JPH01140976A - Joy stick type controller - Google Patents

Abstract

PURPOSE: To reduce the number of part items of a joy stick type controller by filing a movable member composed of a spring support part and a potentiometer actuating part to actuate a pair of rectilinearly actuating potentiometers according to rotation of an operation rod, to the lower end of the operation rod, and supporting it by a universal bearing to a stationary part. CONSTITUTION: A movable member 41 composed of at least a spring support part and a potentiometer actuating part is fixed to a lower end part of an operation rod 31. This movable member 41 is supported by a universal bearing 33 to a stationary part 32, and plural coil springs 50 and 51 are arranged between the spring support part and the stationary part 32 with this bearing 33 as the almost center in a compressed or tensile condition. The operation rod 31 is automatically returned to a neutral position by this spring force. When this operation rod 31 is rotated from the neutral position, a pair of rectilinearly actuating potentiometers 76 are actuated by the potentiometer actuating part according to this rotation. The rotational direction of the operation rod 31 is detected by this actuation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a joystick type controller 2 used for example to teach a robot.

[Conventional technology and its problems]

Figures 7 to 10 are conventional examples of electric ice type controllers)
In the figure, the handle (1)
At its lower end, the universal bearing is connected to the mechanism (3) by a pin (4). The lower end of the handle (1) (
1b) is an operation transmission member (8) that transmits the operation force in the input direction shown in the figure, and the other operation force transmission member (7) that transmits the operation force in the direction of operation force B in the direction perpendicular to the input direction of the arrow. engaged.

As shown in FIGS. 7 and 8, these operating force transmitting members (7) and (8) are formed with notches (7 holes) and (8 stars) having widths equal to the lower end (1b) of the handle. In this notch (7a) (8m), the handle (1) can be operated in the arrow entry direction and the B direction, but the operating force transmission member (8) is connected to the shaft pin (5,
These rotating forces are fixed to the shaft pin (6b).
The cam member αυ and the gear (2) shown in FIGS. 9 and 10 are rotated via the gears m) and (6b).

The cam member αη is the actuator (
12m) and its recess (l1m). A gear (13m) is formed on the lower edge of the gear (13m), and a gear (14m) is fixed to the rotating shaft of the potentiometer (10b) fixed to the casing pan. ).The other operating force transmission member (7) also has a notch (7) of the same width as the lower end of the handle (1). It can be rotated in direction B, and this rotational force is transmitted to the shaft pin (5m) (5b) shown in Fig. 5.
These K are the same cam members α as shown in FIGS. 7 and 8.
η, gears (to) are installed, and these are also equipped with microswitches (9a) and potentiometers (9b).
A gear (21m) fixed to the rotating shaft is engaged.

In addition, in Figures 7 and 8, (c) is for dustproof =
This is fixed between the handle (1) and the bellows mounting member. In addition, (to) is a spacer that integrally connects the casing wing and cover aη, so that the casing (1) can be stably attached to the frame (2).
It is fixed to prevent vibration. α9 is the harness cord outlet, and micro switch f (9m) (10
m) and bof'/'/va/-1(9b)(
10b) A voltage proportional to the OON, OFF signal or resistance, or a current inversely proportional to this is extracted.

The conventional joystick type controller is constructed as described above, but as shown by the one-dot chain line or the two-dot chain line in Fig. 7, the handle (1) has a knob (1 m long) fixed to its upper end. By holding it in the hand of the worker, it can be moved in the arrow direction or B direction, or in any other direction.
In other words, it is possible to move in a universal direction, but when the handle (1) is operated in the direction of the arrow, the microphone O switch (IQI) is turned on.
Also, the potentiometer (10b) is rotated by engagement of the gears.

When operated in the B direction perpendicular to the direction of arrow entry, the microswitch (9) is turned on and the 1 meter (9b) is rotated. Also, when operated in a so-called universal direction other than by a person or B, both the 1st meter a switch (9b) and (10m) become (g), and the bottom 1mter (9b) and (xob) are both rotationally driven. It has become.

The conventional Zitzistek-type controller is constructed as described above and operates as described above, but as is clear from the above, there are a large number of component parts such as bearings.
It is very difficult to assemble these, and therefore the assembly precision is not very good.

In addition, since there are a large number of parts and the number of assembly steps is also large, the cost becomes high. Also, since there are many frictional parts, durability is poor.

[Problem that the invention seeks to solve]

The present invention has been made in view of the above-mentioned problems of the prior art, and has a simple structure with fewer constituent members, is easy to assemble, and reduces costs. The object of the present invention is to provide a G-I stick type controller which can improve durability by providing less friction.

