bottom edge scorpion, and there is a central hole communicating with the guide hole in the center part of the scorpion below the guide hole. The control stick having a positioning hole on the end side,
There are first and second L-shaped rod means, both of which divide the rod of the control rod inward, and there is a hole seat on the side wall of the first L-shaped rod means corresponding to the guide hole of the saddle and having bearing means inside. The first and second L-shaped scissors means having a hole seat on the vertical wall of the second L-shaped scissors means corresponding to the positioning hole of the scissors and having bearing means inside;
The two servo motors are equipped with a position detection encoder to receive the coordinate information directly and transmit it to the control device. The control device controls the rotation angle of the servo motor, and the rotation axes of the two servo motors are each of the first L type. The two servo motors fixed and driven on the vertical wall of the scissors means and the lateral wall of the second L-shaped scissors means;
The first interlocking means is inserted into the guide hole of the saddle at the bottom end of the control stick and is positioned so as to protrude from the bearing hole on the lateral wall of the first L-shaped saddle means, and a hole corresponding to the center hole of the saddle is drilled. The first interlocking means, wherein the screw part is inserted from below the center hole of the saddle and penetrates and fixed to the saddle,
The second interlocking means, wherein the second interlocking means is fixed in the positioning hole at the control rod side end, and the other end is positioned in the bearing hole of the vertical wall of the second L-shaped anchoring means. When,
As a result, the position detection encoder of the servo motor detects the amount of movement that occurs when the control stick is operated, and the coordinate information is sent to the servo motor control device accurately and quickly, thereby rotating the two servo motors. By controlling the joystick, the movement trajectory of the joystick can be controlled arbitrarily within the standard degree of freedom. By driving and interlocking the two L-shaped rod means, auxiliary power is provided to the control rod, and high moment of force, high speed To achieve driving by a highly responsive system.
[0008]
【Example】
1 and 2 are an exploded view of a part of the embodiment of the present invention and a combination plan structure display diagram thereof. The composition requirements of the present invention include: That is,
A control coordinate 1 is provided at the bottom end of the control stick 1 (that is, a joystick), and a capsule-shaped guide hole 11 penetrating laterally is provided at the center of the control stick 10. At the center of the bottom end of the seat 10, there is a center hole 12 having a hole depth penetrating above the guide hole 11, and a portion of the center hole 12 positioned above the guide hole 11 is a screw hole 120. The control stick 1 is provided with a positioning hole 13 which is horizontally installed with the guide hole 11 and arranged vertically in a plan view and has a female screw on the inside thereof, on one side wall of
First L-shaped scissors means 2A and second L-shaped scissors means 2B, each L-shaped scissors means 2A, 2B includes horizontal walls 20A, 21B and vertical walls 21A, 20B installed at a vertical angle. The saddle means 2A, 2B are arranged in an array so as to have a hook shape, and the saddle 10 of the control stick 1 is partitioned inward (as shown in FIG. 2), of which the saddle 10 is placed on the lateral wall 20A of the first L-shaped saddle means 2A. A hole seat 200A corresponding to the guide hole 11 is provided, bearing means 201A is fixed in the hole seat 200A, and the bearing hole 2010A of the bearing means 201A corresponds to the guide hole 11 of the flange 10, and the second L shape. The vertical wall 20B of the flange means 2B includes a hole seat 200B corresponding to the positioning hole 13 of the flange seat 10, and the bearing means 201B is also attached to the hole seat 200B, and the bearing hole 2010B of the bearing means 201B is connected to the flange hole 10B. Positioning hole 1 Corresponding to, and the second 1L Katachikamachi means 2A and the 2L Katachikamachi means 2B,
The two motor holders 3A and 3B are attached to the outer ends of the vertical wall 21A and the lateral wall 21B of the two L-shaped scissors 2A and 2B described above (as shown in FIG. 2), and the bottom surface is attached to the fixed plate 6. (As shown in FIGS. 2 to 4), and through holes 30A and 30B are provided on the end sides of the two L-shaped scissors 2A and 2B facing the vertical wall 21A and the lateral wall 21B, and the servo motors M1 and M2 are attached. (As shown in FIG. 2), the through holes 30A and 30B of the two motor holders 3A and 3B are further connected to the corner ends of the two motor holders 3A and 3B of the rotation shafts M10 and M20 of the servo motors M1 and M2. The protrusions M11 and M21 are provided on the side walls of the rotating shafts M10 and M20 of the servo motors M1 and M2, and screw parts M111 and M211 are provided for screwing positioning on the protrusions M11 and M21. female 1 and 2 are provided (as shown in FIGS. 1 and 2), and the rotation walls M10 and M20 of the servo motors M1 and M2 are provided on the end surfaces of the vertical wall 21A of the first L-shaped scissors 2A and the lateral wall 21B of the second L-shaped scissors 2B. And when the servo motors M1 and M2 are started, the rotation axes M10 and M20 are driven to rotate at an angle (the rotation of the rotation axes M10 and M20 is only one moving stroke). Thus, the two L-shaped scissors 2A, 2B are driven by one moving stroke angle synchronously, and the position detection encoders are installed in the two servo motors M1, M2 themselves, so that the coordinate information is accurately To the control device (for example, a microcomputer control IC) immediately, and the control device accurately controls the operation of the servo motors M1 and M2, thereby rotating the rotating shaft. 10, causes the rotation of a certain angle with controlling the M20 (or unrotated), the two motor holder 3A, and 3B,
