Joystick assembly

Abstract

A joystick assembly includes an improved plunger assembly having two magnets positioned for sensing by a Hall sensor. The joystick assembly also includes a barrel that can be selectively removed, for example, for many aspects of repairing or replacing the barrel. The joystick assembly may also include an improved stop feature compared to an existing joystick design. The joystick assembly may be used in connection with an electronic architecture that may be used with the joystick assembly in different applications.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 418,277, filed on October 21, 2022, entitled “Joystick Assembly,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The subject disclosure relates to joysticks, and more particularly to joystick assemblies for controlling work vehicles and other equipment. Background Art

[0004] Some machines, particularly industrial machines, can be remotely operated. For example, a remote user can interact with a user interface that is connected to the machine, for example wirelessly or via a wired connection. In these arrangements, user input at the user interface causes corresponding movement of the machine. In some instances, the user interface is embodied as a joystick. For example, a conventional joystick may include a handle or other features as an interface for user manipulation. For example, the handle may move in a single axis, multiple axes, and / or otherwise, and the movement is sensed and converted into a control signal for the controlled machine.

[0005] However, conventional joysticks have a relatively large margin of error. For example, some joystick assemblies use magnets and Hall effect sensors to determine the movement of the joystick, but these configurations are subject to the influence of magnetic flux density gradients that limit the resolution of the sensed movement. In addition, conventional joystick systems that include spring biased portions of the joystick assembly are generally difficult to manufacture and / or maintain. Additionally, conventional joystick assemblies cannot reliably establish travel limits for a handle controlled by a user, resulting in undesirable or inconsistent overtravel or undertravel. Also in examples, conventional joystick assemblies often require specialized electronic architectures, for example, depending on the type, complexity, and / or capabilities of the joystick.

[0006] Therefore, there is a need in the art for improved joystick assemblies and systems that accurately and reliably control a machine, are easier to manufacture, assemble and / or maintain, have improved travel limiting features, and / or have improved adaptability to different machines and / or control schemes. Summary of the invention

[0007] The subject technology relates to improved joystick systems and methods of using such systems. For example, aspects of the disclosure relate to improved joystick designs with improved measurement resolution. Additional aspects of the disclosure relate to improved joystick designs that are easy to assemble, disassemble, maintain, etc. Still other aspects of the disclosure relate to improved joystick designs with improved travel limitations. Additional aspects of the disclosure relate to improved control designs for integrating a joystick into a control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to enable those skilled in the art to more easily understand how to make and use the disclosed systems and techniques, reference may be made to the following drawings.

[0009] Figure 1 is a perspective view of a joystick system according to aspects of the present disclosure.

[0010] Figure 2 According to aspects of the present disclosure Figure 1 The joystick system in Figure 1 A partial cross-sectional view of the portion taken along section line 2-2 in FIG.

[0011] Figure 3A According to aspects of the present disclosure, Figure 1 and Figure 2 A cross-sectional view of a plunger assembly used in conjunction with a joystick system in a joystick system.

[0012] Figure 3B is an exploded perspective view of the plunger assembly of FIG. 3 according to aspects of the present disclosure.

[0013] Figure 4 According to aspects of the present disclosure, one or more magnets are contained in a Figure 3A and Figure 3B A perspective view of a receiving device in a plunger assembly of the plunger assembly shown in FIG.

[0014] Figure 5 is a cross-sectional view of a portion of an alternative joystick assembly according to aspects of the present disclosure.

[0015] Figure 6 According to aspects of the present disclosure Figure 5 A cross-sectional view of a portion of an alternative joystick assembly is shown in FIG.

[0016] Fig. 7A and Figure 7B According to aspects of the present disclosure, Figure 5 and Figure 6 A partial perspective view of additional aspects of an alternative joystick assembly is shown in FIG.

[0017] Figure 8is a partial side view of an alternative joystick assembly showing aspects of a travel limiting feature according to aspects of the present disclosure.

[0018] Fig. 9 According to aspects of the present disclosure Figure 8 A partial cross-sectional view of an alternative joystick assembly in FIG.

[0019] Fig.10 An electronic architecture for use with a joystick assembly according to aspects of the present disclosure. DETAILED DESCRIPTION

[0020] The subject technology overcomes many prior art problems associated with joystick assemblies. In short, the subject technology provides an improved joystick sensing system that achieves improved operator control. In a non-limiting manner, the improvement can improve the movement accuracy of the joystick and / or the tool or appliance controlled by the joystick, achieve safer operation of these tools and / or appliances, and / or improve user satisfaction. However, the present disclosure is not limited to these improvements, and not all implementations of the systems and techniques described herein will achieve these improvements. In addition, although aspects of the present disclosure can be particularly useful in joystick systems used with industrial machines, the systems and techniques described herein can also be used for many other joystick applications.

