JPH0738985Y2 - Joystick controller - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joystick controller having an angle transducer for converting a mechanical (angle or position) deviation into an electric signal.

[0002]

2. Description of the Related Art There are various types of angle converters for converting mechanical deviation into electric signals, such as variable resistors, encoders, transducers and rotary switches. Among them, the most versatile one is variable. It is a resistor. Figure 4
Is a side view showing an appearance of a conventional joystick controller using a variable resistor as an angle converter,
FIG. 5 is a sectional view thereof. As shown in these figures, the operation shaft 2 penetrates inside the housing 1 through a spherical body or a ball 3 as a spherical journal of the operation shaft 2, an inner arm plate 4 and an outer arm plate 5 in an arbitrary direction. It is provided so that it can be rotated such as tilting and turning. The ball 3 is rotatably held in the center of the housing 1 by a support mechanism 6 as a bearing. The support mechanism 6 is composed of an upper nut 6 ₁ and a lower nut 6 _2, and the upper and lower nuts 6 ₁ and 6 ₂ vertically face _{each other} and are screwed into the housing 1 to hold the ball 3.

Further, one ends of the inner and outer arm plates 4 and 5 are provided with rotary shafts 9 and 9 '(first and second variable resistors 7 and 8 mounted on the side surfaces of the housing at positions perpendicular to each other). However, 9'is fixed to a bushing collar 10, 10 '(10') which is fixed to each side surface of the casing 1 facing the first and second variable resistors 7 and 8 at the other end. Are not shown in the drawing) and are pivotally attached to the rotary shafts 11 and 11 '(1
1'is fixed to (not shown). That is, the rotation shafts 9 and 9'of the variable resistors 7 and 8 rotate in conjunction with the rotation of the inner and outer arm plates 4 and 5. Therefore, when the operating shaft 2 is tilted or swung, the rotary shafts 9 and 9'of the first and second variable resistors 7 and 8 rotate in accordance with the deviation direction and angle thereof, and the respective variable resistances are rotated. An electric signal according to the direction and angle of deviation is obtained from the device. In this case, when the operation shaft 2 is operated in the front-rear direction (Y-axis direction), the first variable resistor 7 rotates in accordance with the size of the first variable resistor 7 and moves in the left-right direction (X-axis direction). For operation, the second variable resistor 8 rotates according to its size. Therefore, when the operation shaft 2 is tilted and turned in an arbitrary direction, the first and second variable resistors 7 and 8 rotate according to their directions and sizes.

FIG. 6 is a plot of the output signals of the first and second variable resistors with respect to the magnitude of the direction and angle of the operating shaft 2 on the XY rectangular coordinate axes. + V _x , -V _x is X
It is the maximum output signal for the maximum deflection angle in the axial direction, and
V _y, -V _y is the maximum output signal relative to the maximum excursion angle of the Y-axis direction. Therefore, the portion surrounded by the broken line is the range of the output signal with respect to the inclination / turning angle of the operation shaft 2 in the arbitrary direction. Therefore, the magnitude of the deviation angle in the X-axis or Y-axis direction of the operating shaft 2 can be set to the first and second variable resistors 7,
8 can be converted into an electrical signal on the XY axis plane.

[0005]

Such a joystick controller is generally used for industrial purposes, and in particular, a remote control robot for nuclear power, a robot for deep sea work, and a robot for treating high places and dangerous materials. It is often used for the operation of so-called extreme robots such as, for which reason, in particular, the operability, precision and reliability of the machine part are required, and in addition it is sufficient for long-term use in which it is operated several million times It is also required to endure and satisfy the initial characteristics.

Therefore, in the conventional joystick controller configured as described above, the ball 3 fixed to the operation shaft 2 and the upper and lower nuts 6 ₁ , 6 _{2 of} the support body mechanism 6 for holding the ball 3 are provided. The frictional resistance was reduced by applying grease to the sliding portion to prevent rubbing, so-called galling.

However, as the number of tilting operations of the operating shaft 2 increases, the grease mixes with the abrasion powder, or the grease oxidizes due to the heat generated at the sliding portion between the ball 3 and the nuts 6 ₁ and 6 _2. , The grease does not play the role of lubrication, so the ball 3 and both nuts 6 ₁ , 6
The frictional resistance between the _two becomes large, and galling occurs during that, smooth operation cannot be performed, it is necessary to increase the operating force, and there is a problem that the center accuracy is deteriorated due to rattling. was there.

