US3765263A

US3765263A - Mechanical linkage system

Info

Publication number: US3765263A
Application number: US00214489A
Authority: US
Inventors: R Buscher; R Davis; E Kazmarek; R Larsen
Original assignee: Lear Siegler Inc
Current assignee: BAE Systems Aircraft Controls Inc
Priority date: 1971-12-30
Filing date: 1971-12-30
Publication date: 1973-10-16
Anticipated expiration: 1990-10-16

Abstract

A movable hand grip system is disclosed having a plurality of interconnected members which may be adjustably interlocked in three configurations to vary the manner in which an operator can manipulate the hand grip. The system comprises a lever arm forming one leg of a four bar linkage, which is adapted to articulate in three motion modes while imparting a reciprocating motion to an output member. A hand grip is mounted on the lever arm. In a first configuration, the four bar linkage is pivotably supported to a base at the uppermost corner of the quadrilateral oppposite the lever arm. The legs of the four bar linkage are then angularly locked with respect to each other to enable the hand grip and the fixed quadrilateral to pivot about the base support axis. This angular movement of the hand grip can be accomplished by the operator by moving his arm and hand to and fro. In a second configuration, the legs of the four bar linkage are unlocked with respect to each other, while the leg of the quadrilateral opposite the lever arm is locked to the base. This arrangement enables the hand grip to move up and down with respect to the base. This vertical movement of the hand grip can be accomplished by the operator by manipulating his hand about an imaginary axis through the wrist of the operator. In the third configuration, the linkages, including the lever arm, are locked to the base to be secured against any pivoting movement. The hand grip is then unlocked at one attaching point to enable the hand grip to pivot about the lever arm. This angular movement of the hand grip can be accomplished by the operator by manipulating his hand about an imaginary axis through the palm of the operator''s hand.

Description

United States Patent [191 Buscher et al.

[ Oct. 16, 1973 MECHANICAL LINKAGE SYSTEM [75] Inventors: Richard G. Buscher, Woodland Hills; Richard L. Davis, Pacific Palisades; Edward Kazmarek, Reseda; Richard K. Larsen, La Habra, all of Calif.

Lear Siegler, Inc., Santa Monica, Calif.

[22 Filed: Dec. 30, 1971 [21 Appl; No.: 214,489

[73] Assignee:

2/ 1970 Dinnendahl 74/469 Primary ExaminerMilton Kaufman Attorney-Harold L. Jackson et al.

[57] ABSTRACT A movable hand grip system is disclosed having a plurality of interconnected members which may be adjustably interlocked in three configurations to vary the manner in which an operator. can manipulate the hand grip. The system comprises a lever arm forming one leg of a four bar linkage, which is adapted to articulate in three motion modes while imparting a reciprocating motion to an output member. A hand grip is mounted on the lever arm. In a first configuration, the four bar linkage is pivotably supported to a base at the uppermost corner of the quadrilateral oppposite the lever arm. The legs of the four bar linkage are then angularly locked with respect to each other to enable the hand grip and the fixed quadrilateral to pivot about the base support axis. This angular movement of the hand grip can be accomplished by the operator by moving his arm and hand to and fro. In a second configuration, the legs of the four bar linkage are unlocked with respect to each other,'while the leg of the quadrilateral opposite the lever arm is locked to the base. This arrangement enables the hand grip to move up and down with respect to the base. This vertical movement of the hand grip can be accomplished by the operator by manipulating his hand about an imaginary axis through the wrist of the operator. In the third configuration, the linkages, including the lever arm, are locked to the base to be secured against any pivoting movement. The hand grip is then unlocked at one attaching point to enable the hand grip to pivot about the lever arm. This angular movement of the hand grip can be accomplished by the operator by manipulating his hand about an imaginary axis through the palm of the operators hand.

27 Claims, 9 Drawing Figures [Milli].

1 MECHANICAL LINKAGE SYSTEM BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates generally to control systems and more particularly to mechanical linkage systems for transmitting the movement of an input member through the linkages to an output member.

2. Description of the Prior Art There are many ways of transmitting command outputs to control systems. These systems are usually classified according to the transmission medium utilized, e.g. electrical, mechanical, hydraulic, pneumatic, or any combination thereof.

A commonly used mechanical transmission system utilizes a pivoting lever as an input component which is connectable to mechanical linkages, cables, or the like for transmitting an output command. Such lever systems are utilized to operate cranes helicoptors, fixed wing aircraft, and countless other devices.

