Abstract
The present invention relates to an operator control element, in particular a joystick, comprising a housing, an activation lever which is mounted in the housing so as to be pivotable about a pivot point, and a resetting unit for making available a resetting torque for resetting the activation lever from a deflected state into a neutral state. In order to specify an operator control element which makes available a haptic force feedback which is intrinsically safe, the invention proposes that the operator control element comprises an actuator unit which is operatively connected to the resetting unit, wherein the actuator unit is designed to perform limited modulation of the resetting torque, wherein in the case of a lower modulation limit the resetting torque in the deflected state is greater than zero.
Claims
1. Operator control element comprising a housing, an activation lever (1) which is mounted in the housing so as to be pivotable about a pivot point (2), and a resetting unit for making available a resetting torque (M.sub.R) for resetting the activation lever (1) from a deflected state into a neutral state, wherein the operator control element comprises an actuator unit (3) which is operatively connected to the resetting unit, wherein the resetting torque (M.sub.R) is limited modulatable by the actuator unit (3), wherein in the case of a lower modulation limit the resetting torque (M.sub.R) is greater than zero in the deflected state, wherein the resetting unit has a cam (5), and a probe element which contacts the cam (5) in any position of the activation lever (1), wherein a contact force of the probe element against the cam (5) is modulatable in terms of absolute value and/or direction by the actuator unit (3), characterized in that various different cams (5) can be accessed by rotating a cam roller (14), wherein the probe element has a ball or a roller or a cam.
2. Operator control element according to claim 1, characterized in that the compliance element (4) has a compression spring or a tension spring or a gas piston or a magnet.
3. Operator control element according to claim 1, characterized in that the resetting unit has a compliance element (4), wherein a prestress of the compliance element (4) is modulatable by the actuator unit (3).
4. Operator control element according to claim 1, characterized in that an intrinsically limited actuation travel is made available by the actuator unit (3).
5. Operator control element according to claim 1, characterized in that the operator control element has stops for limiting an actuation travel of the actuator unit (3).
6. Operator control element according to claim 1, characterized in that the actuator unit (3) has an actuator, wherein the actuator is embodied as an electric motor or an electrodynamic linear drive or a piezoelectric drive or an electromagnet or a pneumatic drive or a hydraulic drive.
7. Operator control element according to claim 1, characterized in that the actuator unit (3) has an actuator element instead of an actuator.
8. Operator control element according to claim 1, characterized in that the pivot point (2) is embodied as an activation axis.
9. Operator control element according to claim 1, characterized in that the resetting torque in the deflected state is 0.001 Nm to 10.0 Nm.
Description
(1) In the drawings, in each case in detail:
(2) FIG. 1 shows a schematic view of an operator control element according to the invention according to a first embodiment;
(3) FIG. 2 shows a schematic view of an operator control element according to the invention according to a second embodiment;
(4) FIG. 3 shows a schematic view of an operator control element according to the invention according to a third embodiment;
(5) FIG. 4 shows a schematic view of an operator control element according to the invention according to a fourth embodiment;
(6) FIG. 5 shows a schematic view of an operator control element according to the invention according to a fifth embodiment;
(7) FIG. 6 shows a schematic view of an operator control element according to the invention according to a sixth embodiment;
(8) FIG. 7 shows a schematic view of an operator control element according to the invention according to a seventh embodiment;
(9) FIG. 8 shows a schematic view of an operator control element according to the invention according to an eighth embodiment;
(10) FIG. 9 shows a schematic view of an operator control element according to the invention according to a ninth embodiment;
(11) FIG. 10 shows a schematic view of an operator control element according to the invention according to a tenth embodiment;
(12) FIG. 11 shows a schematic view of an operator control element according to the invention according to an eleventh embodiment;
(13) FIG. 12 shows a schematic view of a compliance element of an operator control element according to the invention according a twelfth embodiment;
(14) FIG. 13 shows a schematic view of an operator control element according to the invention according to a thirteenth embodiment; and
(15) FIG. 14 shows a schematic view of an operator control element according to the invention according to a fourteenth embodiment.
(16) FIG. 1 shows a schematic view of an operator control element according to the invention according to a first embodiment. The operator control element is embodied as a joystick. In the left-hand part of the figure, the joystick is in a neutral state with the actuator unit 3 retracted, and in the right-hand part it is in a deflected state with the actuator unit 3 retracted. The joystick comprises an activation lever 1 with a handle and a handlebar, which is mounted so as to be pivotable about a pivot point 2 in a housing (not shown), and a resetting unit for making available a resetting torque M.sub.R for resetting the activation lever 1 from a deflected state into a neutral state.
