EP0246968A1 - Analog manipulator having priveleged orientations - Google Patents

Analog manipulator having priveleged orientations Download PDF

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Publication number
EP0246968A1
EP0246968A1 EP87401126A EP87401126A EP0246968A1 EP 0246968 A1 EP0246968 A1 EP 0246968A1 EP 87401126 A EP87401126 A EP 87401126A EP 87401126 A EP87401126 A EP 87401126A EP 0246968 A1 EP0246968 A1 EP 0246968A1
Authority
EP
European Patent Office
Prior art keywords
lever
operating lever
housing
cams
manipulator
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.)
Granted
Application number
EP87401126A
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German (de)
French (fr)
Other versions
EP0246968B1 (en
Inventor
Philippe Paquereau
Xavier Ruaud
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Telemecanique SA
Original Assignee
Telemecanique Electrique SA
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Publication of EP0246968A1 publication Critical patent/EP0246968A1/en
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Publication of EP0246968B1 publication Critical patent/EP0246968B1/en
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Classifications

    • 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
    • G05G9/04785—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 the controlling member being the operating part of a switch arrangement
    • 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
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04711—Mounting of controlling member with substantially hemispherical bearing part forced into engagement, e.g. by a spring
    • 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
    • G05G2009/04744—Switches
    • 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
    • G05G2009/04766—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 providing feel, e.g. indexing means, means to create counterforce
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Definitions

  • the present invention relates to an analog manipulator for generating electrical control signals in response to various orientations given in space to an operating member of this manipulator, such as a lever, which will hereinafter be referred to as “operating lever ".
  • Such manipulators are often used for the remote electrical control of the movements of a mobile, such as the hook of a lifting machine, especially an overhead crane, in four main orthogonal directions two by two.
  • some of these manipulators include a keying member in which is formed an opening in the form of a cross with four orthogonal branches two by two which is crossed by the operating lever. In this way, this lever can only be oriented in the four directions determined by the branches of the cross. This solution is suitable when the movement of the mobile controlled by the manipulator should only take place in orthogonal directions.
  • the frequency of movements of the lever in two orthogonal directions is preponderant, but it is necessary from time to time to provide an orientation of the lever in intermediate directions in order to obtain for example an oblique movement of the mobile controlled by the manipulator.
  • the Applicant has discovered the advantage that the resistant force developed against at least one preferred orientation of the lever is much lower than that developed against other possible inclinations of this lever. .
  • This reaction anisotropy perceived by the operator's hand informs him about the controlled orientations, the orientations of the operating lever in the main rectangular planes being easier to communicate to it than all the other orientations.
  • One of the aims of the invention is thus to propose an analog manipulator having an anisotropy of reaction for the operator according to the orientation engaged, which has dimensions as reduced as possible taking into account the small space available on the control consoles. and finally which is reliable and inexpensive to manufacture.
  • Yet another aim of the invention is to allow easy modification of the preferred orientations chosen, both in number and in direction, by replacing a minimum number of parts.
  • the manipulator targeted by the invention thus comprises a housing on which said lever is articulated which controls the position of at least one movable member associated with at least one sensor for delivering an electrical signal as a function of the position of the lever.
  • this manipulator is characterized in that it comprises means opposing the angular displacement of the operating lever an elastic reaction differentiated according to the orientation of the lever relative to its neutral position, these means comprising moving surfaces the one relative to the other and held elastically in mutual support, one of which is angularly linked to the orientation of the lever and the other is angularly fixed, at least one of these bearing surfaces having undulations of which the amplitude is a function of the orientations provided for the lever.
  • the means for producing a differentiated elastic reaction comprise two cams associated, at least one of which is slidably mounted and which are urged elastically towards one another, one of these cams being angularly fixed and the other orientable as a function of the position of the operating lever with respect to in its neutral position, the active surfaces of the two cams which can come into mutual contact being profiled so that the spacing of the two cams varies according to the orientation of the operating lever.
  • one of the cams is coaxial with the neutral position of the operating lever, the other cam being coaxial with the latter.
  • at least one of the cams has a corrugated crown profile, the corrugations corresponding to the orientations of the operating lever for which a differentiated elastic reaction is provided.
  • the operating lever is articulated on the housing by means of a ball joint which is elastically urged towards a fixed annular bearing surface of the housing, this ball joint carrying at least one movable member for influencing position sensors mounted in the housing.
  • the lever is articulated on the housing in a simple and economical manner.
  • the ball joint carries on the side opposite the fixed bearing a set of radial ribs engaged in the radial slots of an elastic membrane on which this ball joint bears.
  • the operating lever is in one piece, it is directly connected to a ball joint, and it carries one of the cams mounted to slide along its axis and urged towards the other cam by a spring coaxial with said lever.
  • the compression of the spring is maximum for the angular positions of the lever which correspond to the orientations where the resistant force must be the greatest.
  • the operating lever is connected by a spherical articulation to an auxiliary shaft housed in the housing and which is itself mounted on a ball joint elastically urged towards a fixed annular bearing surface of the housing.
  • This assembly ensures a multiplication of the movement such that a slight transverse thrust on the lever allows large amplitude deflections for this lever in preferred directions.
  • the operating lever is integral in orientation with a cam with corrugated outline itself connected to the spherical joint, the housing also containing a sliding pusher surrounding the auxiliary shaft and movable coaxially in the neutral position of the lever, this pusher carrying a non-rotating cam with wavy outline cooperating with the cam carried by the lever.
  • the manipulator essentially comprises a housing 1 on which is articulated an operating lever 2 which can be moved apart by transverse thrust F (Figure 2) of a reference position X-X ⁇ ( Figure 1), called neutral, corresponding to the axis of the housing 1, the lever 2 being biased elastically towards this neutral position.
  • the lever 2 controls the position of at least one movable member of influence 3 which is associated with at least one sensor 4 fixed to the housing 1 to deliver an electrical signal depending on the position of the lever 2.
  • the operating lever 2 is articulated on the housing 1 by means of a ball joint 5 which carries the or the movable members of influence 3.
  • the ball 5 is elastically biased towards an annular bearing 6 of the housing 1 and its outer spherical surface bears on the spherical cavity 21 of this bearing, the contacting surfaces being concentric with center 0 ( Figure 3 ).
  • means are provided opposing the angular displacements of the lever 2 an elastic reaction differentiated according to the orientation which is imposed on it relative to its neutral position.
  • These means include two associated cams 7 and 8, the active surfaces 9 and 11 of which have profiles arranged to provide a substantial variation in the force required to move the lever 2 from its neutral position according to the orientation that the operator wants to give it. . Details of the profiles of these cams will be provided later with reference to FIGS. 4 to 6.
  • the cams 7 and 8 are elastically stressed by means of a helical spring 12 coaxial with the lever 2 and mounted in abutment on the ball joint 5. In the neutral position of the lever 2, the profile of one of the cams matches that of the other (see Figure 1), the active bearing surfaces being mutually engaged.
  • the angularly fixed cam 7 is coaxial with the neutral position X-X ⁇ and the other 8, angularly orientable as a function of the position of the lever 2, is coaxial with the latter.
  • the fixed cam 7 comprises a series of notches 13 carried by the housing 1 and the angularly adjustable cam 8 is carried by a slide 14 movable along the lever 2 and directly subjected to the action of the spring 12.
  • the notches 13 of the fixed cam 7 are formed in a frustoconical opening 20 of small thickness, formed in the end part of a cylindrical barrel 34 extending the housing 1.
  • the opening 20, which is crossed by the lever 2 has a cross section substantially in the form of a cross with four circular lobes 15 arranged symmetrically with respect to the center of the cross. These lobes 15 are joined two by two by parts in an arc of a circle 16.
  • the slide 14 comprises (FIGS. 5 and 6) a ring 17 serving as a support for the spring 12 and a frustoconical part 19 of small height narrowed towards the end 10 of the lever 2 intended to be manipulated.
  • the frustoconical part 19 constitutes the active bearing surface 11 of the cam 8.
  • the frustoconical part 19 of the slider 14 follows the parts in an arc of a circle 16 of the opening 20.
  • two pairs of preferred angular orientations are provided for the operating lever 2. The first corresponds to the orthogonal planes P, Q oriented along the branches of the aforementioned cross and the second pair to the directions R and S of the lever 2 in the bisector planes of the previous ones.
  • the ball 5 carries (FIG. 8), on the side opposite to the fixed bearing 6, a ring 22 coaxial with the operating lever 2 from which a certain number of radial ribs 23.
  • the ring 22 and the ribs 23 are engaged respectively in a central circular opening 24 (FIG. 7) and in radial slots 25 formed in an elastic membrane 26 on which the ball joint 5 rests.
  • This membrane 26 forms tongues 27 which are selectively engaged by the base of the ball 5 according to the orientation of the lever 2. In the neutral position of the latter, each sector 28 of the base of the ball joint 5 comprised between two consecutive ribs 23 is pressed equally against a corresponding tongue 27 of the membrane 26.
  • the threaded lower end 2b of the lever maneuver 2 which passes through an opening 5a of the ball joint 5, opens beyond the ring 22 and receives a nut 40 which ensures the fixing and the centering of the influence members 3 by tightening these against the ring 22 of the ball joint 5.
  • the ring 22 has two pins 22a, 22b ( Figures 3 and 8) to fix the orientation of the members 3 by entering a centering hole 30 thereof.
  • the electronic circuits to which the position sensors 4 influenced by the movable members 3 belong are disposed in a chamber 44 of the housing 1 closed by a bottom 45 and separated from the ball 5 by a partition 46 made of electrically insulating material.
  • the barrel 34 which surmounts the housing 1 forms an interior chamber 34b which houses the cams 7, 8 and the spring 12 while allowing the angular movement of the lever 2.
  • the terminal part of the barrel 34 is threaded and receives a clamping ring 35 which contributes to the fixing of the manipulator on a plate A (FIG. 3), in opposition to setting screws 37 carried by a flange 38, itself supported on the shoulder 36 of the housing 1.
  • the upper end of the barrel 34 is closed by a flexible cylindrical bellows 39 for sealing, clamped at its base by the threaded ring 35 and at its top by the button 43 of the lever 2.
  • FIGS. 5 and 6 illustrate the way in which the cams 7, 8 cooperate according to the orientation of the operating lever 2 relative to its neutral position.
  • FIG. 5 shows the orientation of the lever 2 in one of the privileged planes P or Q.
  • the frustoconical part 19 of the slide 14 which constitutes the surface active 11 of the cam 8 enters one of the notches 13 of the cam 7 so that the spring 12 is weakly compressed.
  • the embodiment which has just been described corresponds to a manipulator whose angular movement of the lever is low, of the order of 6 °, and whose elastic reaction opposed to the inclinations of this lever is relatively large.
  • This type of manipulator is well suited to applications where one wants to transmit to the operator a manual sensation of effort reflecting the operation of the device controlled by this manipulator.
  • One possible application is the speed control of a motor.
  • the operating lever 102 of the manipulator may have greater angular movement (of the order of 25 °) in certain preferred directions.
  • the lever 102 is connected by a spherical joint 51 to an auxiliary shaft 52 housed in the housing 101 and which is itself mounted on a ball 105 resiliently biased towards a fixed annular surface 106 of the housing 101.
  • the elastic reaction opposed to the inclinations of the lever 102 is for example four times less than for the manipulator described in reference to FIGS. 1 to 8.
  • this type of manipulator can be advantageously used in applications where it is desired that the amplitude of the signals delivered be the image of the displacements of greater amplitude of the lever.
  • the angularly fixed cam 107 (FIG. 11) is carried by a sliding pusher 53 surrounding the auxiliary shaft 52 and movable coaxially to the neutral position X-X ⁇ of the lever 102.
  • the pusher 53 is hollow and has a cylindrical skirt 55 which slides inside the chamber 134b of the barrel 134, the rotation of the pusher 53 around the axis X-X ⁇ being prevented by a longitudinal rib 71 of the skirt 55 in taken with a groove 72 in the chamber 134b (see Figures 11, 13 and 15).
  • the skirt 55 which surrounds the auxiliary shaft 52 and a return spring 112 has at its upper part a crown 56 whose wall 109 opposite the ball 105 constitutes the active surface of the cam 107.
  • the spherical joint 51 comprises a ball joint 50 having a hemispherical head 61 which cooperates with a spherical bearing surface 64 of a cap 59 of the barrel 134, open at its upper part for the passage of the lever 102.
  • the latter is angularly integral with the ball joint 50, the axial extension of which forms a cavity 62 in which the spherical head 63 of the auxiliary shaft 52 is engaged.
  • the periphery of the ball joint 50 is wavy and constitutes the active surface 111 of the cam 108.
  • the active surfaces 109, 111 of the cams 107, 108 are elastically biased towards each other by the helical spring 112 which is supported between a shoulder 65 of the annular surface 106 and the crown 56 of the pusher 53.
  • the thrust of the spring 112 also ensures the support of the hemispherical head 61 against the surface 64.
  • FIGS. 12 and 13 and 14 and 15 respectively illustrate two alternative embodiments of the pusher 53 carrying the rotary cam 107 and of the ball joint 50 carrying the cam 108 integral in rotation with the operating lever 102.
  • the cams 107, 108 of the variant of FIGS. 14 and 15 have a continuous wavy contour having a succession of inflection points, while those of FIGS. 12 and 13 have a discontinuous wavy contour respectively forming a succession of edges 82 and of hollow 83 (see Figure 13) or curved portions 74 (see Figure 12).
  • the planes P and Q correspond to the hollow parts of the profile 109 of the cam 107 and the planes R and S to the vertices of this same profile.
  • the elastic reaction opposed to the movement of the lever 102 is therefore clearly differentiated according to the angular orientation thereof, which tends to limit the amplitude of the travel in the non-preferred directions.
  • Figures 16 and 17 each illustrate an alternative embodiment of the manipulators described respectively with reference to Figures 1 to 8 and 9 to 15.
  • the bodies having similar functions bear the same references assigned an index a .
  • the operating lever 2a (FIG. 16) or the auxiliary shaft 52a (FIG. 17) are connected to the housing 1a, 101a by means of a pseudo-articulation constituted by an elastic mass 75, for example in elastomeric material, the periphery 76 of which adheres to the interior surface 77 of an annular bearing surface 78 integral with the housing 1a, 101a.
  • a pseudo-articulation constituted by an elastic mass 75, for example in elastomeric material, the periphery 76 of which adheres to the interior surface 77 of an annular bearing surface 78 integral with the housing 1a, 101a.
  • the end of the lever 2a (FIG. 16) or of the auxiliary shaft 52a (FIG. 17) opposite the operating button 43a, 143a carries a sleeve 79 which is immobilized by overmolding in the elastomer mass 75.
  • This sleeve 79 carries the organs 3a, 103a of influence of the position sensors belonging to the electronic circuits of the manipulator (not shown).
  • the spring 12a, 112a for biasing the cams 7a, 8a or 107a, 108a towards each other is mounted in abutment on a washer 81 which is either fixed around the lever 2a at a short distance from the elastomer mass 75 ( Figure 16), or supported by a shoulder 84 of the annular surface 78 of the housing 101a (see Figure 17).
  • a washer 81 which is either fixed around the lever 2a at a short distance from the elastomer mass 75 ( Figure 16), or supported by a shoulder 84 of the annular surface 78 of the housing 101a (see Figure 17).
  • the elastic mass 75 of these last two variants economically replaces, but does not allow angular guidance, the ball joint 5, 105 supported by the elastic membrane 26, 126 of the previous embodiments.