In many applications, it is quite advantageous to locate the lever in front of an arm rest to enable the operator to manipulate the lever with a minimum of hand and arm movements. Systems of this nature are known as side arm controllers. Various types of side arm controllers have been proposed and/or developed for translating the pivoting motion of the hand lever to an output control element. These various types are catagorized according to the hand and arm movements an operator has to make in manipulating the hand lever. The particular type of hand and wrist movement depends on the movement of the hand lever and the axis about which it pivots. If the lever is pivoted about a base support axis below the arm rest, the operators hand and arm must move to and fro along the arm rest to actuate the lever. If the hand lever is moved up and down, the operator can drive the lever with his hand by pivoting it about an imaginary axis located at his wrist. If the hand lever is pivoted about an axis extending through the lever, the operator can drive the lever with his hand by pivoting it about an imaginary axis located at his palm.

The type of hand movement utilized depends on the operators preference. These preferences are given serious consideration because the small incremental movements of the hand levers are quite often critical and highly sensitive, and if the operator has a better feel and receives a better responsev from one type of movement, it would be highly advantageous for him to use it.

The problem encountered with the above is that present day side arm controllers can operate in only one mode. If a new operator of a machine desires a side arm controller having a different mechanical movement, the present unit in the machine has to be taken out and the desired unit installed, or several units must be installed permanently in the machine. In many applications, because it is highly advantageous to ensure that the operator is able to use the type controller that he likes, separate units are kept on hand for each control system.

This, of course, creates a redundancy in equipment, and raises the operating costs of such systems.

SUMMARY OF THE INVENTION The present invention obviates the above-mentioned shortcoming by providing a mechanical linkage system that is capable of being articulated in a variety of modes to accommodate a variety of hand movements.

The primary advantage of the present invention is that since the system is adjustable, only one unit is necessary for each control system. This, of course, greatly reduces the equipment and inventory needed in operating the machines control systems. As a result, the cost in operating such systems is substantially reduced.

Another advantage of the present invention is that these adjustments can be made quite easily, either by the operator or the mechanic, to afford a quick changeover whenever necessary.

The features of the present invention which are believed to be novel are set forth with particularity in the appended claims. The present invention, both as to its organization and manner of operation, together with further objects and advantages thereof, may best be understood by reference to the following description, taken in connection with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a side stick controller having a mechanical linkage system in accordance to the present invention; I

FIG. 2 is an elevational view of the linkage system of the present invention;

FIG. 3 is an elevational view of the linkage system shown in its first configuration;

FIG. 4 is an enlarged sectional view of the linkage system taken along lines 4-4 of FIG. 3;

FIG. 5 is an enlarged fragmentary view of the connecting bar utilized in locking the linkage system in the first configuration;

FIG. 6 is an elevational view of the linkage system shown in its second configuration;

FIG. 7 is an enlarged sectional view of the linkage system taken along lines 7-7 of FIG. 6;

FIG. 8 is an enlarged sectional view of the linkage system shown in its third configuration; and

FIG. 9 is an enlarged sectional view of the linkage system taken along lines 9-9 of FIG. 8.

DESCRIPTION OF THE PREFERRED EMBODIMENT Referring now to the drawings, FIG. 1 illustrates a side stick controller, generally indicated by arrow 10, comprising an outer casing 11 having an arm rest 13 mounted on the top side thereof. The forward top side of the casing 11 further has a hand grip 15 extending outwardly therefrom. As will be described hereinafter, the hand grip 15 is pivotally mounted within the casing 11. A bellows covering 17 is provided to extend over the front top side of the casing 11 in order to protectively cover that portion while still enabling the hand grip 15 to freely pivot. The entire side arm controller 10 is especially adaptable to be installed as a unit on the side of the operators seat. The output connectors are adapted to be connected through the bottom of the casing 11 (not shown) in a conventional manner and do not form a part of the invention.

Referring now to FIG. 2, the hand grip 15 is adapted to be operatively connected to a mechanical linkage system, generally indicated by arrow 20, which is enclosed within the casing 11.

The linkage system 20 comprises a four bar linkage forming a quadrilateral. The quadrilateral comprises a lever arm 21 forming the one side thereof. The upper extremity of the lever arm 21 pivotally supports the hand grip 15 about a first axis A. The lever arm 21 is also pivotally connected to two adjoining legs 23 and 25 which, in turn, are connected to a leg 27 opposite the lever arm 21 to complete the quadrilateral. These four connections shown are made with conventional pivot pins 28, 29, 30, and 31.