(17) Furthermore, the joystick comprises an actuator unit 3 which is operatively connected to the resetting unit, wherein the actuator unit 3 is designed to perform limited modulation of the resetting torque M.sub.R, wherein in the case of a lower modulation limit the resetting torque M.sub.R in the deflected state is greater than zero, and wherein in the case of an upper modulation limit the resetting torque M.sub.R is smaller than a deflection torque which can be applied by a user and has the purpose of deflecting the activation lever 1. The resetting unit has a compliance element 4 in the form of a helical spring, wherein the actuator unit 3 is designed to modulate a resetting characteristic of the helical spring. The actuator unit 3 carries out a linear movement in order to make available an actuation travel. The compliance element 4 is connected by one end to the actuator unit 3 and by the other end to the probe element which is guided on a cam 5 and contacts the latter in any position of the activation lever 1. If a user applies a user force F.sub.B to the operator control element, the activation lever 1 is deflected. This causes the compliance element 4 to be compressed by the cam 5. As a result a spring force F.sub.F is produced between the compliance element 4 and the cam 5. Given suitable shaping of the cam 5 and the probe element of the compliance element 4, an angle, which brings about a resetting force F.sub.R, is formed between the spring force F.sub.F and the surface normal of the cam 5. In contrast to the prior art, there is now provision according to the invention that the actuator unit 3 additionally generates a variable prestress in the spiral spring. This prestress makes it possible to generate different spring forces F.sub.F and therefore different resetting forces F.sub.R at a constant angular position.
(18) FIG. 2 shows a schematic view of an operator control element according to the invention according to a second embodiment in a deflected state. The operator control element is embodied as a joystick. In the second embodiment, the actuator unit 3compliance element 4sequence of the first embodiment is replaced by an adjustable compliance element 6, wherein the actuator unit 3 is integrated into the compliance element 4 such as, for example, in gas springs or air springs with a variable internal pressure. In these springs, a gas pressure p can be varied, as a result of which a corresponding spring force F.sub.F is generated.
(19) FIG. 3 shows a schematic view of an operator control element according to the invention according to a third embodiment. The operator control element is embodied as a joystick. In the left-hand part of the figure, the joystick is in a neutral state with the actuator unit 3 retracted and in the right-hand part it is in a neutral state with the actuator unit 3 extended. In the third embodiment, the actuator unit 3 does not act directly on the compliance element 4 but rather indirectly in that it adjusts the cam 5 with respect to the compliance element 4. That is to say the cam 5 is embodied so as to be movable in relation to the housing (not shown). This kinematically inverse arrangement also results in a variable prestress of the compliance element 4, which is embodied as a helical spring, and therefore in a variable resetting force F.sub.R. As a result of the change in distance between the pivot point 2 and the cam 5, the characteristic curve or characteristic of the helical spring is influenced, with the result that corresponding forces are produced. At the same time, a changed angle between the cam and the compliance element 4 is produced at the same deflection angle. This causes the characteristic curve (resetting torque M.sub.R plotted against the deflection angle) of the operator control element also to change its shape. In particular in this embodiment, the compliance element and the actuator unit can be implemented with various technical means as mentioned at the beginning.
(20) FIG. 4 shows a schematic view of an operator control element according to the invention according to a fourth embodiment. The operator control element is embodied as a joystick. In the left-hand part of the figure, the joystick is in the neutral state with the actuator unit 3 retracted, and in the right-hand part is in a deflected state with the actuator unit 3 retracted. In the fourth embodiment, the activation lever 1 is rotatably mounted at the pivot point 2, but the compliance element 4 and the actuator unit 3 are not attached thereto but instead a cam 8 which is embodied so as to be movable in relation to the housing (not illustrated). Running in this cam 8 is a tappet which has the compliance element 4 and the actuator unit 3 and is, in particular, composed of the compliance element 4 and the actuator unit 3, wherein the tappet can also be replaced by an adjustable compliance element 6 here. If the activation lever 1 is deflected together with the cam 8, a resetting force F.sub.R is produced which is directly proportional to the spring force F.sub.F of the compliance element 4. Compared to the first embodiment, the actuator unit 3 in the fourth embodiment is attached in a positionally fixed fashion to the housing (not illustrated). This has immediate advantages with respect to the design and connection of control lines and supply lines of the joystick.