Abstract

Manipulateur délivrant des signaux caractéristiques de l'orientation dans l'espace d'un levier de manoeuvre (2) pouvant être écarté par poussée transversale d'une position de référence, dite neutre, et rappelé élastiquement vers cette position neutre, ce manipulateur comprenant un boîtier (1) sur lequel est articulé ledit levier (2) qui commande la position d'au moins un organe mobile (3) associé à au moins un capteur (4) pour délivrer un signal électrique fonction de la position du levier (2).Ce manipulateur comprend des moyens tels que des cames (7, 8) opposant au déplacement angulaire du levier de manoeuvre (2) une réaction élastique différenciée selon l'orientation du levier (2) par rapport à sa position neutre.Application notamment aux manipulateurs destinés à la commande des déplacements d'un mobile.Manipulator delivering signals characteristic of the orientation in space of an operating lever (2) which can be moved apart by transverse thrust from a reference position, called neutral, and resiliently returned to this neutral position, this manipulator comprising a housing (1) on which is articulated said lever (2) which controls the position of at least one movable member (3) associated with at least one sensor (4) to deliver an electrical signal depending on the position of the lever (2) This manipulator comprises means such as cams (7, 8) opposing to the angular displacement of the operating lever (2) an elastic reaction differentiated according to the orientation of the lever (2) with respect to its neutral position. Application in particular to manipulators intended for controlling the movements of a mobile.

Description

La présente invention concerne un manipulateur analogique pour générer des signaux électriques de commande en réponse à diverses orientations données dans l'espace à un organe de manoeuvre de ce manipulateur, tel qu'un levier, qui sera ci-après désigné par "levier de manoeuvre".The present invention relates to an analog manipulator for generating electrical control signals in response to various orientations given in space to an operating member of this manipulator, such as a lever, which will hereinafter be referred to as "operating lever ".

De tels manipulateurs sont souvent utilisés pour la commande électrique à distance des déplacements d'un mobile, tel que le crochet d'un engin de levage, pont roulant notamment, suivant quatre directions principales orthogonales deux à deux.Such manipulators are often used for the remote electrical control of the movements of a mobile, such as the hook of a lifting machine, especially an overhead crane, in four main orthogonal directions two by two.

