Machine element or mechanism – Control lever and linkage systems – Multiple controlled elements
Patent
1999-05-17
2000-08-15
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlled elements
200 6A, 345161, G05G 9047
Patent
active
061018937
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The present invention generally relates to hand controllers having multiple degrees of freedom.
BACKGROUND OF THE INVENTION
A handle known as a three-dimensional or so-called space mouse for complex mechanical control tasks or for computer input that is to be varied spatially is described in greater detail in its basic form in DE 32 40 251 A1. In order to use this handle a spherical actuation element must be taken between the fingertips of one hand and must be twisted about the vertical, horizontal and longitudinal axes as carefully as possible. This procedure is very tiring, however, and therefore subject to error, because considerable torsion forces must be applied by way of the fingertips and the hand must impinge from above and thus cannot be supported.
SUMMARY OF THE INVENTION
The present invention is therefore based on the problem of creating a handle which can be operated more pleasantly and therefore more precisely and can nonetheless be employed flexibly.
In accordance with the present invention, an actuation rod is optionally stressed for a biaxial handle both transversely and flexurally by being gripped by the fist. A lever system articulated to that rod acts on different pressure sensors for the two functional axes. These operate practically without displacement, so that actually no lever excursions appear and therefore the rod linkage can be implemented compactly in tubular form. In one embodiment, an additional sensor lever is operated by the thumb to provide a third degree of freedom.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a cross-sectional view of an installed handle with sensors located in the base;
FIG. 2 is a cross-sectional view of a handle similar to that in FIG. 1, but with load sensors placed on the central rod sensors by way of a two-armed lever;
FIG. 3 is a cross-sectional view of a handle similar to that in FIG. 1, but now with sensors in the hollow actuation rod;
FIG. 4 is a cross-sectional view of a handle similar to that in FIG. 1, only that the other sensor is arranged in mirror-image manner; and
FIG. 5 is a plan view of the arrangement of the multidimensional handle in an operating and display device.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
Handle 11 illustrated in FIGS. 1-4 can be mounted permanently by means of base 12, possibly in a control console 13. Arranged in front of the respective base 12 is an actuation rod 14 for absorbing and transferring transverse and flexural forces introduced into it manually. This actuation rod 14 is suspended free to pivot at its end 15 remote from the base 12 on a central rod 14 for absorbing and transferring transverse and flexural forces introduced into it manually. This actuation rod 14 is suspended free to pivot at its end 15 remote from the base 12 on a central rod 16, which in turn is mounted free to pivot on the end 17 of the base 12 which is remote from the actuation rod 14. The console installation plane 18 between base 12 and actuation rod 14 is bridged by a coupling rod 19, which in turn is mounted at the end 20 of the actuation rod 14 facing the plane 20 on the one hand, and is articulated to the base 12 on the other. All joints 21 are designed to be as freely moving as possible, possibly as convex spherical caps in hollow spherical shells. Since all joints 21 are pivoted about mutually parallel axes (oriented transverse to the drawing plane) in case of the introduction of force into the actuation rod 14, they can also be executed as rolling contact joints 21.
The central rod 16 and the coupling rod 19 are each supported against their two pivoting directions free of play against pressure sensors 22 responding almost without displacement. Pressure sensors 22 are subjected to stress over a wide area via pressure plates 23 which in turn are subjected to force in their central areas according to the transverse and flexural forces currently being introduced manually from bulger or transfer ball 24 into the actuation rod 14. Because of the always identical direction of force introduction
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patent: 4348142 (1982-09-01), Figuor
patent: 4348634 (1982-09-01), David et al.
patent: 4688444 (1987-08-01), Nordstrom
patent: 5831596 (1998-11-01), Marshall et al.
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