[0021] As described above, joysticks are increasingly used in remotely controlling machines, appliances, and the like. Conventional joystick designs are often imprecise, resulting in improper control of the machine, and in some examples, dangerous control. For example, improper control of a machine may result in damage to the machine, injury to objects and / or personnel near the machine, and the like. In contrast, aspects of the present disclosure provide an improved joystick system having improved control accuracy, improved assembly and maintainability, and / or improved control features. Aspects of the present disclosure will now be explained in more detail with reference to the accompanying drawings, wherein the same reference numerals are used in multiple drawings to identify the same features.

[0022] Figure 1 1 is a perspective view of a joystick system 100 according to aspects of the present disclosure. As shown, the joystick system 100 includes a body 102 and an engagement portion 104. Generally, the engagement portion 104 is configured to move relative to the body 102. More specifically, the movement of the engagement portion 104 can be sensed (and quantified), and a machine or device (not shown) can be operated based on the movement of the engagement portion 104. In an example, the body 102 can include one or more mounting holes 105, such as for mounting the body 102 to a fixed surface or the like.

[0023] The engagement portion 104 can be configured to be coupled to a user interface device such as a handle, a joystick, etc. For example, the top of the engagement portion 104 is shown to include a hole 108 and a plurality of flat portions 106. In an example, a compatible handle (not shown) can have one or more inner surfaces that cooperate with the flat portions 106, and / or have a protrusion that is complementary to the hole 108. These complementary surfaces can, for example, facilitate the movement of the engagement portion 104 corresponding to the movement of the user manipulating the handle by coupling the handle to the engagement portion 104. In some examples, the hole 108 can be threaded for mating with corresponding threads on the handle. The engagement portion 104 can also or alternatively include other surfaces, features, and / or structures to facilitate the connection of one or more elements.

[0024] As also shown, and as will be discussed in more detail below, the joystick system 100 includes a plurality of plungers 10 (in Figure 1 The plunger 110 is partially disposed in the body 102 of the joystick system 100 and extends a distance above the body 102. In the example, the plunger 110 is configured to move in a vertical direction (when the joystick system 100 is in a Figure 1 More specifically, and as further detailed herein, the engagement portion 104 of the joystick system includes an actuation surface 112 extending from a central portion of the engagement portion 104 that contacts the plunger 110 to selectively move the plunger 110, for example vertically, within the body 102 of the joystick system 100.

[0025] Figure 1 Also shown is a stop feature 114. The stop feature 114 includes a continuous wall arranged radially outward from the plunger 110. In an example, the stop feature 114 is a rigid structure that is positioned to contact the outer periphery of the actuation surface 112 to limit the stroke of the actuation surface 112 (and therefore the engagement portion 104). In some conventional systems, a stroke limit is set at each plunger in the plunger 110 to, for example, limit the plunger stroke. Alternatively, the design shown limits the movement of the engagement portion 104, which can be easier to implement, cheaper to implement, and / or have other benefits. As shown, the stop feature 114 has a contoured upper portion or stop surface 116. In this arrangement, the height of the stop surface 116 varies, for example, to limit the stroke differently in different directions. As can be appreciated, the stop surface 116 may be different from the stop surface shown. Furthermore, although the stop feature 114 is shown as being substantially continuous along the circumference, in other examples, the stop feature 114 may be embodied as two or more separate and / or discontinuous elements. The functions of the stop feature 114 and the stop surface 116 are described below with reference to Figure 2 , Figure 8 as well as Fig. 9Further details.

[0026] As in Figure 1 , the joystick system 100 can be configured to generate and output control data 118 for a machine controller 120 associated with a machine or other system (not shown) controlled by the joystick system 100. The control data 118 can be a control signal generated in response to movement of the engagement portion 104, the movement of the engagement portion being measured, for example, via movement of the plunger 110. In other implementations, the control data 118 can be sensor data generated by the joystick system 100 corresponding to movement of the engagement portion 104. In the former example, the joystick controller is configured to sense movement of the engagement portion 104 and generate control signals based on the movement, while in the latter example, the machine controller 120 (and / or some other system remote from the body 102 of the joystick system 100) can be configured to process the sensor data to generate control signals for input to the machine controller 120. In either of these examples, movement of the engagement portion 104 is sensed and used to generate control signals for controlling a machine, implement, etc. (not shown).

[0027] Figure 1 The examples are for illustration only. Modifications and variations are contemplated. For example, although the body 102 is shown as a substantially cylindrical receptacle, other shapes may be used. Further, although the mounting hole 105 is shown as being formed in a mounting surface 122 that generally surrounds the body 102, other mounting features may be provided, as would be appreciated by one of ordinary skill in the art having the benefit of this disclosure. In yet other examples, the joystick assembly 100 may be configured as a free-standing unit that is not intended to be mounted to a surface or structure, for example. In these examples, the mounting hole 105 and / or other mounting features may be omitted entirely.