Par souci d'économie et de rationalisation de la fabrication, certains de ces manipulateurs comportent un organe de détrompage dans lequel est ménagée une ouverture en forme de croix à quatre branches orthogonales deux à deux qui est traversée par le levier de manoeuvre. De la sorte, ce levier ne peut être orienté que suivant les quatre directions déterminées par les branches de la croix. Cette solution convient lorsque le déplacement du mobile commandé par le manipulateur ne doit avoir lieu que suivant des directions orthogonales.For the sake of economy and rationalization of manufacturing, some of these manipulators include a keying member in which is formed an opening in the form of a cross with four orthogonal branches two by two which is crossed by the operating lever. In this way, this lever can only be oriented in the four directions determined by the branches of the cross. This solution is suitable when the movement of the mobile controlled by the manipulator should only take place in orthogonal directions.

Inversement dans la demande de brevet français no 2 359 305 la Demanderesse a prévu un manipulateur analogique permettant un déplacement omnidirectionnel du levier de manoeuvre, sans privilégier aucune direction.Conversely in the French Patent Application No. 2359305 the Applicant has provided an analog manipulator permitting omnidirectional movement of the operating lever, without favoring any direction.

Or dans certaines applications, la fréquence des déplacements du levier selon deux directions orthogonales est prépondérante, mais il est nécessaire de prévoir de temps à autre une orientation du levier selon des directions intermédiaires afin d'obtenir par exemple un déplacement oblique du mobile commandé par le manipulateur. Dans de telles applications, la Demanderesse a découvert l'intérêt que l'effort résistant développé à l'encontre d'au moins une orientation privilégiée du levier soit beaucoup plus faible que celui développé à l'encontre d'autres inclinaisons possibles de ce levier. Cette anisotropie de réaction perçue par la main de l'opérateur renseigne celui-ci sur les orientations commandées, les orientations du levier de manoeuvre dans les plans rectangulaires principaux étant plus faciles à lui communiquer que toutes les autres orientations.However in certain applications, the frequency of movements of the lever in two orthogonal directions is preponderant, but it is necessary from time to time to provide an orientation of the lever in intermediate directions in order to obtain for example an oblique movement of the mobile controlled by the manipulator. In such applications, the Applicant has discovered the advantage that the resistant force developed against at least one preferred orientation of the lever is much lower than that developed against other possible inclinations of this lever. . This reaction anisotropy perceived by the operator's hand informs him about the controlled orientations, the orientations of the operating lever in the main rectangular planes being easier to communicate to it than all the other orientations.

L'un des buts de l'invention est ainsi de proposer un manipulateur analogique présentant une anisotropie de réaction pour l'opérateur selon l'orientation engagée, qui ait des dimensions aussi réduites que possible compte tenu du faible espace disponible sur les pupitres de commande et enfin qui soit fiable et peu coûteux à fabriquer.One of the aims of the invention is thus to propose an analog manipulator having an anisotropy of reaction for the operator according to the orientation engaged, which has dimensions as reduced as possible taking into account the small space available on the control consoles. and finally which is reliable and inexpensive to manufacture.

Un autre but encore visé par l'invention est de permettre une modification facile des orientations privilégiées choisies, tant en nombre qu'en direction, par remplacement d'un nombre minimum de pièces.Yet another aim of the invention is to allow easy modification of the preferred orientations chosen, both in number and in direction, by replacing a minimum number of parts.

Le manipulateur visé par l'invention comprend ainsi un boîtier sur lequel est articulé ledit levier qui commande la position d'au moins un organe mobile associé à au moins un capteur pour délivrer un signal électrique fonction de la position du levier.The manipulator targeted by the invention thus comprises a housing on which said lever is articulated which controls the position of at least one movable member associated with at least one sensor for delivering an electrical signal as a function of the position of the lever.

Suivant l'invention, ce manipulateur est caractérisé en ce qu'il comprend des moyens opposant au déplacement angulaire du levier de manoeuvre une réaction élastique différenciée selon l'orientation du levier par rapport à sa position neutre, ces moyens comprenant des surfaces mobiles l'une par rapport à l'autre et maintenues élastiquement en appui mutuel dont l'une est liée angulairement à l'orientation du levier et l'autre est angulairement fixe, l'une au moins de ces surfaces d'appui présentant des ondulations dont l'amplitude est fonction des orientations prévues pour le levier.According to the invention, this manipulator is characterized in that it comprises means opposing the angular displacement of the operating lever an elastic reaction differentiated according to the orientation of the lever relative to its neutral position, these means comprising moving surfaces the one relative to the other and held elastically in mutual support, one of which is angularly linked to the orientation of the lever and the other is angularly fixed, at least one of these bearing surfaces having undulations of which the amplitude is a function of the orientations provided for the lever.

Ainsi des inclinaisons du levier de manoeuvre selon un certain nombre de plans privilégiés seront plus faciles à exécuter par l'opérateur que les inclinaisons de ce levier suivant un certain nombre d'autres plans.Thus inclinations of the operating lever according to a certain number of privileged planes will be easier to execute by the operator than inclinations of this lever according to a certain number of other planes.

De préférence, les moyens pour produire une réaction élastique différenciée comprennent deux cames associées, dont l'une au moins est montée à coulisse et qui sont sollicitées élastiquement l'une vers l'autre, l'une de ces cames étant angulairement fixe et l'autre orientable en fonction de la position du levier de manoeuvre par rapport à sa position neutre, les surfaces actives des deux cames qui peuvent venir en contact mutuel étant profilées de telle sorte que l'écartement des deux cames varie en fonction de l'orientation du levier de manoeuvre.Preferably, the means for producing a differentiated elastic reaction comprise two cams associated, at least one of which is slidably mounted and which are urged elastically towards one another, one of these cams being angularly fixed and the other orientable as a function of the position of the operating lever with respect to in its neutral position, the active surfaces of the two cams which can come into mutual contact being profiled so that the spacing of the two cams varies according to the orientation of the operating lever.

Selon une caractéristique avantageuse de l'invention, l'une des cames est coaxiale à la position neutre du levier de manoeuvre, l'autre came étant coaxiale à ce dernier. En outre, l'une au moins des cames présente un profil ondulé en couronne, les ondulations correspondant aux orientations du levier de manoeuvre pour lesquelles une réaction élastique différenciée est prévue.According to an advantageous characteristic of the invention, one of the cams is coaxial with the neutral position of the operating lever, the other cam being coaxial with the latter. In addition, at least one of the cams has a corrugated crown profile, the corrugations corresponding to the orientations of the operating lever for which a differentiated elastic reaction is provided.

On comprend ainsi que la présence des cames n'influe pas sur les dimensions du manipulateur qui peuvent rester très compactes.It is thus understood that the presence of the cams does not influence the dimensions of the manipulator which can remain very compact.

Selon un mode de réalisation du genre précité, le levier de manoeuvre est articulé sur le boîtier par l'intermédiaire d'une rotule qui est sollicitée élastiquement vers une portée annulaire fixe du boîtier, cette rotule portant au moins un organe mobile d'influence des capteurs de position montés dans le boîtier.According to an embodiment of the aforementioned type, the operating lever is articulated on the housing by means of a ball joint which is elastically urged towards a fixed annular bearing surface of the housing, this ball joint carrying at least one movable member for influencing position sensors mounted in the housing.

Ainsi, le levier est articulé sur le boîtier de manière simple et économique.Thus, the lever is articulated on the housing in a simple and economical manner.

De préférence, la rotule porte du côté opposé à la portée fixe un ensemble de nervures radiales engagées dans les fentes radiales d'une membrane élastique sur laquelle prend appui cette rotule.Preferably, the ball joint carries on the side opposite the fixed bearing a set of radial ribs engaged in the radial slots of an elastic membrane on which this ball joint bears.

Ainsi, lorsque le levier de manoeuvre subit une poussée transversale, puis est relâché, la rotule est sollicitée élastiquement par la membrane de sorte que le levier est rappelé automatiquement vers sa position neutre.Thus, when the operating lever undergoes a transverse thrust, then is released, the ball joint is elastically urged by the membrane so that the lever is automatically returned to its neutral position.

Selon une première réalisation de l'invention, le levier de manoeuvre est d'un seul tenant, il est directement relié à une rotule d'articulation, et il porte l'une des cames montée à coulisse le long de son axe et sollicitée vers l'autre came par un ressort coaxial audit levier.According to a first embodiment of the invention, the operating lever is in one piece, it is directly connected to a ball joint, and it carries one of the cams mounted to slide along its axis and urged towards the other cam by a spring coaxial with said lever.

Ainsi, la compression du ressort est maximale pour les positions angulaires de levier qui correspondent aux orientations où l'effort résistant doit être le plus grand.Thus, the compression of the spring is maximum for the angular positions of the lever which correspond to the orientations where the resistant force must be the greatest.