(21) FIG. 5 shows a schematic view of an operator control element according to the invention according to a fifth embodiment. The operator control element is embodied as a joystick. In the top left-hand part of the figure, the joystick is in a neutral state with the actuator unit 3 retracted, and in the top right-hand part it is in a deflected state with the actuator unit 3 retracted, in the bottom left-hand part it is in a neutral state with the actuator unit 3 extended and in the bottom right-hand part the joystick comprises two adjustable compliance elements 6. In the fifth embodiment, the cam 5 is formed by a right parallelepiped which has rounded corners and is arranged at the pivot point 2. The probe elements of the resetting unit are made available by the planar bearing faces which clamp in the right parallelepiped on two sides. The exact outer shape of the cam 5 is not necessarily a right parallelepiped. Other shapes are not excluded according to the invention and depend on the desired characteristic curve which is to be produced of the compliance element 4. The force is applied to the cam 5 on both sides via a compliance element 4, the prestress of which can be varied in each case with an actuator unit 3. During deflection the activation lever 1 deflects the cam 5 about the pivot point 2. As a result, the force engagement points between the cam 5 and the compliance element 5 change. At the same time, the elongation of the compliance element 4 changes, as a result of which the spring force F.sub.F is varied. In this embodiment, a resetting torque M.sub.R is produced from the spring force F.sub.F and the distance of the force engagement point 9 from the rotational axis 2. It is particularly advantageous that given a symmetrical configuration of the arrangement no bearing forces occur at the rotational axis 2. As already mentioned the actuator unit 3 and compliance element 4 can also be replaced here by an adjustable compliance element 6. According to the invention it is also possible to omit one of the two actuator units 3 and to influence the prestress of the two compliance elements 4 by means of a single actuator unit 3 and a suitable gear mechanism. According to the invention, the planar bearing faces can also be referred to as a cam, and the right parallelepiped as a probe element. Accordingly, the cam would be designed in a planar fashion and the probe element as a cam which acts on two sides.
(22) FIG. 6 shows a schematic view of an operator control element according to the invention according to a sixth embodiment. The operator control element is designed as a joystick. In the left-hand part of the figure the joystick is in a neutral state with the actuator unit 3a, 3b retracted, in the central part it is in a deflected state with the actuator unit 3a, 3b retracted, and in the right-hand part it is in a neutral state with the actuator units 3a, 3b extended. In the sixth embodiment, two compliance elements 4a, 4b act directly on the activation lever 2. Stops 10, which are attached in the housing (not illustrated) ensure that when the activation lever 1 is deflected only one compliance element 4 then acts on the activation lever 1. The actuator units 3a, 3b permit prestress of the compliance elements 4a, 4b, and at the same time a parallel shift of the characteristic curve along the torque axis is also brought about by this. In this embodiment, the actuator units 3a, 3b can very advantageously be actuated in different ways, and can therefore influence the characteristic curve branches to the left and right of the neutral position of the activation lever 1 separately from one another. Embodiments in which the actuator unit 3 and the compliance element 4 are replaced by an adjustable compliance element 6 are also conceivable here. A single actuator unit 3 can also influence both or all of the compliance elements 4 simultaneously by means of a suitable gear mechanism.
(23) FIG. 7 shows a schematic view of an operator control element according to the invention according to a seventh embodiment. The operator control element is embodied as a joystick. In the part of the figure which is 1 from the left the joystick is in a neutral state with the actuator unit 3 retracted, in the part of the figure which is 2 from the left it is in a deflected state with the actuator unit 3 retracted, in the part of the figure which is 3 from the left it is in a neutral state with the actuator unit 3 extended, in the part of the figure which is 4 from the left it is in a neutral state with the actuator unit 3 retracted, and in the part of the figure which is 5 from the left it is in a deflected state with the actuator unit 3 retracted. In the seventh embodiment, the activation lever 1 is, as already described, mounted so as to be rotatable about the pivot point 2. By means of a joint 11 which is attached to the housing (not illustrated), the activation lever 1 is connected to the actuator unit 3, and the latter is connected to the compliance element 4. The compliance element 4 is rotatably mounted in a joint 12 which is attached to the housing (not illustrated). Deflection of the activation lever 1 causes the distance between the joint 11 and joint 12 to increase, as a result of which the spring force F.sub.F generated by the compliance element 4 is increased. A lateral offset of the joint 11 with respect to the pivot point 2 brings about a resetting torque M.sub.R. The prestress of the compliance element 4, and therefore the characteristic curve of the joystick, can be varied by means of the actuator unit 3. It is also possible to specify an alternative to this embodiment with a positionally fixed actuator unit 3.