[0028] Figure 2 The joystick system 100 is Figure 1 A cross-sectional view taken along section line 2-2 in FIG. Figure 2 Shown in Figure 1 Additional components that are obscured in . For example, Figure 2 Additional details of the plunger 110 are shown. The plunger 110 generally cooperates with the plunger follower 202, the intermediate body 204, the first spring 206, and the second spring 208. In examples, and as further described herein, one of the plungers 110 and its corresponding plunger follower 202, the intermediate body 204, the first spring 206, and / or the second spring 208 examples can be provided as a cartridge that is selectively disposed in a bore formed in the body 102.

[0029] In the example shown, each of the plungers 110 is a generally cylindrical body defining an inner elongated cavity 210. The plunger follower 202 is axially aligned with the plunger 110 and is partially disposed within the elongated cavity 210. The plunger follower 202 also passes through an axial opening 212 of the intermediate body 204. The first end ( Figure 2 The upper end of the plunger 110 is positioned to selectively contact a portion of the actuation surface 112 of the engagement portion 104. The opposite second end ( Figure 2 The lower end of the intermediate body 204 contacts the upper surface of the wall 214.

[0030] like Figure 2 As shown in , the intermediate body 204 has a substantially cylindrical sidewall 216 extending between an open top and an open bottom. The wall 214 is formed as a horizontal wall disposed between the open top end and the open bottom end of the intermediate body 204. Thus, the intermediate body 204 includes a first upper volume portion 218 defined by the wall 214 (located at the bottom) and the sidewall 216, and a second lower volume portion 220 defined by the wall 214 (located at the top) and the sidewall 216. The axial opening 212 extends through the wall 214 to provide a passage between the first upper volume portion 218 and the second lower volume portion 220.

[0031] The first spring 206 is a coil spring disposed in the elongated cavity 210 of the plunger 110 and surrounding the plunger follower 202. The lower end of the first spring 206 is retained by the upper surface of the wall 214 of the intermediate body 204, and the upper end of the first spring is retained by a retaining clip 222 coupled to the upper end of the plunger follower 202. In the example shown, the first spring 206 biases the upper end of the plunger follower 202 (and thus the upper end of the plunger 110) away from the upper surface of the wall 214 of the intermediate body 204. In the example, the weight of the plunger follower 202 is sufficient to overcome the spring force of the first spring 206, for example, so that the lower end of the plunger follower 202 contacts the upper surface of the wall 214 of the intermediate body 204. Alternatively, the engagement portion 104 can be positioned to contact the top of the plunger 110 to overcome the spring force of the first spring 206 and prevent (upward) movement of the plunger 110.

[0032] Also like Figure 2As shown in , the intermediate body 204 includes a circumferential protrusion 224 extending radially outward from the outer surface of the side wall 216. The intermediate body 204 is received in a hole 226 in a receiving portion 228 including the body 102. The hole 226 includes a step 230, and in the example shown, the second spring 208 is a coil spring that is configured to surround the intermediate body 204. The second spring 208 is retained in the receiving portion 228 in the axial direction between the circumferential protrusion 224 and the step 230 of the hole 226. Therefore, the second spring 208 is configured to bias the intermediate body 204 (and therefore the plunger 110 and, in some examples, the plunger follower 202) out of the hole 226. As detailed herein, the intermediate body 204, the plunger follower 202 and / or the plunger 110 can be formed as a cylindrical member that is configured as a single unit for selective insertion into and / or removal from the hole 226, for example.

[0033] The intermediate body 204 is held in the hole 226 against the biasing force of the second spring 208. For example, the joystick assembly 100 may include a mechanical stop near the top of the intermediate body 204 and / or near the upper surface of the circumferential protrusion 224. Examples of mechanical stops are shown in FIG. Fig. 7A and Figure 7B and described in detail below.

[0034] exist Figure 2 In the example of , two examples of plungers 110 are shown (e.g., a first plunger 110(1) and a second plunger 110(2)). The plungers 110 shown are aligned along an axis (e.g., a y-axis) that passes through a central (vertical) axis (e.g., a z-axis). In other words, the two plungers 110 are directly opposite each other about the z-axis of the joystick system 100 and extend generally along an axis parallel to the z-axis. In this example, when the engagement portion 104 moves generally in the direction indicated by arrow 232 (e.g., rotates about the x-axis), the first plunger 110(1) is pressed downwardly against the bias of the second spring 208. Specifically, the plunger 110(1) presses against the wall 214 of the intermediate body 204 to move the intermediate body 204 (downwardly) against the bias of the second spring 208. In this example, the second plunger 110 (2) can move upward due to the spring force of the first spring 206, or when the weight of the second plunger 110 (2) is sufficient to overcome the spring force of the first spring 206, the second plunger 110 (2) will remain in the position shown, for example, unchanged.