Selon une seconde réalisation de l'invention, le levier de manoeuvre est relié par une articulation sphérique à un arbre auxiliaire logé dans le boîtier et qui est lui-­même monté sur une rotule sollicitée élastiquement vers une portée annulaire fixe du boîtier.According to a second embodiment of the invention, the operating lever is connected by a spherical articulation to an auxiliary shaft housed in the housing and which is itself mounted on a ball joint elastically urged towards a fixed annular bearing surface of the housing.

Ce montage assure une démultiplication du mouvement telle qu'une faible poussée transversale sur le levier permette des débattements de grande amplitude pour ce levier dans des directions privilégiées.This assembly ensures a multiplication of the movement such that a slight transverse thrust on the lever allows large amplitude deflections for this lever in preferred directions.

De préférence, dans la seconde réalisation précédente, le levier de manoeuvre est solidaire en orientation d'une came à contour ondulé elle-même reliée à l'articulation sphérique, le boîtier contenant de plus un poussoir coulissant entourant l'arbre auxiliaire et déplaçable coaxialement à la position neutre du levier, ce poussoir portant une came non rotative à contour ondulé coopérant avec la came portée par le levier.Preferably, in the second previous embodiment, the operating lever is integral in orientation with a cam with corrugated outline itself connected to the spherical joint, the housing also containing a sliding pusher surrounding the auxiliary shaft and movable coaxially in the neutral position of the lever, this pusher carrying a non-rotating cam with wavy outline cooperating with the cam carried by the lever.

D'autres particularités de l'invention résulteront encore de la description qui va suivre.Other features of the invention will also emerge from the description which follows.

Aux dessins annexés, donnés à titre d'exemples non limitatifs, on a figuré divers modes de réalisation particuliers de l'invention :

  • - la figure 1 est une coupe axiale d'un manipulateur selon l'invention, le levier de manoeuvre étant dans sa position neutre,
  • - la figure 2 est une vue analogue à la précédente, le levier de manoeuvre étant incliné dans l'une de ses positions angulaires privilégiées,
  • - la figure 3 est une vue partielle en coupe axiale de la figure 2 à plus grande échelle,
  • - la figure 4 est une coupe transversale selon le plan IV-IV de la figure 1,
  • - la figure 5 est une vue à plus grande échelle des cames du manipulateur de la figure 1, lorsque le levier est incliné dans une position angulaire dans laquelle la réaction élastique est la plus faible,
  • - la figure 6 est une vue analogue à la précédente, lorsque le levier est incliné dans une position angulaire dans laquelle la réaction élastique est la plus forte,
  • - la figure 7 est une vue en plan de la membrane élastique,
  • - la figure 8 est une vue de dessous de la rotule dont est solidaire le levier du manipulateur,
  • - les figures 9 à 11 sont des vues similaires aux figures 1 à 3 d'une variante de réalisation de l'invention permettant de grands débattements angulaires,
  • - les figures 12 et 13 sont des vues en perspective des cames du manipulateur des figures 9 à 11, selon une première variante de réalisation,
  • - les figures 14 et 15 sont des vues similaires aux précédentes mais concernant une deuxième variante de réalisation et,
  • - les figures 16 et 17 sont des coupes axiales de manipulateurs selon d'autres variantes de réalisation de l'invention.
In the accompanying drawings, given by way of nonlimiting examples, various particular embodiments of the invention have been shown:
  • FIG. 1 is an axial section of a manipulator according to the invention, the operating lever being in its neutral position,
  • FIG. 2 is a view similar to the previous one, the operating lever being inclined in one of its preferred angular positions,
  • FIG. 3 is a partial view in axial section of FIG. 2 on a larger scale,
  • FIG. 4 is a cross section along the plane IV-IV of FIG. 1,
  • FIG. 5 is a view on a larger scale of the cams of the manipulator of FIG. 1, when the lever is inclined in an angular position in which the elastic reaction is the weakest,
  • FIG. 6 is a view similar to the previous one, when the lever is inclined in an angular position in which the elastic reaction is the strongest,
  • FIG. 7 is a plan view of the elastic membrane,
  • FIG. 8 is a view from below of the ball joint to which the lever of the manipulator is attached,
  • FIGS. 9 to 11 are views similar to FIGS. 1 to 3 of an alternative embodiment of the invention allowing large angular movements,
  • FIGS. 12 and 13 are perspective views of the cams of the manipulator of FIGS. 9 to 11, according to a first alternative embodiment,
  • FIGS. 14 and 15 are views similar to the preceding ones but relating to a second variant embodiment, and,
  • - Figures 16 and 17 are axial sections of manipulators according to other alternative embodiments of the invention.

Dans le premier mode de réalisation de l'invention, décrit en référence aux figures 1 à 8, le manipulateur comprend essentiellement un boîtier 1 sur lequel est articulé un levier de manoeuvre 2 pouvant être écarté par poussée transversale F (figure 2) d'une position de référence X-Xʹ (figure 1), dite neutre, correspondant à l'axe du boîtier 1, le levier 2 étant rappelé élastiquement vers cette position neutre. Le levier 2 commande la position d'au moins un organe mobile d'influence 3 qui est associé à au moins un capteur 4 fixé au boîtier 1 pour délivrer un signal électrique fonction de la position du levier 2.In the first embodiment of the invention, described with reference to Figures 1 to 8, the manipulator essentially comprises a housing 1 on which is articulated an operating lever 2 which can be moved apart by transverse thrust F (Figure 2) of a reference position X-Xʹ (Figure 1), called neutral, corresponding to the axis of the housing 1, the lever 2 being biased elastically towards this neutral position. The lever 2 controls the position of at least one movable member of influence 3 which is associated with at least one sensor 4 fixed to the housing 1 to deliver an electrical signal depending on the position of the lever 2.

Le levier de manoeuvre 2 est articulé sur le boîtier 1 par l'intermédiaire d'une rotule 5 qui porte le ou les organes mobiles d'influence 3. La rotule 5 est sollicitée élastiquement vers une portée annulaire 6 du boîtier 1 et sa surface sphérique extérieure prend appui sur la cavité sphérique 21 de cette portée, les surfaces en contact étant concentriques de centre 0 (figure 3).The operating lever 2 is articulated on the housing 1 by means of a ball joint 5 which carries the or the movable members of influence 3. The ball 5 is elastically biased towards an annular bearing 6 of the housing 1 and its outer spherical surface bears on the spherical cavity 21 of this bearing, the contacting surfaces being concentric with center 0 (Figure 3 ).

Conformément à l'invention, il est prévu des moyens opposant aux déplacements angulaires du levier 2 une réaction élastique différenciée selon l'orientation qui lui est imposée par rapport à sa position neutre. Ces moyens comprennent deux cames associées 7 et 8 dont les surfaces actives 9 et 11 ont des profils aménagés pour fournir une variation sensible de l'effort nécessaire pour écarter le levier 2 de sa position neutre selon l'orientation que l'opérateur veut lui donner. Des précisions sur les profils de ces cames seront fournies plus loin en référence aux figures 4 à 6.According to the invention, means are provided opposing the angular displacements of the lever 2 an elastic reaction differentiated according to the orientation which is imposed on it relative to its neutral position. These means include two associated cams 7 and 8, the active surfaces 9 and 11 of which have profiles arranged to provide a substantial variation in the force required to move the lever 2 from its neutral position according to the orientation that the operator wants to give it. . Details of the profiles of these cams will be provided later with reference to FIGS. 4 to 6.

Les cames 7 et 8 sont sollicitées élastiquement au moyen d'un ressort hélicoïdal 12 coaxial au levier 2 et monté en appui sur la rotule 5. En position neutre du levier 2, le profil de l'une des cames épouse celui de l'autre (voir figure 1), les surfaces actives d'appui étant mutuellement en prise.The cams 7 and 8 are elastically stressed by means of a helical spring 12 coaxial with the lever 2 and mounted in abutment on the ball joint 5. In the neutral position of the lever 2, the profile of one of the cams matches that of the other (see Figure 1), the active bearing surfaces being mutually engaged.

La came 7 angulairement fixe est coaxiale à la position neutre X-Xʹ et l'autre 8, angulairement orientable en fonction de la position du levier 2, est coaxiale à ce dernier.The angularly fixed cam 7 is coaxial with the neutral position X-Xʹ and the other 8, angularly orientable as a function of the position of the lever 2, is coaxial with the latter.