[Means for solving problems]

The above purpose is to fix a movable member consisting of at least a spring support part and a potentiometer actuating part to the lower end of the operating rod, support the movable member to the stationary part by a universal bearing, and place the bearing approximately in the center. A plurality of coil springs are disposed in a compressed or tensioned state between the spring support part and the stationary part, so that the operating rod is automatically returned to its neutral position by the spring force, and the potentiometer is actuated. This is achieved by a digital controller A-2 characterized in that a pair of linear actuating potentiometers are actuated in accordance with the rotation of the operating rod.

[For production]

Since a pair of potentiometers can be operated by a single movable member, and since multiple springs are arranged around the universal bearing, the number of parts can be reduced to a greater extent than in the past. However, it is possible to secure a neutral position, and the assembly is simple and costs can be reduced.

〔Example〕

Hereinafter, details of a joystick type controller according to an embodiment of the present invention will be explained with reference to FIGS. 1 to 6.

In the figure, the controller of this embodiment is shown in gloss as a whole, and the rod-shaped handle (311 is inserted through the opening (32M) of the frame member, and its lower end (31b) allows universal movement of the handle 6υ. The bearing, which serves as a universal mechanism, is fitted with various members to be described later.The bearing is fixed to a fixed frame or frame 321 through various members to support it, which will be described later. The fixed frame C321 has a shape as shown in Fig. 6, and is fixed to the machine frame shown in Figs. 1 and 2 with bolts (not shown). As is clear from Figures 1, 2, and 4, it has downward protruding parts (to) r3η, and one of them protrudes horizontally from one downward protruding part (to) to form a universal structure. A bearing support plate portion t41 is formed.

A hat-shaped movable member 1411 as shown in FIG. 6 is fixed to the lower end of the handle (311).
This mainly consists of a cylindrical part I421 and a flat plate part 3,
In addition, a part of the flat plate part (43) is cut out, and ears part (c) are integrally formed in this part at an angular interval of 90''.
It is. This opposing surface side is a convex curved surface, and an opening σ3σJ for positioning the movable member 141) at a neutral position is formed in this as will be described later.

An annular groove (31C) (31d) is formed in the handle (311), and a spherical knob (31m) is formed at its upper end.
is formed. An E ring (T) is fitted into the groove (3k), and a washer 671 is inserted between the handle Cl1
It is inserted through a hole (54 m) in a dust cover made of rubber. The E-ring can be fitted into the lower groove (31d) with a washer (3) interposed therebetween. In other words, the dust cover (upper wall portion (54b) is fixed to the handle C311 by the E-ring 6 & via the washer 57] (5!
1) is inserted into the hole (4η) of the protruding part as the handle attachment part, and the threaded part (31e) at the lower end of the handle (31+
) of the universal bearing member (60) (60m)
Screw into the vertical screw hole formed in the
By tightening the handle C31+ and the movable member I4
1) and the universal bearing member ω are integrated.

That is, these constitute the movable side of this siroitic type controller.

A round hole z is formed in the universal bearing support plate part f4G formed below the fixed frame C33, and the threaded part (61m) of the ball bearing member all is inserted into this as shown in FIGS. 1 and 2. The upper washer inserted as shown in FIG. The bearing ball portion at the tip of the ball bearing member all is a hemispherical recess (60b) formed at the lower end of the universal bearing member 1601 described above.
) are fitted as shown in FIGS. 1 and 2. In this way, the above-mentioned universal bearing part is constructed. In other words, the handle C11l is supported by this universal bearing so as to be rotatable in a universal direction.

The dust cover 1541 is made of rubber and is flexible, but a ring-shaped attachment part 551 made of metal is fixed to its lower end, which is connected to the cylindrical protrusion of the fixing frame c33 (
After placing the dust cover mounting ring 5z on the mounting part (G) and aligning the screw holes, insert the screw (■) and screw it into the screw hole shown in the mounting part diagram to attach the dust cover 541. is attached to the fixed frame 3z.

The dust cover (b) closes the hole (32 m) of the fixed frame C321, so it prevents foreign objects and dirt from entering the inside of the dust cover (the machine frame □□□ is in the form of a sealed casing). ``Also, since it is flexible, it does not hinder the rotatable movement of the handle (311).