[0035] Also like Figure 2As shown in FIG. 1 , the plunger follower 202 associated with the first plunger 110 (1) has an associated first magnet 234 and an associated second magnet 236. The magnets 234, 236 are held in a magnet holder 238 coupled to the distal or lower end of the plunger follower 202. In operation, the sensor 240 (at Figure 2 The sensor 240 may be a Hall effect sensor that detects the magnitude of the magnetic field generated by the magnets 234, 236 (schematically shown in FIG. 1 ). For example, the sensor 240 may be a Hall effect sensor that detects the magnitude of the magnetic field generated by the magnets 234, 236 using the Hall effect. Figure 2 In the example of the embodiment, the sensor 240 is associated with or communicates with a board 242, which can be a printed circuit board, a printed circuit board assembly, etc. In at least one example, the sensor 240 can be a Hall sensor coupled to the board 242. The output of the sensor 240 can be processed on the board 242, for example, to generate the control data 118. Figure 2 As shown in FIG. 1 , electrical connector 244 may be connected to board 242, for example, to facilitate a wired connection to a machine controlled by joystick system 100 or some other external system. In other examples, board 242 may have an associated wireless transmitter, for example, to wirelessly transmit control data 118 to a machine (or machine controller).

[0036] exist Figure 2 In the example of , the first magnet 234 and the second magnet 236 are arranged so that the same poles are adjacent, or in some examples, arranged so that the same poles are in contact. Figure 2 , the south pole of the first magnet 234 is proximate to the south pole of the second magnet 236. More specifically, in the illustrated example, the south pole of the first magnet 234 is arranged below the north pole, while the second magnet 236 is arranged such that the south pole is above the north pole. Thus, as the plunger 110(1) moves (e.g., downwardly) from an uppermost position to a lowermost position, the sensor 240 will first sense the north pole of the second magnet 236, then the south pole of the second magnet 236, then the south pole of the first magnet 234, and finally the north pole of the first magnet 234. With this arrangement, the use of two magnets and / or the orientation of the magnets enables a sufficient magnetic flux density gradient at the Hall sensor 240, which can enable high resolution measurements over the entire range of travel of the joystick system 100, for example, as compared to a single magnet design. Although the illustrated example shows the south poles adjacent to each other, in other examples, the first magnet 234 and the second magnet 236 may be reversed such that the north poles are adjacent and the south poles are spaced apart from each other.

[0037] exist Figure 2In the example of FIG. 1 , only the first plunger 110(1) assembly includes the magnets 234, 236 and has an associated sensor 240. For example, because the plungers 110(1), 110(2) are opposed along an axis passing through a central vertical axis, movement of the first plunger 110(1) will be opposite to movement of the second plunger 110(2), such that movement of only one of the plungers (in the example shown, the first plunger 110(1)) need be measured. However, in other examples, both plungers 110(1), 110(2) (and any or all additional plungers) may include associated magnets and sensors. For example, by providing two plungers 110(1), 110(2) with magnets and associating each plunger with a sensor, redundant measurements can be made, for example, to confirm proper operation of the joystick system 100.

[0038] Figure 3A and Figure 3B Additional features of the plunger follower 202, the first magnet 234, the second magnet 236, and the magnet holder 238 are shown. As shown in those figures, the magnet holder 238 has a generally cylindrical sidewall 302 extending between an open end 304 and an opposite bottom end 306. The magnets 234, 236 are placed into the magnet holder 238 via the open top 304. The magnet holder 238 also includes one or more openings 308 arranged near the open end 304. The plunger follower 202 has one or more protrusions 310 near its end. When the plunger follower 202 is inserted into the open top 304 of the magnet holder 238, the protrusions 310 on the plunger follower 202 engage with the one or more openings 308 of the magnet holder 238, for example, to hold the magnets 234, 236 in the magnet holder 238. For example, the protrusions 310 can snap into the openings 308.

[0039] Despite Figure 3A and Figure 3B 308. Although not shown, the magnets 234, 236 can be axially spaced apart from each other, e.g., there can be a gap between the magnets 234, 236. For example, the gap can allow for a certain amount of overtravel to allow the protrusion 310 to properly seat or "snap" into place relative to the opening 308. In an example, the magnets 234, 236 can also be secured to each other via a magnet adhesive, epoxy, etc.

[0040] In the example shown, the plunger follower 202 can be made of a first material and the magnet holder 238 can be made of a second material. In the example, using the two materials of appropriate lengths in this manner can compensate for the net effect of the difference in the thermal expansion coefficients of the materials. That is, the materials can be selected to reduce the movement of the sensing target (magnet) due to thermal expansion. In addition, by retaining the magnets 234, 236 in the magnet holder 238, the assembly of the joystick system 100 can be simplified.