Dans l'exemple représenté (figures 4 à 6), la came fixe 7 comprend une série d'échancrures 13 portées par le boîtier 1 et la came angulairement orientable 8 est portée par un coulisseau 14 mobile le long du levier 2 et directement soumis à l'action du ressort 12. Les échancrures 13 de la came fixe 7 sont ménagées dans une ouverture tronconique 20 de faible épaisseur, ménagée dans la partie terminale d'un fût cylindrique 34 prolongeant le boîtier 1. L'ouverture 20, qui est traversée par le levier 2, présente une section transversale sensiblement en forme de croix à quatre lobes circulaires 15 disposés symétriquement par rapport au centre de la croix. Ces lobes 15 sont réunis deux à deux par des parties en arc de cercle 16.In the example shown (Figures 4 to 6), the fixed cam 7 comprises a series of notches 13 carried by the housing 1 and the angularly adjustable cam 8 is carried by a slide 14 movable along the lever 2 and directly subjected to the action of the spring 12. The notches 13 of the fixed cam 7 are formed in a frustoconical opening 20 of small thickness, formed in the end part of a cylindrical barrel 34 extending the housing 1. The opening 20, which is crossed by the lever 2, has a cross section substantially in the form of a cross with four circular lobes 15 arranged symmetrically with respect to the center of the cross. These lobes 15 are joined two by two by parts in an arc of a circle 16.

Le coulisseau 14 comporte (figures 5 et 6) une bague 17 servant d'appui au ressort 12 et une partie tronconique 19 de faible hauteur rétrécie vers l'extrémité 10 du levier 2 destinée à être manipulée . La partie tronconique 19 constitue la surface d'appui active 11 de la came 8.The slide 14 comprises (FIGS. 5 and 6) a ring 17 serving as a support for the spring 12 and a frustoconical part 19 of small height narrowed towards the end 10 of the lever 2 intended to be manipulated. The frustoconical part 19 constitutes the active bearing surface 11 of the cam 8.

Dans la position neutre du levier de manoeuvre 2, la partie tronconique 19 du coulisseau 14 épouse les parties en arc de cercle 16 de l'ouverture 20. Comme il apparaît sur la figure 4,il est prévu deux paires d'orientations angulaires privilégiées pour le levier de manoeuvre 2. La première correspond aux plans orthogonaux P, Q orientés suivant les branches de la croix précitée et la seconde paire aux orientations R et S du levier 2 dans les plans bissecteurs des précédents.In the neutral position of the operating lever 2, the frustoconical part 19 of the slider 14 follows the parts in an arc of a circle 16 of the opening 20. As it appears in FIG. 4, two pairs of preferred angular orientations are provided for the operating lever 2. The first corresponds to the orthogonal planes P, Q oriented along the branches of the aforementioned cross and the second pair to the directions R and S of the lever 2 in the bisector planes of the previous ones.

La rotule 5 porte (figure 8), du côté opposé à la portée fixe 6, une bague 22 coaxiale au levier de manoeuvre 2 d'où partent un certain nombre de nervures radiales 23. La bague 22 et les nervures 23 sont engagées respectivement dans une ouverture circulaire centrale 24 (figure 7) et dans des fentes radiales 25 ménagées dans une membrane élastique 26 sur laquelle prend appui la rotule 5. Cette membrane 26 forme des languettes 27 qui sont engagées sélectivement par la base de la rotule 5 selon l'orientation du levier 2. En position neutre de celui-ci, chaque secteur 28 de la base de la rotule 5 compris entre deux nervures 23 consécutives est en appui de manière égale contre une languette 27 correspondante de la membrane 26. La périphérie de la membrane 26 qui présente (voir figure 7) des encoches de centrage 29 engagées dans des ergots 31 du boîtier 1, est serrée entre un épaulement annulaire 32 du boîtier 1 et la base de la portée annulaire 6. La fixation de l'ensemble est assurée par des vis 33 engagées dans des évidements taraudés des ergots 31 du boîtier 1.The ball 5 carries (FIG. 8), on the side opposite to the fixed bearing 6, a ring 22 coaxial with the operating lever 2 from which a certain number of radial ribs 23. The ring 22 and the ribs 23 are engaged respectively in a central circular opening 24 (FIG. 7) and in radial slots 25 formed in an elastic membrane 26 on which the ball joint 5 rests. This membrane 26 forms tongues 27 which are selectively engaged by the base of the ball 5 according to the orientation of the lever 2. In the neutral position of the latter, each sector 28 of the base of the ball joint 5 comprised between two consecutive ribs 23 is pressed equally against a corresponding tongue 27 of the membrane 26. The periphery of the membrane 26 which has (see Figure 7) centering notches 29 engaged in pins 31 of the housing 1, is clamped between an annular shoulder 32 of the housing 1 and the base of the annular bearing 6. The assembly is ensured by d es screws 33 engaged in tapped recesses of the lugs 31 of the housing 1.

L'extrémité inférieure filetée 2b du levier de manoeuvre 2 qui traverse une ouverture 5a de la rotule 5, débouche au-delà de la bague 22 et reçoit un écrou 40 qui assure la fixation et le centrage des organes d'influence 3 en serrant ceux-ci contre la bague 22 de la rotule 5. La bague 22 présente deux ergots 22a, 22b (figures 3 et 8) pour fixer l'orientation des organes 3 en pénétrant dans un trou de centrage 30 de ceux-ci. Les circuits électroniques auxquels appartiennent les capteurs de position 4 influencés par les organes mobiles 3 sont disposés dans une chambre 44 du boîtier 1 fermée par un fond 45 et séparée de la rotule 5 par une cloison 46 en matériau électriquement isolant. Ces circuits électroniques destinés à interprêter l'interaction entre les organes mobiles 3 et les capteurs 4 résultant d'une orientation du levier 2 pour délivrer un signal électrique fonction de cette orientation sont par exemple du genre décrit dans la demande de brevet français no 2 559 305 au nom de la Demanderesse. Un câble 47 est utilisé pour véhiculer les signaux produits vers le dispositif à commander (non représenté).The threaded lower end 2b of the lever maneuver 2 which passes through an opening 5a of the ball joint 5, opens beyond the ring 22 and receives a nut 40 which ensures the fixing and the centering of the influence members 3 by tightening these against the ring 22 of the ball joint 5. The ring 22 has two pins 22a, 22b (Figures 3 and 8) to fix the orientation of the members 3 by entering a centering hole 30 thereof. The electronic circuits to which the position sensors 4 influenced by the movable members 3 belong are disposed in a chamber 44 of the housing 1 closed by a bottom 45 and separated from the ball 5 by a partition 46 made of electrically insulating material. These electronic circuitry for interpreting the interaction between the movable members 3 and the sensors 4 as a result of orientation of the lever 2 to output an electrical signal depending on this orientation are for example of the type described in the French patent application No. 2 559,305 in the name of the Claimant. A cable 47 is used to convey the signals produced to the device to be controlled (not shown).

Le fût 34 qui surmonte le boîtier 1 forme une chambre intérieure 34b qui abrite les cames 7, 8 et le ressort 12 tout en permettant le débattement angulaire du levier 2. La partie terminale du fût 34 est filetée et reçoit une bague de serrage 35 qui contribue à la fixation du manipulateur sur une platine A (figure 3), en opposition à des vis calantes 37 portées par une bride 38, elle-même appuyée sur l'épaulement 36 du boîtier 1.The barrel 34 which surmounts the housing 1 forms an interior chamber 34b which houses the cams 7, 8 and the spring 12 while allowing the angular movement of the lever 2. The terminal part of the barrel 34 is threaded and receives a clamping ring 35 which contributes to the fixing of the manipulator on a plate A (FIG. 3), in opposition to setting screws 37 carried by a flange 38, itself supported on the shoulder 36 of the housing 1.

De façon connue, l'extrémité supérieure du fût 34 est obturée par un soufflet cylindrique souple 39 d'étanchéité, serré à sa base par la bague filetée 35 et à son sommet par le bouton 43 du levier 2.In a known manner, the upper end of the barrel 34 is closed by a flexible cylindrical bellows 39 for sealing, clamped at its base by the threaded ring 35 and at its top by the button 43 of the lever 2.

On a illustré aux figures 5 et 6 la façon dont coopéraient les cames 7, 8 selon l'orientation du levier de manoeuvre 2 par rapport à sa position neutre.FIGS. 5 and 6 illustrate the way in which the cams 7, 8 cooperate according to the orientation of the operating lever 2 relative to its neutral position.

La figure 5 montre l'orientation du levier 2 dans l'un des plans privilégiés P ou Q. Dans ce cas, la partie tronconique 19 du coulisseau 14 qui constitue la surface active 11 de la came 8 pénètre dans l'une des échancrures 13 de la came 7 de sorte que le ressort 12 est faiblement comprimé.FIG. 5 shows the orientation of the lever 2 in one of the privileged planes P or Q. In this case, the frustoconical part 19 of the slide 14 which constitutes the surface active 11 of the cam 8 enters one of the notches 13 of the cam 7 so that the spring 12 is weakly compressed.