The flat plate part 43 of the above-mentioned movable member 141) has coil springs t48 arranged at an angle as shown in FIG.
111J 611511 is placed in a compressed state. These are attached to the fixed frame 32 at the upper and lower ends without being clearly indicated.
The lower surface of the upper wall portion and the flat plate portion (431) of the movable member (41)
The extraction is stopped and positioned by the protrusion formed on the. Also, these four coil springs (9) to 511
The equally compressed state causes the handle c111 to automatically take an upright position as a neutral position as shown in FIGS. 1 and 2. Next, the positioning screw body (6 and hammer) for accurately positioning the neutral position of the above-mentioned movable member I411, which is clearly shown in FIG. 5, will be explained.

These are arranged at angular intervals as shown in Figure 4, and are a cylindrical body with threads formed on the outer wall. I,
It consists of a spring (7α) disposed in this inner hole, a ball σB biased by this spring button, and an adjustment screw σ2 for adjusting the spring force of the spring qα.

A screw is also formed on the inner circumferential wall of the cylinder β9, into which the adjustment screw σ is screwed, and the ball σV cannot be pulled out from the tip of the cylinder as shown in Fig. 5. ), the ball συ can be adjusted by adjusting the adjustment screw σ.
adjusts the force with which the hole σJ is pressed as shown in FIG. The positioning screw body 67) is constructed in exactly the same way, and these are inserted into the screw holes formed in the screw body mounting portion 6S, which is integrally formed with the downward protrusion of the fixed frame 3z. In particular, when the ball συ is screwed and inserted, the above-mentioned ball συ is attached to the ear portion t44 formed on the movable member I41).
By locking and pressing the hole σ3σJ of 11451 in the neutral state, the movable member A1), that is, the handle (311
is intended to accurately position the neutral state as shown in FIGS. 1 and 2.

In addition, as shown in FIGS. 1 and 2, the movable member 141
) A depression is formed on the outer wall of the ear part (c),
In addition to this, the actuator of the phycroswitch σ8σyu (78m) (
79m) are engaged as shown in the figure in the neutral state. When the handle r311 is rotated in either direction from the neutral position shown in the figure, either or both of the actuators (78m) (79m) of the micro switch σ8 (7I) will be removed from the recess ω in the state shown in the figure. (possibly), by turning on one or both of these switches, it is detected that the handle Cl1l has been rotated in either direction. Alternatively, since both of the actuators (78m) (79m) of this microswitch σ8 are fitted in the hollow field @B), the switch is OFF, and according to this AND condition, the handle It has been detected that 811 is in a neutral state.

In addition, a voltage snow meter operating plate Sσ is attached to the downwardly protruding portion Cη of the fixed frame C13 with a screw, and the main body of the linear actuating snow meter 1 meter σ6)ffη is inserted into the round hole of this plate portion σ4Jσ9. is inserted and fixed by the mounting member, and its operating a-rad (76!X771) is movable up and down.
It is in contact with the flat plate part (for the movable member in the figure).

The linear actuation type potentiometer σQση has a known structure, and has a spring inside that biases the actuating rods (76m) (77m) to force the flat plate of the movable member f411. The actuating rod (
76m) (77a) protrudes above the neutral position,
Alternatively, the resistance value changes depending on whether it is pushed downward. In other words, it has a certain resistance value in the neutral state, but the operating rod (7ImX77
When m) is located above the neutral state, the resistance value increases,
The resistance value is designed to decrease when the position is below this point. Alternatively, the structure may be reversed.

As described above, the digital control α according to the embodiment of the present invention
-Ra has been explained, but this effect will now be explained.

1 and 2 show the upright position of the handle Cl1l, which has four springs (48 to 48) in a compressed state.
The neutral position is automatically taken by a spring force of 5υ. In addition, as shown in FIG. 5, the positioning screw body βη track is
The ball συ is held in the hole σJ of the ear l- of the movable member (for the movable member) and is pressed so that the ball συ is accurately positioned to automatically take a neutral position. As shown in Figures 1 and 2, the microswitch σ8ff! 1 actuator (78m
) (79m) fits into the 141μm recessed field @υ, and since both switches σQσ9 are OFF, it is detected that this disodium istic type controller is in the neutral position. are doing. The resistance value of the potentiometer σθση has a certain constant value because the handle Cl1l is in the neutral position.

If the handle 6υ is rotated in any direction from the above neutral position, either or both of the actuators (78m) (79m) of the microswitches σ & σ9 will be removed from the recessed handle @D. Detects displacement from the position. Also, at this time, the positioning screw body η, which accurately positions the neutral position, separates from the hole σJ of the ear portion I (c). Note that the ear portion I441ta has a convex surface as shown in FIG.
According to the slope of 11, the hit of the ball συ follows this,
That is, the spring button maintains the state of contact with the ear portion t441 (a) so that the contact force becomes constant.