[0041] Figure 4 2 is a perspective view of another implementation of the magnet holder 238. More specifically, and as shown, the magnet holder 238 includes an opening 308 near its top end. The magnet holder 238 also includes one or more protrusions 402 formed as a bottom surface. In an example, the protrusion 402 can be configured to, for example, deflect away from the volume defined by the magnet holder 238 for accommodating the magnets 234, 236 to facilitate the overtravel of the plunger follower 202 when inserted into the magnet holder 238. As described above, the magnets 234, 236 are arranged so that the same poles are configured to be close to each other (e.g., SS or NN at the junction of the first magnet and the second magnet). Therefore, the magnets 234, 236 will generate opposing forces tending to repel the magnets. The protrusion 402 and the plunger follower 202 are configured to offset these forces, for example, to be used to retain the magnets in the magnet holder 238.

[0042] In the example, Figure 4 The magnet holder 238 in can be formed from a single piece of sheet metal. For example, but not by way of limitation, the magnet holder 238 can be curved to define a cylindrical outer surface, and the protrusion 402 can be curved relative to the cylindrical shape. Other configurations and / or methods for manufacturing the magnet holder are also contemplated. Figure 4 In the example of , the cylindrical body includes a top section 404 and a bottom section 406 separated by a gap 408. In this example, the gap 408 can enable the top section 404 to be more easily deflected, for example, to facilitate the insertion of the protrusion 310 of the plunger follower 202 into the opening 308.

[0043] As can be understood from the above, Figures 1 to 4The exemplary joystick system 100 in includes a dual opposing magnet design that addresses the problem of magnetic flux density gradients present in a single magnet. In addition, the mechanical component sizes and material selections, such as the plunger follower 202 and / or the magnet holder 238, can be selected to offset thermal expansion and eliminate or greatly reduce its effects, thereby providing a linear sensing system that can utilize the proposed design to improve accuracy and resolution. In addition, the described snap-fit ​​mechanism can retain the magnets 234, 236 in the magnet holder 238. The magnet holder 238 can include a curved protrusion to provide a spring force for resisting the repelling magnets. Therefore, aspects of the present disclosure can provide a low-cost and easy-to-manufacture design that retains the opposing magnets in a desired position during the life of the joystick system 100.

[0044] For example, aspects of the joystick system 100 can include a Hall effect linear sensing system that includes a dual magnet design in which two magnets are mounted with like poles in contact or adjacent to each other. When the north poles of the magnets 234, 236 are adjacent, as the joystick 100 moves from one end of the travel to the other, the Hall sensor is directly adjacent to the S pole of the first magnet, then adjacent to the N pole of the first magnet, then adjacent to the N pole of the second magnet, and finally adjacent to the S pole of the second magnet. As described above, in another example, the magnetic poles can be switched so that the S poles of the two magnets are adjacent. The orientation of the magnets enables sufficient flux density gradients at the Hall sensor for high resolution measurements over the entire range of travel of the joystick.

[0045] In order to provide the linear sensing system with sufficient accuracy, the components are designed so that the material stack from the PCBA containing the Hall element (e.g., sensor 240) to the holding mechanism of the magnet has selected materials and corresponding lengths, which greatly reduce or eliminate thermal expansion. This can make the operating temperature of the joystick have little or no effect on the accuracy of the sensing system.

[0046] Also in the examples of the present disclosure, the snap fit between the plunger follower and the magnet holder (e.g., between the opening 308 and the protrusion 310) provides sufficient force and holding strength to restrain the two opposing magnets together, or with a small enough gap based on the sensor magnetic field requirements. The overtravel of the snap fit can be combined with the curved protrusion (e.g., Figure 4 The protrusion 402 in the magnet holder 238 is paired with the curved protrusion as a spring or similar biasing member for squeezing the magnets together. In some examples, glue, epoxy and / or other retaining mechanisms can be provided to more securely hold the magnets 234, 236 in the correct position, for example relative to each other and / or relative to the magnet holder 238.

[0047] Figure 5Additional implementations of alternative joystick assemblies 500 according to aspects of the present disclosure are shown. More specifically, Figure 5 Two plunger assemblies 502(1), 502(2) (collectively referred to as plunger assemblies 502) are shown, similar to the plungers described above. In this example, each of the plunger assemblies 502 includes a plunger 504, a plunger follower 506, an intermediate body 508, a first spring 510, and a second spring 512. The plunger 504, the plunger follower 506, the intermediate body 508, the first spring 510, and the second spring 512 can be or generally correspond to the plunger 110, the plunger follower 202, the intermediate body 204, the first spring 206, and the second spring 208. These features will not be further described herein.