Au contraire, une orientation du levier 2 dans l'un des plans R ou S passant entre les branches de la croix (figure 6) repousse beaucoup plus fortement le coulisseau 14 vers la rotule 5 par appui de la surface tronconique de ce coulisseau 14 contre la facette séparant les deux échancrures 13 concernées de la came 7. La compression du ressort 12 étant plus importante, la résistance élastique opposée au déplacement du levier 2 est alors sensiblement plus forte que dans le premier cas.On the contrary, an orientation of the lever 2 in one of the planes R or S passing between the branches of the cross (FIG. 6) pushes the slide 14 much more strongly towards the ball 5 by pressing the frustoconical surface of this slide 14 against the facet separating the two notches 13 concerned from the cam 7. The compression of the spring 12 being greater, the elastic resistance opposed to the movement of the lever 2 is then substantially greater than in the first case.

Par ailleurs, lorsque le levier de manoeuvre 2 subit une poussée transversale suivant l'un des plans P, Q, R ou S puis est relâché, l'un au moins des secteurs 28 de la rotule 5 est repoussé par la ou les languettes 27 correspondantes de la membrane 26, ce qui contribue en même temps que la détente du ressort 12 à ramener spontanément le levier 2 en position neutre.Furthermore, when the operating lever 2 undergoes a transverse thrust along one of the planes P, Q, R or S and is then released, at least one of the sectors 28 of the ball joint 5 is pushed back by the tab or tabs 27 corresponding to the membrane 26, which contributes at the same time as the relaxation of the spring 12 to spontaneously bring the lever 2 back to the neutral position.

La réalisation qui vient d'être décrite correspond à un manipulateur dont le débattement angulaire du levier est faible, de l'ordre de 6°, et dont la réaction élastique opposée aux inclinations de ce levier est relativement importante. Ce type de manipulateur convient bien aux applications où l'on veut transmettre à l'opérateur une sensation manuelle d'effort traduisant le fonctionnement du dispositif commandé par ce manipulateur. La commande de vitesse d'un moteur est l'une des applications possibles.The embodiment which has just been described corresponds to a manipulator whose angular movement of the lever is low, of the order of 6 °, and whose elastic reaction opposed to the inclinations of this lever is relatively large. This type of manipulator is well suited to applications where one wants to transmit to the operator a manual sensation of effort reflecting the operation of the device controlled by this manipulator. One possible application is the speed control of a motor.

Inversement, dans la variante décrite en référence aux figures 9 à 15 où les mêmes repères augmentés du nombre 100 concernent des organes ayant des fonctions similaires, le levier de manoeuvre 102 du manipulateur peut présenter un débattement angulaire plus important (de l'ordre de 25°) dans certaines directions privilégiées.Conversely, in the variant described with reference to FIGS. 9 to 15 where the same references increased by the number 100 relate to members having similar functions, the operating lever 102 of the manipulator may have greater angular movement (of the order of 25 °) in certain preferred directions.

A cet effet, le levier 102 est relié par une articulation sphérique 51 à un arbre auxiliaire 52 logé dans le boîtier 101 et qui est lui-même monté sur une rotule 105 sollicitée élastiquement vers une portée annulaire fixe 106 du boîtier 101. Compte tenu de l'effet de démultiplication procuré par la double articulation 51, 105, la réaction élastique opposée aux inclinaisons du levier 102 est par exemple quatre fois moindre que pour le manipulateur décrit en référence aux figures 1 à 8. Ainsi, ce type de manipulateur peut être avantageusement utilisé dans des applications où on souhaite que l'amplitude des signaux délivrés soit l'image des déplacements d'amplitude plus grande du levier.To this end, the lever 102 is connected by a spherical joint 51 to an auxiliary shaft 52 housed in the housing 101 and which is itself mounted on a ball 105 resiliently biased towards a fixed annular surface 106 of the housing 101. Taking into account the reduction effect provided by the double articulation 51, 105, the elastic reaction opposed to the inclinations of the lever 102 is for example four times less than for the manipulator described in reference to FIGS. 1 to 8. Thus, this type of manipulator can be advantageously used in applications where it is desired that the amplitude of the signals delivered be the image of the displacements of greater amplitude of the lever.

On décrira seulement ci-après les parties du présent manipulateur dont la structure diffère du précédent. Dans cette réalisation, la came angulairement fixe 107 (figure 11) est portée par un poussoir coulissant 53 entourant l'arbre auxiliaire 52 et déplaçable coaxialement à la position neutre X-Xʹ du levier 102.We will only describe below the parts of the present manipulator whose structure differs from the previous one. In this embodiment, the angularly fixed cam 107 (FIG. 11) is carried by a sliding pusher 53 surrounding the auxiliary shaft 52 and movable coaxially to the neutral position X-Xʹ of the lever 102.

Le poussoir 53 est creux et comporte une jupe cylindrique 55 qui coulisse à l'intérieur de la chambre 134b du fût 134, la rotation du poussoir 53 autour de l'axe X-Xʹ étant empêchée par une nervure longitudinale 71 de la jupe 55 en prise avec une rainure 72 de la chambre 134b (voir figures 11, 13 et 15).The pusher 53 is hollow and has a cylindrical skirt 55 which slides inside the chamber 134b of the barrel 134, the rotation of the pusher 53 around the axis X-Xʹ being prevented by a longitudinal rib 71 of the skirt 55 in taken with a groove 72 in the chamber 134b (see Figures 11, 13 and 15).

La jupe 55 qui entoure l'arbre auxiliaire 52 et un ressort de rappel 112 présente à sa partie supérieure une couronne 56 dont la paroi 109 opposée à la rotule 105 constitue la surface active de la came 107.The skirt 55 which surrounds the auxiliary shaft 52 and a return spring 112 has at its upper part a crown 56 whose wall 109 opposite the ball 105 constitutes the active surface of the cam 107.

L'articulation sphérique 51 comprend une rotule 50 présentant une tête hémisphérique 61 qui coopère avec une portée sphérique 64 d'une coiffe 59 du fût 134, ouverte à sa partie supérieure pour le passage du levier 102. Celui-ci est angulairement solidaire de la rotule 50 dont le prolongement axial forme une cavité 62 dans laquelle est engagée la tête sphérique 63 de l'arbre auxiliaire 52.The spherical joint 51 comprises a ball joint 50 having a hemispherical head 61 which cooperates with a spherical bearing surface 64 of a cap 59 of the barrel 134, open at its upper part for the passage of the lever 102. The latter is angularly integral with the ball joint 50, the axial extension of which forms a cavity 62 in which the spherical head 63 of the auxiliary shaft 52 is engaged.

La périphérie de la rotule 50 est ondulée et constitue la surface active 111 de la came 108. Les surfaces actives 109, 111 des cames 107, 108 sont sollicitées élastiquement l'une vers l'autre par le ressort hélicoïdal 112 qui prend appui entre un épaulement 65 de la portée annulaire 106 et la couronne 56 du poussoir 53. La poussée du ressort 112 assure également l'appui de la tête hémisphérique 61 contre la portée 64.The periphery of the ball joint 50 is wavy and constitutes the active surface 111 of the cam 108. The active surfaces 109, 111 of the cams 107, 108 are elastically biased towards each other by the helical spring 112 which is supported between a shoulder 65 of the annular surface 106 and the crown 56 of the pusher 53. The thrust of the spring 112 also ensures the support of the hemispherical head 61 against the surface 64.

En position neutre du levier de manoeuvre 102, la périphérie de la rotule 50 épouse (voir figure 9) la paroi de la couronne 56 du poussoir 53 opposée à la rotule 105.In the neutral position of the operating lever 102, the periphery of the ball joint 50 follows (see FIG. 9) the wall of the crown 56 of the pusher 53 opposite the ball joint 105.

Les figures 12 et 13 et 14 et 15 respectivement illustrent deux variantes de réalisation du poussoir 53 portant la came rotative 107 et de la rotule 50 portant la came 108 solidaire en rotation du levier de manoeuvre 102.FIGS. 12 and 13 and 14 and 15 respectively illustrate two alternative embodiments of the pusher 53 carrying the rotary cam 107 and of the ball joint 50 carrying the cam 108 integral in rotation with the operating lever 102.

Les cames 107, 108 de la variante des figures 14 et 15 présentent un contour ondulé continu ayant une succession de points d'inflexion, tandis que celles des figures 12 et 13 présentent un contour ondulé discontinu formant respectivement une succession d'arêtes 82 et de creux 83 (voir figure 13) ou de parties bombées 74 (voir figure 12).The cams 107, 108 of the variant of FIGS. 14 and 15 have a continuous wavy contour having a succession of inflection points, while those of FIGS. 12 and 13 have a discontinuous wavy contour respectively forming a succession of edges 82 and of hollow 83 (see Figure 13) or curved portions 74 (see Figure 12).

Les plans P et Q correspondent aux parties en creux du profil 109 de la came 107 et les plans R et S aux sommets de ce même profil.The planes P and Q correspond to the hollow parts of the profile 109 of the cam 107 and the planes R and S to the vertices of this same profile.