Therefore, the present invention has been made in view of the above point, and enables grease to circulate between the ball, which is the bearing portion of the operating shaft, and the support mechanism to reduce the frictional resistance and to prevent galling. The purpose is to provide a joystick controller that is long-lasting and durable.

[0009]

In order to achieve the above object, the present invention provides a ball held by a support mechanism inside a housing, and a rotation such as tilting, turning, etc. passing through the ball in an arbitrary direction. A joystick controller having an operation shaft capable of moving and an angle converter for converting the operation shaft into an electric signal according to a rotation angle of the operation shaft, wherein the support mechanism for holding the ball is a concave member. It has a curved spherical inner peripheral surface and is composed of a pair of nuts that are screwed to face the housing. A lubricating oil groove is formed on the inner peripheral surfaces of the pair of nuts that communicates with the inner edge surface side. Then
A pair of nuts are screwed into the housing so that the required gaps are created between the inner edge surfaces that face each other, and the gaps between the nuts serve as lubricating oil reservoirs. The lubricating oil is filled in the oil groove.

[0010]

The joystick controller of the present invention thus constructed constitutes the support mechanism for holding the ball of the operating shaft. The inner peripheral surfaces of the pair of nuts are such that the lubricating oil is always the inner edge surface of both nuts. By being supplied from the lubricating oil reservoir portion between them to the lubricating oil groove on the inner peripheral surface and filling so as to circulate in this groove,
Lubricant is well distributed over the sliding surface of the ball,
This sliding surface, that is, wear and wear of the bearing portion is prevented,
It can withstand long-term use, ensures smooth rolling of the ball for a long period of time, and has a long operating life.
Further, by removing one of the nuts, the lubricating oil reservoir and the lubricating oil groove are opened, so that the lubricating oil can be replaced easily and reliably.

[0011]

Embodiments of the present invention will be described below with reference to FIGS. 1 to 3. Members corresponding to those of the conventional example shown in FIGS. To do.

FIG. 1 is a partial cross-sectional view showing an embodiment of the present invention, FIG. 2 is an enlarged view of a main portion thereof, and FIG. 3 is a perspective view of an example of a lower nut applied to this embodiment.

In this example, the support mechanism 6 is a flange 6
It is composed of an upper nut 6 ₁ having ₁₁ and a lower nut 6 _2, and both nuts 6 ₁ and 6 ₂ are screwed from above and below into a female threaded cylindrical portion 1 ₁ at the center of the housing 1 as in the conventional example. It is designed to hold the ball 3 fixed to the operation shaft 2,
The upper nut 6 ₁ is held in a state where the flange 6 ₁₁ abuts on the central upper surface of the housing 1 and is positioned.

[0014] The lubricant reservoir 16 to the gap between the inner end edge surface facing the upper and lower nuts 6 _1, 6 ₂ provided, also matches the circumferential surface of the upper and lower nuts 6 _1, 6 ₂ of the ball 3 A curved corrugated lubricating oil groove 17 ₁ , 17 is formed on the inner peripheral surface of the concave curved hemisphere.
₂ is formed so as to cover the entire inner peripheral surface thereof and communicates with the lubricating oil reservoir 16. That is, in this example, the lubricating oil reservoir 16 is formed by the inner end edge surfaces 6 ₁₂ , of the upper and lower nuts 6 ₁ , 6 ₂ .
6 ₁₃ and the inner peripheral portion of the female threaded cylindrical portion 1 ₁ of the housing 1, while the lubricating oil grooves 17 ₁ and 17 ₂ are formed by the nut 6
The outer end sides of ₁ and 6 ₂ are closed, and inner end edge surfaces 6 ₁₂ and 6
_{On the 13} side, it is open and communicates with the lubricating oil reservoir 16. Incidentally, the upper and lower internally threaded tubular portion 1 ₁ of the housing 1 two nuts 6
A perfect liquid tightness of the lubricating oil reservoir 16 is ensured by providing an oil stop means such as injecting an adhesive between ₁ and 6 ₂ to solidify it, and lubricating the nuts 6 ₁ and 6 ₂ . Oil groove 17 ₁ ,
By providing an oil stop means such as fitting an O-ring on the outer end side where 17 ₂ is closed, oil leakage can be prevented more reliably. Then, from the lubricating oil reservoir 16 to the lubricating oil groove 1
Grease as lubricating oil is filled over 7 ₁ and 17 ₂ .