As shown in FIGS. 1, 2, and 5, the first interlocking means 4 is inserted into the guide hole 11 of the saddle seat 10 from the end near the lateral wall 21 </ b> B of the second L-shaped means 2 </ b> B of the control stick 1. A threaded portion 40 is provided at the end projecting from the bearing hole 2010A of the first L-shaped scissors means 2A and projecting from the lateral wall 20A of the first L-shaped scissors means 2A, and is screwed and positioned with a nut 41 that conforms to the standard. The guide hole 11 of the collar 10 has a rectangular elliptical shape (that is, the upper and lower inner walls of the guide hole 11 are vertical and both ends are arcuate surfaces), whereby the first interlocking means 4 is guided. The first interlocking means 4 is provided with a perforation 42 corresponding to the central hole 12 of the saddle 10 in the housing in the guide hole 11 of the saddle 10. The screw part 43 is inserted from below the center hole 12 of the collar 10, 1 through the perforation 42 of the interlocking means 4 and finally screwed into the screw hole 120 of the saddle seat 10 and positioned (as shown in FIGS. 2 and 5), whereby the first L-shaped saddle means 2A supports one end of the control stick 1 The first interlocking means 4 that prevents the screw part 43 from moving while holding the center point of the saddle 10 (control stick 1);
As shown in FIG. 1, the second interlocking means 5 is provided with a threaded convex body 50 (as shown in FIG. 2) inserted into the positioning hole 13 at the side end of the control stick 1 at one end. Is a shaft body 51 that is inserted into the bearing hole 2010B of the vertical wall 20B of the second L-shaped rod means 2B and positioned, and the second L-shaped rod means 2B supports the other end of the control rod 1 described above. 5 and
A protective rod 7 (as shown in FIGS. 2 and 3), which divides the first and second L-shaped rod means 2A and 2B and the rod 10 of the control rod 1, is located at the upper end of the control rod 1, and has a circular limit. A protective rod 7 that divides the rod 70 and protrudes the upper end of the rod 1 to limit the operation movement angle of the rod 1;
It has.
[0009]
With these installations, the overall planar structure after assembly is as shown in FIG. 2, and the front and side structures are as shown in FIGS. In the overall mechanism of the present invention, when the control stick 1 is operated to generate a movement amount, the position detection encoders installed in the two servo motors M1 and M2 themselves accurately and promptly control the coordinate signal to a control device (for example, a micro-device). Computer control IC), the control device accurately controls the operation of the servo motors M1, M2, and rotates the rotating shafts M10, M20 at an angle or unrotates, thereby providing auxiliary power to the control stick 1. Let the user operate the control stick 1 easily.
[0010]
The control method of the present invention is as follows.
one. First, when the control stick 1 is not operated and is kept upright in the center, the plan view is as shown in FIG. 2, the front view is as shown in FIG. 3, and the right side view is as shown in FIG. As can be seen from FIGS. 3 and 4, the first and second L-shaped scissors 2 </ b> A and 2 </ b> B both maintain a horizontal state.
two. When the user operates the control stick 1 to move it in the direction of the arrow X in FIGS. 6 and 9 (45 ° angle to the front left), the position detection encoders of the servo motors M1 and M2 detect the information, and the coordinate information Is transmitted to the control device accurately and quickly, and the servo motor M1 is controlled to rotate the first L-shaped scissors 2A to the angle shown in FIG. 8, and the servo motor M2 is controlled to show the second L-shaped scissors 2B. 7, so that when the user operates the control stick 1, the operation can be easily performed with the assistance of power from the servo motors M <b> 1 and M <b> 2. On the other hand, if the control stick 1 is moved in the direction of arrow Y shown in FIGS. 10 and 13 (45 ° angle to the rear right), the position detection encoders of the servo motors M1 and M2 detect the information, and the coordinates Information is transmitted to the controller accurately and quickly, the servo motor M1 is controlled to rotate the first L-shaped scissors means 2A to obtain the angle shown in FIG. 12, and the servo motor M2 is controlled to control the second L-shaped scissors means 2B. The angle shown in FIG. 11 is established, so that when the user operates the control stick 1, the power assistance of the servo motors M1 and M2 is received, and the phenomenon of consuming the operation does not occur, and the operation is extremely easy. It becomes.
three. If there is an angle perpendicular to the first and second L-shaped rod means 2A, 2B in the direction in which the user operates the control stick 1, as shown in FIGS. 14 to 17, the control stick 1 at that time The angle control is as follows.