Quelle que soit la réalisation considérée, lorsqu'on oriente le levier de manoeuvre 102 dans l'un des deux plans P ou Q suivant lesquels le contour de la came angulairement orientable 108 épouse celui de la came coulissante 107, la rotule 50 repousse faiblement le poussoir 53 et le ressort 112 sur lequel est appuyé ce poussoir 53 est faiblement comprimé.Whatever the embodiment considered, when the operating lever 102 is oriented in one of the two planes P or Q according to which the contour of the angularly orientable cam 108 follows that of the sliding cam 107, the ball joint 50 slightly repels the pusher 53 and the spring 112 on which this pusher 53 is supported is slightly compressed.

Inversement, une orientation du levier de manoeuvre 102 dans l'un des deux plans R, S suivant lesquels les sommets de certaines des ondulations 70 ou parties bombées 74 de la came 108 portée par la rotule 50 sont appuyés contre les sommets d'ondulations 80 ou contre des arêtes 82 correspondants de la came 107 portée par le poussoir 53, tend à repousser celui-ci plus fortement et à comprimer davantage le ressort 112. La réaction élastique opposée au déplacement du levier 102 est donc nettement différenciée selon l'orientation angulaire de celui-ci, ce que tend à limiter l'amplitude du débattement dans les directions non privilégiées.Conversely, an orientation of the operating lever 102 in one of the two planes R, S according to which the tops of some of the undulations 70 or convex parts 74 of the cam 108 carried by the ball 50 are pressed against the tops of undulations 80 or against corresponding edges 82 of the cam 107 carried by the pusher 53, tends to push the latter more strongly and to further compress the spring 112. The elastic reaction opposed to the movement of the lever 102 is therefore clearly differentiated according to the angular orientation thereof, which tends to limit the amplitude of the travel in the non-preferred directions.

Lorsque le levier 102 est relâché, le ressort 112 participe au même titre que la membrane élastique 126 supportant la rotule 105 solidaire en rotation de l'arbre auxiliaire 52 par rappel de ce levier 102 vers sa position neutre X-Xʹ.When the lever 102 is released, the spring 112 participates in the same way as the elastic membrane 126 supporting the ball 105 integral in rotation with the auxiliary shaft 52 by return of this lever 102 to its neutral position X-Xʹ.

Les figures 16 et 17 illustrent chacune une variante de réalisation des manipulateurs décrits respectivement en référence aux figures 1 à 8 et 9 à 15. Sur les figures 16 et 17, les organes ayant des fonctions similaires portent les mêmes références affectées d'un indice a.Figures 16 and 17 each illustrate an alternative embodiment of the manipulators described respectively with reference to Figures 1 to 8 and 9 to 15. In Figures 16 and 17, the bodies having similar functions bear the same references assigned an index a .

Suivant ces réalisations, le levier de manoeuvre 2a (figure 16) ou l'arbre auxiliaire 52a (figure 17) sont reliés au boîtier la, 101a par l'intermédiaire d'une pseudo-­articulation constituée par une masse élastique 75, par exemple en matériau élastomère, dont la périphérie 76 adhère à la surface intérieure 77 d'une portée annulaire 78 solidaire du boîtier 1a, 101a.According to these embodiments, the operating lever 2a (FIG. 16) or the auxiliary shaft 52a (FIG. 17) are connected to the housing 1a, 101a by means of a pseudo-articulation constituted by an elastic mass 75, for example in elastomeric material, the periphery 76 of which adheres to the interior surface 77 of an annular bearing surface 78 integral with the housing 1a, 101a.

L'extrémité du levier 2a (figure 16) ou de l'arbre auxiliaire 52a (figure 17) opposée au bouton de manoeuvre 43a, 143a porte une douille 79 qui est immobilisée par surmoulage dans la masse en élastomère 75. Cette douille 79 porte les organes 3a, 103a d'influence des capteurs de position appartenant aux circuits électroniques du manipulateur (non représentés).The end of the lever 2a (FIG. 16) or of the auxiliary shaft 52a (FIG. 17) opposite the operating button 43a, 143a carries a sleeve 79 which is immobilized by overmolding in the elastomer mass 75. This sleeve 79 carries the organs 3a, 103a of influence of the position sensors belonging to the electronic circuits of the manipulator (not shown).

Le ressort 12a, 112a de sollicitation des cames 7a, 8a ou 107a, 108a l'une vers l'autre est monté en appui sur une rondelle 81 qui est soit fixée autour du levier 2a à une faible distance de la masse en élastomère 75 (figure 16), soit supportée par un épaulement 84 de la portée annulaire 78 du boîtier 101a (voir figure 17). Une telle pseudo-articulation est décrite dans le brevet français 2.559.305 de la Demanderesse déjà cité.The spring 12a, 112a for biasing the cams 7a, 8a or 107a, 108a towards each other is mounted in abutment on a washer 81 which is either fixed around the lever 2a at a short distance from the elastomer mass 75 ( Figure 16), or supported by a shoulder 84 of the annular surface 78 of the housing 101a (see Figure 17). Such a pseudo-articulation is described in French patent 2,559,305 of the Applicant already cited.

La masse élastique 75 de ces deux dernières variantes remplace économiquement mais sans permettre un guidage angulaire, l'articulation à rotule 5, 105 supportée par la membrane élastique 26, 126 des réalisations précédentes.The elastic mass 75 of these last two variants economically replaces, but does not allow angular guidance, the ball joint 5, 105 supported by the elastic membrane 26, 126 of the previous embodiments.

Les exemples non limitatifs qui précèdent montrent que dans le cadre de l'invention, on peut apporter à celle-­ci de nombreuses variantes d'exécution sans sortir de ce cadre.The nonlimiting examples which precede show that within the framework of the invention, one can bring to this one many variants of execution without leaving this framework.

Claims (12)