The operating rod (76 m) has a displacement of 1 meter σen in response to the rotation of the handle C311 in the universal direction.
(77a) protrudes upward or downward from the neutral position, or is pushed in, these resistance values change, and from this resistance value it is possible to detect in which direction and how much the handle C311 is tilted. ing.

After completing the desired operation, when the operating force on the handle Gll is released, the handle 3υ automatically assumes the upright state due to the force of the compression spring or the phantom spring, and at this time,
By inserting the ball circle of the positioning screw body 6η into the hole σ3σJ of the ear portion 49 of the movable member 31) as shown in FIG. 5, it is accurately positioned at the neutral position. In addition, Fig. 1 and 2 are shown in the hollow field 3υ of the micro switch σ3.
As shown in the figure, both switches σ group σ3 become OFF, and it is detected that the knob 3υ has indeed returned to the neutral position.

The embodiment of the present invention operates as described above, but
Furthermore, the following effects are achieved.

That is, the handle Cl1l is supported between one universal bearing so as to be rotatable in a universal direction, and the handle Cl1l is supported by a spring (
The egg spring force is used to automatically return the egg, but this return mechanism and the universal support mechanism are much simpler than conventional ones, and the number of parts is also lower than that of conventional ones. It's much less compared to that.

Further, according to this embodiment, the positioning screw body 67) 6
8) allows the handle C11l to be accurately positioned in its neutral position.

Furthermore, according to the present invention, a linearly actuated potentiometer is used as the potentiometer, and this actuation is very simple, and the configuration of the mechanism for actuating it does not require any special members. Instead, the lower surface of the flat plate (43) of the movable member is used, on the other hand, for arranging the spring or 511. That is, one member is used as a spring support. This also reduces the number of parts because it is used for both the function and the potentiometer operation.

Furthermore, according to this embodiment, the ear portion (
49 is a positioning screw body (67) ffl ball σB
A hole σ is formed for engagement.
At the top and bottom of this, this ear (4) is not flat but has a convex shape, so when the handle C11l moves from the neutral state to the universal direction, the ball συ of the positioning screw (6η mallet) The force with which the movable handle C311 comes into contact with the ear part (C) is constant, so that when the movable handle C311 returns to the upright state, the ear part (441
14! It is adapted to engage with hole σa of j.

Although the embodiments of the present invention have been described above, the present invention is not limited thereto, and various modifications can be made based on the technical idea of the present invention.

For example, in the above embodiment, the springs 18 to 611 are arranged in a compressed state on the flat plate portion 43 of the movable member circle, but the same effect as described above can be obtained even if the springs 18 to 611 are arranged in a tensioned state. is clear.

Further, the number of springs 18 to 511 is not limited to four, but may be three, or four or more. will be placed in

〔Effect of the invention〕

As described above, according to the joystick type controller of the present invention, the number of parts is reduced compared to the conventional one, assembly is easy, cost can be reduced, and its durability is improved. be able to.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional view of a joystick type controller according to an embodiment of the present invention, FIG. 2 is a longitudinal sectional view of the same embodiment as seen from the other direction, and FIG. 3 is a longitudinal sectional view taken in the direction of 4 is a sectional view taken along line IV-IV in FIG. 1, FIG. 5 is an enlarged sectional view taken along line V-V in FIG. 4, and FIG. 6 is an exploded perspective view of the same embodiment. The figure is a sectional view of a conventional G-I stick type controller, FIG. 8 is a sectional view taken along the line ■-■ in FIG. 7, FIG. 9 is a sectional view taken along the DC-W line in FIG. 8, and FIG. FIG. 9 is a cross-sectional view taken along line X-X in FIG. 8; In the figure,

Claims (1)

[Claims] A movable member consisting of at least a spring support portion and a potentiometer actuating portion is fixed to the lower end of the operating rod, the movable member is supported relative to the stationary portion by a universal bearing, and a plurality of coil springs are compressed or compressed approximately around the bearing. The potentiometer is disposed between the spring support part and the stationary part in a tensioned state so that the operating rod automatically returns to its neutral position by the spring force, and the potentiometer operating part responds to rotation of the operating rod. A joystick type controller characterized in that a pair of linearly actuated potentiometers are actuated by the actuator.