[0048] The plunger assembly 502 also includes a third spring 514. The third spring 514 is disposed above the horizontal wall of the intermediate body 508 and contacts a flange of a barrel holder 516. The barrel holder 516 includes a lower protrusion 518 configured to selectively couple to the intermediate body 508. Figure 2 As in the example of the intermediate body 508, the intermediate body 508 includes a cylindrical side wall, a wall dividing the length of the cylindrical side wall, and an axial opening through the wall. As shown in the first plunger assembly 502 (1), the lower protrusion 518 extends through the opening in the wall of the intermediate body 508 and catches the lower surface of the wall to, for example, resist the spring force of the third spring 514 and fix the barrel retainer 516 to the intermediate body. Also in the first plunger assembly 502 (1), the intermediate body 508 is positioned (and fixed) in the hole in the receiving portion of the body, which is combined with the above Figure 2 The arrangement described is substantially the same. In the second plunger assembly, the barrel retainer 516 is selectively separated from the intermediate body 508, and the intermediate body is separated from the receiving portion. That is, the first plunger assembly 502 (1) is shown in an assembled state, while the second plunger assembly 502 (2) is shown in a disassembled or disassembled state. As also shown, in Figure 5 In the example of Figure 2 as in the example of contacting the intermediate body 508.

[0049] Still Figure 5In the example of the embodiment of the present invention, the fourth spring 520 is retained in the lower section of the intermediate body 508, for example, between the lower surface of the wall that separates the internal volume portion of the intermediate body 508 and the lower retaining portion 522. In this example, the lower retaining portion 522 is retained by a retainer 524 (which can be a clip or the like) against the force of the fourth spring 520. In more detail, the retaining portion 522 is formed as a sleeve around a portion of the magnet retainer and includes a flange 526 extending outwardly from the cylindrical body. The retainer 524 can be snapped or otherwise placed in a groove formed in the inner surface of the side wall of the intermediate body 508 and in contact with the flange 526 of the retainer.

[0050] Figure 5 The arrangement can make the joystick assembly easy to assemble and / or maintain. For example, the plunger assembly 502 can be embodied as a barrel that is easy to remove and replace, for example, to accommodate different user preferences (e.g., with different spring stiffness, plunger length, etc.), for repairing damaged parts, etc. For example, by releasing the intermediate body 508, the second spring 512 biases the intermediate body 508 and the additional components of the plunger assembly 502 out of the hole of the receiving portion. For example, several components of the plunger assembly 502 can be embodied as barrels. Once removed, the retainer 524 can be removed to facilitate the removal of the retaining portion 522 and the fourth spring. Removing the retaining portion 522 can further facilitate access to the lower protrusion 518 of the barrel retainer 516, for example, to facilitate the disassembly of the barrel retainer 516, the second spring 514, the plunger 504 and / or the like.

[0051] Figure 6 An example of a portion of the just described barrel 600 is shown. Specifically, the barrel 600 can include an intermediate body 508, a plunger 504, a plunger follower 506, a first spring 510, a barrel retainer 516, a second spring 514, a fourth spring 520, and / or a lower retaining portion 522. As can be appreciated, the second spring 512 biases the intermediate body 508 (and therefore the barrel 600) out of the hole of the receiving portion. In some examples, the entire barrel 600 can be removed and replaced with a new barrel 600.

[0052] Figure 5 and Figure 6 The arrangement can also facilitate repair and / or replacement of other aspects of the barrel 600. For example, by releasing the protrusion 518, the third spring 514 biases the barrel holder 516 away from the intermediate body 508. Once separated from the intermediate body 508 in this manner, the third spring 514 can be maintained and / or replaced. In addition, the plunger 504 can be easily removed to access the first spring 510.

[0053] Fig. 7A and Figure 7B702. As shown, the receiving portion has a plurality of holes 704 (four holes in the example). Each hole in the hole 704 is configured to receive one of the barrels 600. Fig. 7A and Figure 7B As shown in , a retaining feature 706 is provided to retain the barrel 600 in the hole 704. In this example, the retaining feature 706 is an arcuate rod having an end 708 configured to be received in an aperture 709 formed in a side wall in the hole 704. The retaining feature 706 can be, for example, a barrel retaining spring made of spring wire. In operation, when the barrel is in place in the hole 704, a technician or other assembler can hold the barrel in the hole against the force of a second spring and insert the end 708 of the retaining feature 706 into the receiving aperture 709. As also shown, the retaining feature 706 can pivot in the aperture, for example, for pivoting relative to the receptacle 702. In Fig. 7A , the retaining feature 706 is laid flat, for example, arranged generally horizontally to retain the barrel 600 in the hole. In an example, the retaining feature 706 may include a protrusion 710 that may be pressed into a corresponding receptacle 712 in the receiving portion 702. In the illustrated arrangement, the protrusion 710 may be deformed for receiving in the receptacle 712, and the deformed protrusion 710 exerts a force on the receptacle 712 to retain the protrusion 710 in the receptacle 712. In contrast, in Figure 7B , maintaining feature 706 relative to Fig. 7A For example, Figure 7B The retention feature 706 in may be a newly inserted (eg Fig. 7A 708 from the aperture 709 of the receiving portion), for example for replacement or maintenance of the barrel 600.