(24) FIG. 8 shows a schematic view of an operator control element according to the invention according to an eighth embodiment. The operator control element is embodied as a joystick. In the left-hand part of the figure, a front view of the eighth embodiment is represented and in the right-hand part a side view. In the eighth embodiment, the compliance element 4 is supported on a cam 5 by means of the probe element. When the activation lever 1 is deflected, a resetting torque M.sub.R occurs as a function of the spring force F.sub.F and the angle between the cam 5 and the activation lever 1. The cam 5 is embodied in this embodiment in such a way that it has different cam sections in the z direction. This is achieved by means of a sliding block 13, wherein the sliding block 13 is embodied so as to be adjustable in the z direction by means of the actuator unit 3. Depending on the position of the sliding block 13, different characteristic curves can be represented. The transitions between the individual characteristic curves can be configured here in an infinitely variable fashion, and alternatively a discrete number of characteristic curves can also be implemented on the sliding block 13.
(25) FIG. 9 shows a schematic view of an operator control element according to the invention according to a ninth embodiment. The operator control element is embodied as a joystick. In the left-hand part of the figure, a front view of the ninth embodiment is represented, and in the right-hand part a side view. In the ninth embodiment, the various connecting links are not arranged in a linear fashion but rather on the circumference of a sliding roller 14. By rotating the sliding roller 14 about its longitudinal axis by means of the actuator unit 3 various connecting links 5 can be accessed. In this context, the connecting links 5 can merge continuously one with the other or a discrete number of connecting links 5 can be arranged as planar component segments on the lateral surface of the sliding roller 14. The resetting torque M.sub.R is generated in a fashion analogous to the first or eighth embodiment. The actuator unit 3 comprises an actuator, for example an electric motor, or an actuator element, for example a spring, which makes available rotational movements as an travel.
(26) FIG. 10 shows a schematic view of an operator control element according to the invention according to a tenth embodiment. The operator control element is embodied as a joystick. In the left-hand part of the figure the joystick is in a neutral state with the actuator unit 3 retracted, and in the right-hand part it is in a deflected state with the actuator unit 3 retracted. In the tenth embodiment, the compliance element 4 is arranged between the actuator unit 3, which is attached to the housing (not illustrated), and the cam 5. The actuator unit influences the prestress of the compliance element 4. The probe element is connected directly to that end of the activation lever 1 which faces the cam 5, and said probe element slides over the cam 5 when the activation lever 1 is deflected. The cam 5 itself is mounted in a movable fashion, in particular a sliding fashion, in the housing (not illustrated) and is pressed against the activation lever 1 by a compliance element 4 with the spring force F.sub.F. In a way which is analogous to the first embodiment, a resetting torque M.sub.R is produced when the activation lever 1 is deflected. The two bearings 15 indicate that the cam 5 is embodied so as to be mainly vertically displaceable.
(27) FIG. 11 shows a schematic view of an operator control element according to the invention according to an eleventh embodiment, wherein the operator control element which is embodied as a joystick is in a neutral state when the actuator units 3 are retracted. The eleventh embodiment is a magnetic embodiment. A magnet 16 is attached to that end of the activation lever 1 which faces away from the user. To the left and right of this magnet 16, further magnets 17, 18 are arranged oriented in such a way that they each repel the magnet 16. In this way, the joystick is centred in the neutral position or in the neutral state. When the activation lever 1 is deflected, for example a first air gap between the magnet 16 and the magnet 18 becomes smaller, and a second air gap between the magnet 16 and the magnet 17 becomes larger. The repulsion increases in the smaller first air gap and decreases in the larger second air gap. As a result, the behaviour of a compliance element 4 is brought about and a resetting torque M.sub.R is generated. By means of the actuator units 3, the first and second air gaps could be changed and therefore the characteristic curves. It is particularly advantageous to adjust both magnets 17, 18 simultaneously by means of just one actuator unit 3 and one corresponding gear mechanism. The magnets 17, 18 are permanent magnets but according to the invention they could also be replaced by electromagnets. This embodiment requires further protective circuitry measures for shielding the magnets against magnetic interference fields in order to ensure that by means of the resetting unit the activation lever 1 experiences only resetting torques M.sub.R which act in the direction of its neutral position.