1. Manipulateur délivrant des signaux caractéristiques de l'orientation dans l'espace d'un levier de manoeuvre (2, 102) pouvant être écarté par poussée transversale d'une position de référence dite neutre, et rappelé élastiquement vers cette position neutre, ce manipulateur comprenant un boîtier (1, 101) sur lequel est articulé ledit levier (2, 102) qui commande la position d'au moins un organe mobile (3, 103) associé à au moins un capteur (4, 104) pour délivrer un signal électrique fonction de la position du levier, caractérisé en ce qu'il comprend des moyens (7, 8 ; 107, 108) opposant au déplacement angulaire du levier de manoeuvre (2, 102) une réaction élastique différenciée selon l'orientation du levier par rapport à sa position neutre, ces moyens comprenant des surfaces (9, 11 ; 109, 111) mobiles l'une par rapport à l'autre et maintenues élastiquement en appui mutuel dont l'une (11, 111) est liée angulairement à l'orientation du levier et l'autre (9 ; 109) est angulairement fixe, l'une au moins de ces surfaces d'appui présentant des ondulations dont l'amplitude est fonction des orientations prévues pour le levier.1. Manipulator delivering signals characteristic of the orientation in space of an operating lever (2, 102) which can be moved apart by transverse thrust from a so-called neutral reference position, and resiliently returned to this neutral position, this manipulator comprising a housing (1, 101) on which is articulated said lever (2, 102) which controls the position of at least one movable member (3, 103) associated with at least one sensor (4, 104) for delivering a electrical signal depending on the position of the lever, characterized in that it comprises means (7, 8; 107, 108) opposing the angular displacement of the operating lever (2, 102) an elastic reaction differentiated according to the orientation of the lever relative to its neutral position, these means comprising surfaces (9, 11; 109, 111) movable relative to one another and elastically held in mutual support, one of which (11, 111) is angularly linked to the orientation of the lever and the other (9; 109) is angularly fixed, at least one of these bearing surfaces having undulations whose amplitude is a function of the orientations provided for the lever. 2. Manipulateur conforme à la revendication 1, caractérisé en ce que les moyens pour produire une réaction élastique différenciée comprennent deux cames associées (7, 8 ; 107, 108) dont l'une au moins est montée à coulisse et qui sont sollicitées élastiquement l'une vers l'autre, l'une (7, 107) de ces cames étant angulairement fixe et l'autre (8, 108) orientable en fonction de la position du levier de manoeuvre (2, 102) par rapport à sa position neutre, les surfaces actives (9, 11 ; 109, 111) des deux cames qui peuvent venir en contact mutuel étant profilées de telle sorte que l'écartement des deux cames (7, 8 ; 107, 108) varie en fonction de l'orientation du levier de manoeuvre.2. Manipulator according to claim 1, characterized in that the means for producing a differentiated elastic reaction comprise two associated cams (7, 8; 107, 108) of which at least one is slidably mounted and which are elastically stressed l '' towards each other, one (7, 107) of these cams being angularly fixed and the other (8, 108) orientable as a function of the position of the operating lever (2, 102) relative to its position neutral, the active surfaces (9, 11; 109, 111) of the two cams which can come into mutual contact being profiled so that the spacing of the two cams (7, 8; 107, 108) varies according to the orientation of the operating lever. 3. Manipulateur conforme à la revendication 2, caractérisé en ce que l'une (7, 107, 7a, 107a) des cames est coaxiale à la position neutre du levier de manoeuvre (2, 102, 2a, 102a), l'autre came (8, 108, 8a, 108a) étant coaxiale à ce dernier.3. Manipulator according to claim 2, characterized in that one (7, 107, 7a, 107a) of the cams is coaxial with the neutral position of the operating lever (2, 102, 2a, 102a), the other cam (8, 108, 8a, 108a) being coaxial with the latter. 4. Manipulateur conforme à la revendication 3, caractérisé en ce que l'une (7, 107, 7a, 107a) au moins des cames présente un profil ondulé en couronne, les ondulations correspondant aux orientations du levier de manoeuvre (2, 102, 2a, 102a) pour lesquelles une réaction élastique différenciée est prévue.4. Manipulator according to claim 3, characterized in that at least one (7, 107, 7a, 107a) of the cams has a corrugated profile in a crown, the corrugations corresponding to the orientations of the operating lever (2, 102, 2a, 102a) for which a differentiated elastic reaction is provided. 5. Manipulateur conforme à l'une des revendications 3 ou 4, caractérisé en ce qu'il est prévu deux ensembles d'orientations angulaires privilégiées pour le levier de manoeuvre (2, 102, 2a, 102a), la résistance élastique opposée au levier étant plus forte dans un cas que dans l'autre et dans lequel l'une (7, 107, 7a, 107a) au moins des cames présente un profil actif ondulé, l'amplitude des ondulations étant la plus forte pour les positions angulaires du levier qui correspondent aux orientations où l'effort résistant doit être le plus grand.5. Manipulator according to one of claims 3 or 4, characterized in that there are provided two sets of preferred angular orientations for the operating lever (2, 102, 2a, 102a), the elastic resistance opposite the lever being stronger in one case than in the other and in which one (7, 107, 7a, 107a) at least of the cams has an active wavy profile, the amplitude of the corrugations being the strongest for the angular positions of the lever which correspond to the orientations where the resistant effort must be the greatest. 6. Manipulateur conforme à l'une des revendications 1 à 5, caractérisé en ce que les surfaces actives (9, 11 ; 109, 111) des deux cames (7, 8 ; 107, 108) présentent des profils complémentaires et que le profil de l'une épouse celui de l'autre dans la position neutre du levier de manoeuvre (2, 102).6. Manipulator according to one of claims 1 to 5, characterized in that the active surfaces (9, 11; 109, 111) of the two cams (7, 8; 107, 108) have complementary profiles and that the profile of one marries that of the other in the neutral position of the operating lever (2, 102). 7. Manipulateur conforme à l'une des revendications 1 à 6, caractérisé en ce que le levier de manoeuvre (2, 102) est articulé sur le boîtier (1, 101) par l'intermédiaire d'une rotule (5, 105) qui est sollicitée élastiquement vers une portée annulaire fixe (6, 106) du boîtier, cette rotule portant au moins un organe mobile (3, 103) d'influence des capteurs (4, 104) de position montés dans le boîtier.7. Manipulator according to one of claims 1 to 6, characterized in that the operating lever (2, 102) is articulated on the housing (1, 101) by means of a ball joint (5, 105) which is urged elastically towards a fixed annular bearing surface (6, 106) of the housing, this ball joint carrying at least one movable member (3, 103) of influence of the position sensors (4, 104) mounted in the housing. 8, Manipulateur conforme à la revendication 7 permettant l'inclinaison du levier (2) dans des positions angulaires privilégiées, caractérisé en ce que la rotule (5) porte du côté opposé à la portée fixe (6) un ensemble de nervures radiales (23) engagées dans les fentes radiales (25) d'une membrane élastique (26) sur laquelle prend appui la rotule (5).8, Manipulator according to claim 7 allowing the inclination of the lever (2) in preferred angular positions, characterized in that the ball joint (5) carries on the side opposite the fixed bearing (6) a set of radial ribs (23 ) engaged in the radial slots (25) of an elastic membrane (26) on which the ball joint (5) bears. 9. Manipulateur conforme à l'une des revendications 1 à 8, caractérisé en ce que le levier de manoeuvre (2) est d'un seul tenant, qu'il est directement relié à une rotule d'articulation (5) et qu'il porte l'une (8) des cames montée à coulisse le long de son axe, celle-ci étant sollicitée vers l'autre came (7) par un ressort coaxial (12) audit levier.9. Manipulator according to one of claims 1 to 8, characterized in that the operating lever (2) is in one piece, that it is directly connected to a ball joint (5) and that it carries one (8) of the cams mounted to slide along its axis, the latter being biased towards the other cam (7) by a coaxial spring (12) to said lever. 10. Manipulateur conforme à l'une des revendications 1 à 8, caractérisé en ce que le levier de manoeuvre (102) est relié par une articulation sphérique (51) à un arbre auxiliaire (52) logé dans le boîtier (101), cet arbre étant lui-même monté sur une rotule (105) sollicitée élastiquement vers une portée annulaire fixe (106) du boîtier10. Manipulator according to one of claims 1 to 8, characterized in that the operating lever (102) is connected by a spherical joint (51) to an auxiliary shaft (52) housed in the housing (101), this shaft being itself mounted on a ball joint (105) urged elastically towards a fixed annular bearing surface (106) of the housing 11. Manipulateur conforme à la revendication 10, caractérisé en ce que le levier de commande (102) est solidaire en orientation d'une came (108) à contour ondulé elle-même reliée à l'articulation sphérique (51), le boîtier (101) contenant de plus un poussoir (53) coulissant entourant l'arbre auxiliaire (52) et déplaçable coaxialement à la position neutre du levier (102), ce poussoir portant une came non rotative (107) à contour ondulé coopérant avec la came (108) portée par le levier (102).11. Manipulator according to claim 10, characterized in that the control lever (102) is integral in orientation with a cam (108) with wavy outline itself connected to the spherical joint (51), the housing ( 101) further containing a sliding pusher (53) surrounding the auxiliary shaft (52) and movable coaxially to the neutral position of the lever (102), this pusher carrying a non-rotating cam (107) with wavy outline cooperating with the cam ( 108) carried by the lever (102). 12. Manipulateur conforme à l'une des revendications 1 à 6, caractérisé en ce que le levier de manoeuvre (2a, 102a) est relié au boîtier (1a, 101a) par l'intermédiaire d'une pseudo-articulation constituée par une masse élastique (75) dont la périphérie (76) est rendue solidaire du boîtier.12. Manipulator according to one of claims 1 to 6, characterized in that the operating lever (2a, 102a) is connected to the housing (1a, 101a) via a pseudo-articulation constituted by a mass elastic (75) whose periphery (76) is made integral with the housing.
EP87401126A 1986-05-22 1987-05-20 Analog manipulator having priveleged orientations Expired - Lifetime EP0246968B1 (en)

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FR8607289A FR2599185B1 (en) 1986-05-22 1986-05-22 ANALOGUE MANIPULATOR WITH PRIVILEGED ORIENTATIONS
FR8607289 1986-05-22

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EP0246968A1 true EP0246968A1 (en) 1987-11-25
EP0246968B1 EP0246968B1 (en) 1991-08-07

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EP (1) EP0246968B1 (en)
CH (1) CH674101A5 (en)
DE (1) DE3771928D1 (en)
DK (1) DK169800B1 (en)
FR (2) FR2599185B1 (en)
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IT (1) IT1206063B (en)

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EP0656640A1 (en) * 1993-11-19 1995-06-07 Sumitomo Wiring Systems, Ltd. Lever switch device, method for activating switches in a lever switch device, and method for outputting data signals
US5619021A (en) * 1993-11-19 1997-04-08 Sumitomo Wiring Systems, Ltd. Lever switch device, method for activating switches in a lever switch device, and method for outputting data signals
US5691517A (en) * 1993-11-19 1997-11-25 Sumitomo Wiring Systems, Ltd. Multidirectional lever switch device
US5744765A (en) * 1995-06-19 1998-04-28 Sumitomo Wiring Systems, Ltd. Lever switch with support walls for supporting movable contact points and method of detecting an operating direction of a lever switch

Also Published As

Publication number Publication date
IT1206063B (en) 1989-04-14
FR2599186A2 (en) 1987-11-27
FR2599185A1 (en) 1987-11-27
DE3771928D1 (en) 1991-09-12
FR2599185B1 (en) 1988-11-10
GB2190987A (en) 1987-12-02
GB8711476D0 (en) 1987-06-17
FR2599186B1 (en) 1988-11-25
US4784008A (en) 1988-11-15
DK259187D0 (en) 1987-05-21
DK259187A (en) 1987-11-23
GB2190987B (en) 1990-07-04
DK169800B1 (en) 1995-02-27
EP0246968B1 (en) 1991-08-07
IT8747960A0 (en) 1987-05-21
CH674101A5 (en) 1990-04-30

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