[0054] Fig. 7A Also shown is a portion of a second barrel 714 including an example of a barrel retainer 516 discussed above. The barrel retainer associated with the barrel 600 (and additional features including the plunger) has been removed to illustrate how access to the first spring 510 may be accomplished with the barrel 600 in the receptacle 702, such as by removing only the barrel retainer (with the barrel still secured in the receptacle).

[0055] In an exemplary implementation, the barrel may include one or more springs and may be assembled outside of a production line. Once the relevant springs are installed in the barrel, for example based on the desired application, the barrel may be installed in the hole in the receiving portion of the joystick assembly. The barrel is fixed in place using retention features 706. Once fixed, all haptic springs are locked in place in the hole. Therefore, the spring combination for each hole may be assembled individually, rather than requiring all four holes to be constrained simultaneously as in conventional designs.

[0056] In addition, aspects of the present disclosure enable individualization of the barrel. For example, the barrel 600 may have a second spring that is relatively stiffer than the second barrel 714. Thus, the joystick assembly may be facilitated to move more easily in one direction than in a different second direction. For example, by changing the characteristics of the barrel, the controlled machine may be made to move more easily in a first direction, while it may be relatively more difficult to move the machine in a different second direction.

[0057] Similarly, when replacement of a spring is needed or desired, an operator can partially disassemble the barrel, such as by first removing the barrel and / or by removing the barrel retainer 516 while the barrel is still secured to the receptacle 702. For example, this design enables replacement of individual metering springs, pre-compression of springs for ease of assembly and maintenance, and / or solves major assembly issues of conventional designs. According to examples of the present disclosure, removal, maintenance, and / or replacement are performed as needed without completely disassembling all springs in all holes as in previous designs.

[0058] As can be understood from the foregoing, aspects of the present disclosure can provide a spring retention system that constrains a tactile spring in a joystick assembly, such as for improved initial assembly and ease of field maintenance. Aspects of the present disclosure include a barrel containing multiple springs and a movable feature, and a retention feature that enables separate installation and / or maintenance of the barrel.

[0059] Figure 8 and Fig. 9 Additional aspects of the joystick assembly are shown. Specifically, Figure 8 and Fig. 9 The engagement of the actuation surface 112 with the stop feature 114 and the stop surface 116 is more clearly shown. Fig. 9 In the embodiment, the actuation surface 112 contacts the stop surface 116 to prevent further downward actuation of the plunger 110. That is, the travel limit of the plunger-type electronic joystick described herein is set by the stop surface 116 arranged radially outward from the plunger, rather than limiting the travel of the plunger as in some conventional examples.

[0060] Having the stop surface 116 limit the stroke of the actuating surface 112 (and therefore the engaging portion 104) can provide an improvement over conventional arrangements. For example, some conventional arrangements are based on an electrohydraulic joystick using a hardened steel plunger and plunger actuator, and the overload force is transmitted through the plunger. That is, these conventional joysticks require the use of special materials (e.g., expensive hardened metals) for the plunger and / or plunger actuator to withstand the overload forces required by the industry. In these instances, lower quality materials will significantly reduce the overload capacity of the product. However, according to the present disclosure, since the stroke limit is set by an independent piece radially outside the plunger, the plunger and plunger actuator can be made of lower cost materials while still providing the same or better overload strength, thereby achieving lower production costs. In addition, the stop surface 116 can be configured in a variety of ways, for example, to provide different stroke distances for the plunger 110. In at least some instances, the stop feature 114 can be removed and, for example, replaced with another stop feature having a different profile, feature, and / or functionality.

[0061] Figure 8 Also shown is an example of a handle 802 coupled to the engagement portion 104 .

[0062] Fig.10 is a schematic diagram showing an overall structure of a joystick assembly adapted to low grip signal content and high grip signal content. More specifically, and as Fig.10 As shown in , the electronic architecture 1000 enables the joystick base digital communication bus to be connected to the vehicle digital communication system, which can be used for low-cost, low-content grips or low-cost, high-content grips. In this example, low-content grip signals are sent to the joystick base via discrete digital or analog signals. The joystick base electronics process these processed grip content signals and transmit them to the vehicle's digital communication system. Also in the electronic architecture 1000, high-content grip signals are processed and transmitted directly from the grip to the vehicle's digital communication system. The joystick base architecture enables the grip to be directly connected to the vehicle's digital communication system.

[0063] Traditional joystick applications require two separate joystick base electronics architectures. The first traditional architecture connects the high content grip directly to the vehicle's digital communication system via a digital communication bus. The second traditional architecture transmits discrete digital or analog signals from the low content grip directly to the vehicle's ECU. These traditional architectures are not suitable for processing discrete digital or analog grip signals within the joystick base to transmit them to the vehicle's digital communication system. Traditionally, multiple architectures are often required to design and verify multiple different PCBAs with different architectures, which can be expensive and time consuming.