The four bar linkage is adapted to be pivotally supported from a base plate 33 through the pivot pin 30. For descriptive purposes, this pivot point 30 will be described hereinafter as a second axis B. The base plate 33 is supported by two side plates 34 and a rear plate 35 which, in turn, are mounted on the bottom plate of the casing 11.

A right angle connecting bar 36 (more clearly shown in FIG. is positioned at the pivotally supported corner to interconnect the legs 23 and 27. This is accomplished by means of connecting

elements

37 and 39 extending through mating bores formed in the respective components. The connecting element 37 is preferably permanently attached to the leg 23 and the bar 36, while the connecting element 39 is adapted to be removably attached to the leg 27 and the bar 35. For this reason, the connecting element is in the form of a thumbscrew. When not attached to the bar 36, the thumbscrew 39 preferably remains supported in the bore formed in the leg 23. (See FIG. 7).

An output element 40 is mounted beneath the base plate 33. The rear extremity of the output element 40 extends through a bore formed in the rear plate 35 to be slidably supported thereby. The front extremity of the output member 40 forms a bore to enable the element 40 to be attached to the connecting bar 36. A bore is also formed on the connecting bar 36 to enable the two components to be interconnected by means of a connecting element 41. (See FIG. 5). The connecting element 41 is adapted to be removably attached thereto to enable the output element 40 to be disconnected and attached to a hand grip extension 43 described hereinafter. I

The extension 43 (more clearly shown in FIGS. 8 and 9) is adapted to extend along the lever arm 21 and is adapted to be removably attached thereto by means of a thumbscrew 45, extending through mating bores formed in the two components. When notin connection, the thumbscrew 45 is supported within the bore formed in the lever arm 21 to enable the hand grip and extension 43 to pivot about axis A. The extension 43 also includes a bore 47 which is utilized for connection to the forward extremity of the output element 40.

As more clearly shown in FIG. 6, a flange 49 is integrally connected to the base plate 33 and one of the side plates 34. The flange 49 includes a bore formed therein which is adapted to register with a mating bore formed in the leg 27 for removably receiving a thumbscrew 51. The thumbscrew 51 functions to fixedly connect the leg 27 to the flange 49. When the two components are not interconnected (as shown in FIG. 4), the thumbscrew 51 is supported within the bore of the flange 49. I

The lever arm 21 and the leg also include

additional bores

53 and 55 respectively to enable the lever arm 21 and leg 25 to be interconnected by the pivot pin 29 at various locations. In this manner, the effective lengths of either leg can be varied to change the configuration of the quadrilateral. FIG. 2 shows the pivot pin 29 connecting the lever arm 21 to the leg 25 through the bore 55 to shorten the length of leg 27 and change the attitude of the lever arm 21. This position is shown in broken lines.

OPERATION The side arm controller 10 of the present invention is adapted to be adjustably interlocked to enable the linkage system 20 to be operated in three configurations to impart a reciprocating motion to the output element 40. These three configurations function to enable the hand grip 15 to be articulated in three modes to accommodate any of the basic hand and arm movements an operator can make.

The first configuration is shown in FIGS. 3 5. In this configuration, the thumbscrew 39 is rotated inwardly to fixedly interconnect the leg 27 with the connecting bar 36. In this mode, the connecting bar 36 functions to lock the legs 23 and 27 together. Since the linkages are all interconnected, all four

legs

21, 23, 2S, and 27 are locked in a fixed angular relationship with each other. In this configuration, the thumbscrew 51 is rotated outwardly to release the leg 27 from the flange 49, and the thumbscrew 45 is rotated inwardly to fixedly connect the extension 43 and the hand grip 15 to the lever arm 21.

With the

thumbscrews

39, 45 and 51 positioned as described, the four bar linkage is now capable of pivoting about the base support axis B. This pivoting motion then imparts a reciprocating motion to the output element 40. Two angular positions of the four bar linkage movement are illustrated in FIG. 2 to show the movement of the hand grip 15 and the transmitted movement of the output gimbal. This angular movement of the hand grip 15 can be accomplished by a driving movement of the operators hand in a longitudinal direction.

The second configuration is shown in FIGS. 6 and 7. In this configuration, the thumbscrew 51 is moved inwardly to fixedly connect the leg 27 to the flange 49. Since the upper end of the leg 27 is also restrained against any lateral movement, the leg 27 is locked against any movement. Moreover, the thumbscrew 39 is unscrewed to free the leg 23 from the leg 27, while the thumbscrew 45 remains fixed to secure the hand grip 15 to the lever arm 21.