With this structure, when the balls 3 rotate in the support mechanism 6, grease is supplied from the lubricating oil reservoir 16 to the lubricating oil grooves 17 ₁ and 17 ₂ and the grooves 17 ₁ , 17 ₂ and the support mechanism 6,
That is, the balls 3 of the upper and lower nuts 6 ₁ and 6 ₂ are evenly spread over the inner peripheral surface where the balls 3 slide, and the sliding portion with the balls 3 is lubricated, so that the frictional resistance between the balls 3 and the nuts 6 ₁ and 6 ₂ is large. The ball 3 is always smoothly rotated, and the operation of the operation shaft 2 can be performed lightly and surely without causing any damage or so-called galling.

In the above construction, the lubricating oil grooves 17 ₁ , 1
7 ₂ is formed in a continuous wave shape, but it may be formed in various shapes such as a triangular shape, or may be formed as a plurality of independent grooves, and in these cases as well, the nut is formed. The inner end edge surfaces 6 ₁₂ and 6 _{13 of} 6 ₁ and 6 ₂ are formed so as to be opened and passed through the lubricating oil reservoir 16 so that the lubricating oil circulates smoothly in the groove. Also, the upper nut 6 ₁
Or one of the lower nut 6 ₂ is fixed to the housing 1 side, it may be a unitary body with the housing 1.

Although the embodiment of the present invention has been described above, the present invention is not limited to this embodiment, and various modifications can be made without departing from the spirit of the present invention.

[0018] For example, the upper and lower nuts ₆₁ constituting the support mechanism 6, 6 upper nut 6 ₁ of ₂ without providing a flange 6 _11, may be in the same nut structure of the conventional example. Further, the lubricating oil grooves 17 ₁ and 17 ₂ may have any shape as long as they communicate with the lubricating oil reservoir 16 and are evenly arranged on the inner peripheral surface of the support mechanism 6.

[0019]

As described above, the joystick controller according to the present invention has a lubricating oil reservoir between the inner end edge surfaces of a pair of nuts forming a support mechanism for supporting a ball as a spherical journal fixed to an operating shaft. With a section,
A lubricating oil groove communicating with the lubricating oil sump is formed on the inner peripheral surface where the balls slide, and the lubricating oil sump is filled with lubricating oil. Since the oil is supplied to the oil groove and circulates in this groove, the bearing surface on which the ball slides is lubricated, friction resistance is significantly reduced, and so-called galling does not occur on the bearing surface. It is possible to provide a joystick controller having a long life and high reliability, since smooth rotation without rattling is ensured, and the operation shaft can be smoothly and reliably operated for a long period of time.

In particular, according to the present invention, the lubricating oil reservoir portion, which communicates with the lubricating oil grooves on the inner peripheral surfaces of both nuts serving as the bearing surfaces, does not need to be engraved or molded on the nut side or the casing side. Is screwed into the housing so that the inner edge surfaces thereof face each other with a required gap, and is formed by this gap,
An inexpensive product with a simple structure and few manufacturing steps can be provided.

If the lubricating oil deteriorates after a long period of use and needs to be replaced, the old lubricating oil can be completely opened by simply removing one nut from the lubricating oil groove to the lubricating oil reservoir. Can be removed easily and surely, new lubricating oil can be easily filled, and the normal state can be maintained at all times.

[Brief description of drawings]

FIG. 1 is a partial cross-sectional view of an embodiment of the present invention.

FIG. 2 is an enlarged view of the main part of the same.

3 is a perspective view of a nut applied to the embodiment shown in FIG. 1. FIG.

FIG. 4 is a side view of a conventional example.

FIG. 5 is a partial sectional view of the same.

FIG. 6 is an explanatory diagram showing the operation of the joystick controller.

[Explanation of symbols]

1 Case 2 Operating Axis 3 Ball 6 Support Mechanism 6 ₁ Upper Nut 6 ₂ Lower Nut 16 Lubricant Oil Reservoir 17 ₁ , 17 ₂ Lubricant Oil Groove

Claims (1)

[Scope of utility model registration request] 1. A ball held by a support mechanism inside a housing, an operation shaft that penetrates the ball and can be rotated in any direction such as tilting and turning, and a rotation angle of the operation shaft. According to another aspect of the present invention, there is provided a joystick controller having an angle converter for converting the electric signal into an electric signal, wherein the support mechanism for holding the ball has a concavely curved hemispherical inner peripheral surface, It is composed of a pair of nuts that are screwed to face the body, and a lubricating oil groove that communicates with the inner edge surface side is formed on the inner peripheral surfaces of the pair of nuts. Are screwed so that a required gap is formed between the inner edge surfaces that face each other, and the gap between the nuts is used as a lubricating oil reservoir, and lubrication is performed from this lubricating oil reservoir to the lubricating oil groove. Joystick controller characterized by being filled with oil