(28) FIG. 12 shows a schematic view of a compliance element of an operator control element according to the invention according to a twelfth embodiment. In the left-hand part of the figure, the actuator unit 3 is in an extended state and in the right-hand part it is in a retracted state. In the twelfth embodiment there is provision to clamp a torsion spring 22 with a rectangular cross section tightly into a bearing block 20. A second bearing block 21 can be moved along the longitudinal axis of the torsion spring 22 by an actuator unit 3, wherein the second bearing block 21 absorbs all the torsional torques. The free end of the torsion spring 22 is arranged at the pivot point 2 of the activation lever 1. The characteristic of the torsion spring 22 and therefore the characteristic curve of the operator control element can be adjusted by displacing the movable bearing block 21 along the longitudinal axis of said torsion spring 22. By means of suitable stops it is also possible to ensure here that the operator control element remains fully functionally capable in the event of a malfunction of the actuator unit. As an alternative to the torsion spring 22, according to the invention a leaf spring which is clamped in on one side is provided as a bending spring.
(29) FIG. 13 shows a schematic view of an operator control element according to the invention according to a thirteenth embodiment. The operator control element is embodied as a joystick. In the left-hand part of the figure, the joystick is in a neutral state with the actuator unit 3 retracted and in the right-hand part it is in a deflected state with the actuator unit 3 retracted. In the thirteenth embodiment, a tappet 23 slides on the cam 5. It is particularly advantageous that the entire mechanism which is relevant for the invention is arranged on a handlebar 24, facing the user, of the activation lever 1 on this side or above the pivot point 2. The actuator unit 3 is securely connected to the activation lever 1 in order to modulate the prestress of the compliance element 4. The compliance element 4 is preferably embodied as a helical spring which engages around the activation lever 1 and is arranged so as to slide thereon. This results in a particularly compact arrangement. If the activation lever 1 is deflected owing to the cam 5 the tappet 23 moves away counter to the spring force F.sub.F of the compliance element 4. In this way a resetting torque M.sub.R is generated.
(30) FIG. 14 shows a schematic view of an operator control element according to the invention according to a fourteenth embodiment. The operator control element is embodied as a joystick. In the left-hand part of the figure the joystick is in a neutral state with the actuator unit 3 extended, and in the right-hand part it is in a neutral state with the actuator unit 3 retracted. In the fourteenth embodiment, the cam 25 is not only embodied so as to be displaceable in parallel by the actuator unit 3 but is also of flexible design and is mounted loosely between four bearings 26. The actuator unit 3 modulates the shape of the cam 25. In this embodiment, at the same time the prestress of the compliance element 4 and the distance between a bearing point 27 of the probe element on the cam and the pivot point 2 are changed. Instead of a single actuator unit 3, a plurality of actuator units 3 can also act at different locations on the flexible cam 25 and change their shape. This results in a plurality of degrees of freedom during the modulation of the characteristic curve. So that the activation lever 1 returns into its neutral position under all circumstances, the actuation travel of the actuator units 3 can be limited by means of intrinsic actuation travel limitation means or stops in such a way that the actuator units 3 cannot give the flexible cam 25 a shape which contains local extremes in the profile of the potential energy of the probe element.
LIST OF REFERENCE SYMBOLS
(31) 1 Activation lever 2 Pivot point 3 Actuator unit 3a Actuator unit 3b Actuator unit 3 Actuator unit 4 Compliance element 4a Compliance element 4b Compliance element 5 cam 6 Adjustable compliance element 7 Gas pressure 8 cam 9 Force engagement point 10 Stop 11 Joint 12 Joint 13 Sliding block 14 cam roller 15 Bearing 16 Magnet 17 Magnet 18 Magnet 20 Bearing block 21 Bearing block 22 Torsion spring 23 Tappet 24 Handlebar 25 cam 26 Bearing 27 Bearing point F.sub.B User force F.sub.F Spring force F.sub.R Resetting force p Gas pressure M.sub.R Resetting torque