1. 14 is a right side view in which the control stick 1 is moved laterally toward the servo motor M2, and FIG. 15 is a left side view in which the control stick 1 is moved laterally away from the servo motor M2. In these two states, the control stick 1 is in a state of vertical crossing with the second L-shaped means 2B, and is therefore connected between the bottom 10 of the control stick 1 and the second L-type means 2B. The second interlocking means 5 rotates on the base and there is no movement amount for the servo motor M1, so the servo motor M2 does not operate, just the adjacent servo motor M1 drives the rotation axis M10, As a result, the first L-shaped rod means 2A is swung to provide auxiliary power to the control rod 1.
2. Similarly, FIGS. 16 and 17 are front views in which the user operates the control stick 1 to approach the servo motor M1 in the lateral direction, and the user operates the control stick 1 to move away from the servo motor M1, respectively. It is a front view made to move to a horizontal direction. In this state, the first interlocking means 4 connected and installed between the saddle 10 at the bottom end of the control stick 1 and the first L-shaped sticking means 2A rotates about its axis, and the servo motor M1 There is no moving amount, and therefore the servo motor M1 does not operate, but the adjacent servo motor M2 drives the rotary shaft M20, thereby swinging the second L-shaped rod means 2B and supplying auxiliary power to the control stick 1. provide.
[0011]
【The invention's effect】
Therefore, as can be seen from the above description, according to the present invention, at the same time that the control stick 1 is operated, the servo motors M1 and M2 are directly driven according to the operation angle of the control stick 1 to operate together. One of them is automatically driven, and the servo motors M1 and M2 directly drive and swing the first and second L-shaped rod means 2A and 2B, so that the operation of the control rod 1 by the user can be performed very easily and is high. Achieving the function of using the drive without the singularity of force moment, high speed high responsive system and mechanism, effectively, can not withstand the drive by the large power of the traditional joystick, easy to tear, lack of mechanical strength It improves the drawbacks of use such as excessive frictional force, has a very remarkable improvement in function, and has inventive step and practicality.
[0012]
In particular, the above-described design mechanism of the present invention achieves an arbitrary trajectory segment within the design norm freedom, as well as no mechanism singularity, low friction, and high speed, high response that a direct drive joystick should have. It has a high frequency range motion feature. In addition, the design parts of this mechanism are simple and have a very high mechanical strength and the ability to withstand a very large load despite its low manufacturing costs. In general, the orthogonal joystick mechanism generates a singular point because the center point is fixed, but the mechanism of the present invention has a rectangular elliptical guide hole provided in the saddle of the joystick saddle. The singularity phenomenon is overcome by the screw parts that position the saddle, and an excellent mechanism with no singularity is achieved. The direct drive means a mechanism that does not use any reduction gear and is driven directly by a large power to achieve a high-speed response requirement. This mechanism is designed for direct drive, and the bearing means is used to support the heavy load drive of the motor, thereby receiving the direct drive and achieving the severe demands such as driving of large loads and high speed motion. However, it has extremely strong mechanical mechanism strength. Not only is this mechanism non-specific, it can withstand heavy loads, can achieve industrial-level requirements such as high-speed response, and the parts used are considerably simpler and the production cost is considerably lower. And assembly is easy. Further, the control stick 1 can be used for driving a large power source, and the control stick 1 can be used for a video camera for a fixed monitor, a control stick for a wheelchair, an auxiliary power for a steering wheel of an automobile, and the like.
[0013]
Taken together, such a design of the present invention has an inventive step and industrial utility value, and the structural features of the present invention have not yet been published or announced, and thus have novelty. It should be noted that the above embodiments do not limit the scope of the present invention, and any modification or alteration in detail that can be made based on the present invention shall belong to the claims of the present invention.
[Brief description of the drawings]
FIG. 1 is an exploded view of an embodiment of the present invention.
FIG. 2 is a combined plan structure diagram of an embodiment of the present invention.
FIG. 3 is a state display diagram in the F direction of FIG. 2;
4 is a state display diagram in the R direction of FIG. 2;
5 is a cross-sectional structure diagram of FIG. 4;
FIG. 6 is a plan view showing a state where the control stick of the embodiment of the present invention is operated in the X direction.
7 is a state display diagram in the direction of arrow B in FIG. 6. FIG.
8 is a state display diagram in the direction of arrow C in FIG. 6. FIG.