In this mode, the operator moves the hand grip 15 up and down in the directions shown by pivoting his hand about his wrist located at axis C. The four bar linkage moves in a manner similar to a pantograph, i.e., the lever arm 21 functions to pivot the legs 23 and 25 about the pivot pins 30 and 31 located on the fixed leg 27. The pivoting of the leg 23 functions to pivot the con necting bar 36 (freed from the leg 27) about pivot pin 30. This pivoting movement is transmitted to the output element 40 to impart a reciprocating motion thereto. Again, two angular positions of the four bar linkage movement is shown in FIG. 6. The type of hand grip motion of this configuration is called the wrist pivot motion and is preferred by many operators.

' The third configuration is shown in FIGS. 8 and 9. In this configuration, both the

thumbscrews

39 and 51 are screwed inwardly to lock the leg 23 to the leg 27; and the leg 27 to the flange 49, respectively. In this mode, the four bar linkage is then locked in a fixed position.

The thumbscrew 45 is then unscrewed to enable the hand grip 15 to freely pivot with respect to the lever arm 21. After freeing the hand grip 15, the front extremity of the output element 40 is disconnected from the connecting bar 36 and attached to the lower extremity of the extension 43 with a connecting element 48.

In this mode, the operator pivots the hand grip about the axis A to impart a reciprocating movement to the output element 40. Again, two angular positions of this movement are shown in FIG. 8. This type of hand grip motion is called the palm pivot motion because the operator manipulates the hand grip 15 by pivoting the grip 15 about an imaginary axis through his palm.

As described above, either of the

bores

53 and 55 can be utilized as connecting points between the lever arm 21 and the leg 25. This not only changes the effective lengths of the legs but it also functions to change the attitude and motion of the lever arm 21. Such an adjustment is provided to again suit the operators preferences.

As can be seen, by making a few easy adjustments with thumbscrews, the side arm controller can be adjusted to function in three configurations to accommodate any mode that the operator may wish to use.

It should be noted that various modifications can be made to the apparatus while still remaining within the purview of the following claims. For example, the relative effective lengths of any of the legs forming the quadrilateral can be different than that of those illustrated. Moreover, a plurality of bores similar to

bores

53 and 55 can also be formed on legs 23 and 27 to function in the same manner to adjust the configuration of the quadrilateral.

What is claimed is:

l. A mechanical linkage system comprising:

legs forming a four bar linkage pivotally interconnected at their ends to form a quadrilateral, said four bar linkage having a lever arm forming one leg thereof, said four bar linkage further being con- I nected to a base at one of the corners opposite said lever arm;

an output element operatively connected to a leg adjoining said lever arm to be reciprocatingly driven thereby; and

means for adjustably locking certain of said legs with respect to the other legs and the base to vary the articulation of said lever arm.

2. The invention of claim 1 wherein said adjustment means comprises means for locking the legs of said four bar linkage in a fixed angular relationship with each other to enable the fixed four bar linkage to pivot about the base support axis.

3. The invention of claim 2 wherein said means for locking the legs of said four bar linkage in a fixed angular relationship with each other comprises a connecting bar having removable attaching means for attaching said bar to two of said legs.

4. The invention of claim 3 wherein said-connecting bar forms a 90 angle and is positioned on said corner opposite said lever with the arms of said bar extending along the adjacent legs.

5. The invention of claim 4 wherein said attaching means includes a first connector element adapted to extend into a pair of mating bores formed on the leg opposite said lever arm and on the registering arm of said bar.

6. The invention of claim 5 wherein said connector element is a thumbscrew.

7. The invention of claim 1 wherein said adjustment means comprises means for fixedly connecting the leg opposite said lever arm to said base to enable said lever arm to pivot the two legs adjoining said lever arm about their respective connecting points with said fixed leg.

8. The invention of claim 7 wherein said means for fixedly connecting said leg opposite the lever arm to said base comprises a pair of mating bores formed on said base and said opposite leg and a second connector element adapted to extend into said mating bores to interconnect the two components.

9. The invention of claim 1 wherein said lever arm further comprises a hand grip pivotally mounted thereon, said hand grip having an extension extending along said lever arm, said extension adapted to be alternately connected to said output element to impart a reciprocating motion thereto.

10. The invention of claim 9 further comprising attaching means for connecting said extension to said lever arm. I

11. The invention of claim 10 wherein said attaching means comprises a pair of mating bores formed on said extension and said lever arm and a third connector element adapted to extend into said mating bores to interconnect the two components.