[0064] Electronics architecture 1000 is a common joystick base architecture that can accommodate low content grips or high content grips, where the grip electronics output format is determined by lower cost. This arrangement enables maximum reuse of initial validation, thereby reducing time to market and cost for specific customer applications.

[0065] Electronic architecture 1000 includes a new variant that enables the base electronics to process discrete grip signals and transmit them to the machine / vehicle via a digital communication interface. Architecture 1000 includes low-content grip options and high-content grip options within one design of the joystick base architecture. In addition, architecture 1000 requires no or only very minor design changes to meet specific application requirements, which enables reducing the time and effort to meet functional safety requirements. Fig.10 The architecture is shown.

[0066] Although the subject technology has been described with respect to preferred embodiments, it will be readily appreciated by those skilled in the art that various changes and / or modifications may be made to the subject technology without departing from the spirit or scope of the subject technology. For example, each claim may be subordinate to any or all claims in a multi-dependency manner, even if this manner was not initially described.

Claims

1. A joystick assembly, comprising: a receiving portion defining a hole; A cylindrical member is arranged in the hole, and the cylindrical member comprises: Plunger, a plunger follower disposed in a volume defined by the plunger, a first end of the plunger follower being in contact with the plunger, a spring disposed in the volume portion and biasing the plunger away from the plunger follower, a magnet holder coupled to the second end of the plunger follower; a first magnet held in the magnet holder; and a second magnet held in the magnet holder, the first magnet and the second magnet being held such that the north pole of the first magnet is adjacent to the north pole of the second magnet, or such that the south pole of the first magnet is adjacent to the south pole of the second magnet; a sensor arranged to sense magnetic fields associated with the first magnet and the second magnet; and An engagement portion is configured to interact with the plunger such that movement of the engagement portion causes movement of the plunger.

2. The joystick assembly according to claim 1, wherein: The hole is a first hole, the receiving portion further defines one or more second holes spaced apart from the first hole, the joystick assembly further comprising: One or more second cylindrical members, arranged in the one or more second holes, each of the second cylindrical members comprising: second plunger; a second plunger follower disposed in a second volume defined by the second plunger, a first end of the second plunger follower being in contact with the second plunger, and A second spring is disposed in the second volume and biases the second plunger away from the second plunger follower.

3. The joystick assembly according to claim 2, wherein: The second plunger is opposed to the plunger with respect to the axis of the engagement portion.

4. The joystick assembly according to claim 3, wherein: Each of the second cylindrical members further comprises: a second magnet holder coupled to a second end of the second plunger follower; a third magnet disposed in the second magnet holder; and a fourth magnet disposed in the magnet holder, the joystick assembly further comprising: A second sensor is arranged to sense magnetic fields associated with the third magnet and the fourth magnet.

5. The joystick assembly according to any one of claims 1 to 3, wherein: The engagement portion is configured to pivot relative to the plunger. 6 . The joystick assembly of claim 4 , further comprising a stopper configured to prevent pivoting of the engagement portion.

7. The joystick assembly according to claim 6, wherein: The stopper includes a contoured surface configured to contact a portion of the engagement portion to prevent pivoting of the engagement portion.

8. A joystick assembly according to any one of claims 5 to 7, wherein: The engagement portion includes an actuation surface extending outwardly from the central shaft, the actuation surface being arranged to selectively contact and actuate the plunger in response to movement of the central shaft.

9. The joystick assembly of any one of claims 1 to 8, further comprising a barrel spring configured to bias the barrel out of the aperture.

10. The joystick assembly of any one of claims 1 to 9, further comprising a retaining member configured to retain the barrel in the bore.

11. The joystick assembly according to claim 10, wherein: The retaining member includes a contoured wire spring extending between a first end and a second end that are selectively received in an aperture formed in the bore.

12. The joystick assembly according to claim 11, wherein: The retaining member also includes a projection that is selectively retained in a receptacle associated with the aperture.

13. A joystick assembly according to any one of claims 1 to 12, wherein: The cylindrical member further comprises: An intermediate body defines an upper surface, the plunger contacts the upper surface, and the plunger follower extends through the upper surface, wherein the spring contacts the upper surface of the intermediate body.

14. A joystick assembly according to any one of claims 1 to 12, wherein: The cylindrical member further comprises: an intermediate body defining an upper surface and an opening through which the plunger follower extends; a cartridge holder at least partially disposed in the opening, the plunger in contact with the cartridge holder, and the spring extending between a surface of the cartridge holder and the plunger; and A barrel retainer spring biases the barrel retainer away from the intermediate body.

15. The joystick assembly of claim 14, wherein: The cartridge retainer includes a projection extending from a bottom surface configured to cooperate with the opening in the intermediate body to resist the biasing force of the cartridge retainer spring, thereby selectively retaining the cartridge retainer relative to the intermediate body.

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