FIG. 9 is an enlarged view of FIG. 6;
FIG. 10 is a plan view showing a state where the control stick of the embodiment of the present invention is operated in the Y direction.
11 is a state display diagram in the direction of arrow B in FIG.
12 is a state display diagram in the direction of arrow C in FIG.
13 is an enlarged view of FIG.
FIG. 14 is a state display diagram in which the control stick and the first and second L-shaped means of the embodiment of the present invention exhibit orthogonal angle directions.
FIG. 15 is a state display diagram in which the control stick and the first and second L-shaped stick means of the embodiment of the present invention exhibit orthogonal angle directions.
FIG. 16 is a state display diagram in which the control stick and the first and second L-shaped sticking means of the embodiment of the present invention exhibit orthogonal angle directions.
FIG. 17 is a state display diagram in which the control stick and the first and second L-shaped sticking means of the embodiment of the present invention exhibit orthogonal angular directions.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Control stick 10 Saddle 11 Guide hole 12 Center hole 13 Positioning hole 2A, 2B L-shaped means 20A, 21B Horizontal wall 21A, 20B Vertical wall 200A Hole seat 201A Bearing means 2010A Bearing hole 200B Hole seat 201B Bearing means 2010B Bearing hole 3A 3B Motor holder 30A, 30B Through hole M1, M2 Servo motor M10, M20 Rotating shaft M11, M21 Convex part M111, M211 Screw parts M110, M210 Female thread 22A, 22B Receiving hole 4, 5 interlocking means 6 fixing plate 40 screw part 41 Nut 42 Drilling 43 Screw parts 50 Convex body 51 Shaft body 7 Protective rod 70 Port 120 Screw hole

Claims (5)

In direct drive power joystick mechanism,
A control rod is provided with a coordinate saddle at the bottom end, and there is a guide hole penetrating laterally at the center of this saddle. The guide hole penetrates the guide hole from the bottom to the upper center of the guide hole. A control hole, and a positioning hole whose axial direction is perpendicular to the axial direction of the guide hole at one end of the saddle ,
First and second L-shaped rod means, each having a lateral wall and a vertical wall, the first and second L-shaped rod means jointly partition the control rod's saddle on the inside, and the first L-shaped rod means There is a hole seat having bearing means inside corresponding to the guide hole of the seat, and there is a hole seat having bearing means inside corresponding to the positioning hole of the collar seat on the vertical wall of the second L-shaped rod means. First and second L-shaped scissors means;
Two motors, which are provided with a position detection encoder, transmit the received coordinate information to the control device, cause the control device to control the rotation angle of the motor, and the second L-shaped rod The two motors attached to the lateral wall end side of the means, and connected to and driven by the vertical walls of the corresponding first L-shaped rod means and the lateral walls of the second L-shaped rod means, the rotation axes of the two motors;
The first interlocking means is inserted into the guide hole of the saddle at the bottom end of the control rod and positioned to protrude from the bearing hole on the lateral wall of the first L-shaped saddle means. A portion corresponding to the hole has a perforation, and a screw part is inserted from below the central hole of the saddle to penetrate the perforation of the first interlocking means and is fixed to the central hole of the saddle. The second interlocking means has one end Is fixed in the positioning hole at the control rod side end, and the other end is positioned in the bearing hole of the vertical wall of the second L-shaped rod means with a shaft,
The position detection encoders of the two motors detect the amount of movement that occurs when the control stick is operated as described above, and the coordinate information is sent to the motor control device accurately and quickly. The presence / absence and rotation angle are controlled, thereby accurately controlling the rotation amount of the rotation shaft of the motor, the first and second L-shaped rod means are driven, and the auxiliary power is connected to the first and second L-shaped rod means. A direct-drive power joystick mechanism that is provided to the control stick so that the user can easily control the control stick to achieve direct drive, high load, and high speed response.   2. The direct drive type joystick mechanism according to claim 1, wherein a protective rod is provided on a peripheral side of the control rod and two L-shaped rod means to form a protective function, and a circular rod is formed at the upper end of the protective rod. A direct drive power joystick mechanism provided with a mouth to project the upper end of the control stick and to limit the movement angle of the control stick. 2. The direct drive type power joystick mechanism according to claim 1, wherein the guide hole provided in the center of the saddle is a rectangular elliptical hole.   2. The direct drive type joystick mechanism according to claim 1, wherein the positioning hole of the saddle is a female screw hole, and the fixed end of the second interlocking means with the positioning hole is a convex body with a screw cut. A direct drive power joystick mechanism.   2. The direct drive type joystick mechanism according to claim 1, wherein a portion of the center hole of the saddle located above the guide hole is a screw hole so that the first interlocking means is drilled from below to above the screw part. A direct-drive power joystick mechanism, which is used for fixing after passing.

Images