12. The invention of claim 11 wherein said third connector element comprises a thumbscrew.

13.'A mechanical linkage system comprising:

legs forming a four bar linkage pivotally interconnected at their ends to form a quadrilateral, said four bar linkage having a lever arm forming one leg thereof, said four bar linkage further being connected to a base at one of the corners opposite said lever arm;

a hand grip pivotally mounted on said lever arm, said hand grip having an extension extending along said lever arm;

an output element adapted to be alternately connected to a leg adjoining said lever arm or to said extension to be operatively driven thereby; and

means for adjustably locking certain of said legs with respect to the other legs, the base, and the extension to vary the articulation of said hand grip.

14. The invention of claim 13 wherein said adjustment means comprises means for locking the legs of said four bar linkage in a fixed angular relationship with each other to enable the fixed four bar linkage to pivot about the base support axis.

15. The invention of claim 14 wherein said means for locking the legs of said four bar linkage in a fixed angular relationship with each other comprises a connecting bar having removable attaching means for attaching said bar to two of said legs.

16. The invention of claim 15 wherein said connecting bar forms a angle and is positioned on said corner opposite said lever with the arms of said bar extending along the adjacent legs.

17. The invention of claim 16 wherein said attaching means includes a first connector element adapted to extend into a pair of mating bores formed on the leg opposite said lever arm and on the registering arm of said bar.

18. The invention of claim 17 wherein said connecting element is a thumbscrew.

19. The invention of claim 13 wherein said adjustment means comprises means for fixedly connecting the leg opposite said lever arm to said base to enable said lever arm to pivot the two legs adjoining said lever arm about their respective connecting points with said fixed leg.

20. The invention of claim 19 wherein said means for fixedly connecting said leg opposite the lever arm to said base comprises a pair of mating bores formed on said base and said opposite leg and a second connector element adapted to extend into said mating bores to interconnect the two components.

21. The invention of claim 13 further comprising attaching means for connecting said extension to said lever arm.

22. The invention of claim 21 wherein said attaching means comprises a pair of mating bores formed on said extension and said lever arm and a third connector element adapted to extend into said mating boxes to interconnect the two components.

23. The invention of claim 22 wherein said third connector element comprises a thumbscrew.

24. The invention of claim 1 further comprising means for varying the connection point between any two legs to change the effective length of either leg.

25. The invention of claim 24 wherein said varying means comprises a plurality of bores formed in the two legs and a pivot pin extending through any two bores of the two legs to pivotally interconnect the two legs.

26. The invention of claim 13 further comprising means for varying the connection point between any two legs to change the effective length of either leg.

27. The invention of claim 26 wherein said varying means comprises a plurality of bores formed in the two legs and a pivot pin extending through any two bores of the two legs to pivotally interconnect the two legs. l

Claims

1. A mechanical linkage system comprising: legs forming a four bar linkage pivotally interconnected at their ends to form a quadrilateral, said four bar linkage having a lever arm forming one leg thereof, said four bar linkage further being connected to a base at one of the corners opposite said lever arm; an output element operatively connected to a leg adjoining said lever arm to be reciprocatingly driven thereby; and means for adjustably locking certain of said legs with respect to the other legs and the base to vary the articulation of said lever arm.

4. The invention of claim 3 wherein said connecting bar forms a 90* angle and is positioned on said corner opposite said lever with the arms of said bar extending along the adjacent legs.

6. The invention of claim 5 wherein said connector element is a thumbscrew.

10. The invention of claim 9 further comprising attaching means for connecting said extension to said lever arm.

13. A mechanical linkaGe system comprising: legs forming a four bar linkage pivotally interconnected at their ends to form a quadrilateral, said four bar linkage having a lever arm forming one leg thereof, said four bar linkage further being connected to a base at one of the corners opposite said lever arm; a hand grip pivotally mounted on said lever arm, said hand grip having an extension extending along said lever arm; an output element adapted to be alternately connected to a leg adjoining said lever arm or to said extension to be operatively driven thereby; and means for adjustably locking certain of said legs with respect to the other legs, the base, and the extension to vary the articulation of said hand grip.

16. The invention of claim 15 wherein said connecting bar forms a 90* angle and is positioned on said corner opposite said lever with the arms of said bar extending along the adjacent legs.

18. The invention of claim 17 wherein said connecting element is a thumbscrew.

27. The invention of claim 26 wherein said varying means comprises a plurality of bores formed in the two legs and a pivot pin extending through any two bores of the two legs to pivotally interconnect the two legs.