Operator control device comprising at least one pivotable operator control lever

Abstract

Operator control device (701) comprising an operator control lever (702) and a supporting device (703). The operator control lever (702) is pivotable relative to the supporting device (703) about a first pivot axis (714) by means of a first pivot bearing device (704) and about a second pivot axis (724) by means of a second pivot bearing device (740). A controllable brake device (705) comprising at least two brake units (715, 725) serves to adjust a resistance to movement for the movability of the operator control lever (702). The first pivot axis (714) is parallel and preferably identical to a rotation axis (715c) of the first brake unit (715). In this case, it is only together with the first brake unit (715) that the operator control lever (702) is pivotable about the second pivot axis (724).

Description

[0001] Operating device with at least one pivoting operating lever

[0002] The present invention relates to an operating device with at least one operating lever and at least one support device. The operating lever can be pivoted relative to the support device about a first pivot axis by means of a first pivot bearing device and about a second pivot axis by means of a second pivot bearing device. The operating device comprises at least one controllable braking device with at least two braking units for adjusting a movement resistance for the mobility of the operating lever.

[0003] Such control devices are designed, for example, as joysticks or similar devices and can be used to control vehicles, machines, aerospace and medical technology, or computer simulations (e.g., gaming). Control devices that can provide haptic feedback (force feedback) to the user are known. For example, DE 11 2020 004 035 T5 and DE 10 2020 104 810 A1 describe the use of magnetorheological brakes, which can generate short-term, adjustable torque or force increases to influence the mobility of the control lever.

[0004] However, despite the complex technology, very little installation space is available for many applications. This is especially true for gamepads (game controllers), which are usually held with both hands and often have two control devices, each with a lever that must be accessible with one thumb. Installation space is also often very limited for vehicle or machine control systems.

[0005] Therefore, a particularly compact joystick has become known from DE 10 2021 120 319 A1, in which a magnetorheological brake is housed in the operating lever. The rotational axis of the brake is identical to the longitudinal axis of the operating lever and runs transversely to a pivot axis of the operating lever, which can be braked by this brake. The brake is set in motion via a gear when the operating lever is pivoted.

[0006] To simulate stops or grids, the operating lever must be able to brake reliably even under high actuation forces. On the other hand, the operating lever must be braked very precisely and without backlash to make the feedback as realistic as possible. Combined with the limited installation space, it is a major challenge to generate the necessary high torque with high quality (little backlash, fast response, continuously controllable, low noise).

[0007] In contrast, the object of the present invention is to provide an improved operating device. The operating device should be particularly compact and require little installation space, while at the same time being easy to construct and cost-effective to manufacture. Preferably, haptic feedback should be implemented with the highest possible quality.

[0008] This object is achieved by an operating device having the features of claim 1. Preferred developments of the invention are the subject of the subclaims. Further advantages and features of the present invention will become apparent from the description of the exemplary embodiments.

[0009] The operating device according to the invention is designed in particular as a joystick or comprises at least one such joystick and comprises at least one operating lever and at least one support device. The operating lever can be pivoted about a first pivot axis by means of a first pivot bearing device and about a second pivot axis (relative to the support device) by means of a second pivot bearing device. The operating device comprises at least one controllable braking device with at least two braking units for adjusting a resistance to movement for the mobility of the operating lever. The resistance to movement of the operating lever about the first pivot axis can be adjusted using a first braking unit. The resistance to movement of the operating lever about the second pivot axis can be adjusted using a second braking unit. The braking units each comprise a (stationary) stator unit and a rotor unit which can be rotated about a rotation axis relative to the stator unit.In particular, the stator unit is stationary relative to the rotor unit. In particular, the stator unit is arranged so as to be rotationally fixed with respect to the rotational movement of its rotor unit about the rotational axis. A rotational movement of the respective rotor unit relative to the associated stator unit can be braked in a targeted manner. The first pivot axis is (in any position of the operating lever) parallel to and preferably identical to the rotational axis of the first brake unit. The operating lever can be pivoted about the second pivot axis (only) together with the (entire) first brake unit. In particular, both the stator unit and the rotor unit of the first brake unit pivot about the second pivot axis when the operating lever is pivoted about the second pivot axis. In other words, when the operating lever is pivoted about the second pivot axis, the first brake unit is always pivoted as well.

[0010] The operating device according to the invention offers many advantages. A significant advantage is the special arrangement of the first brake unit in relation to the operating lever and the second pivot axis. This allows the operating lever to be coupled to the first brake unit in a space-saving manner and, for example, directly without a cardanic connection. Furthermore, no gear is required to convert the movement of the operating lever into a rotary movement of the first brake unit. A further advantage is that no cardanic connection or other failure-prone mechanism is necessary for coupling the operating lever to the second brake unit. This saves installation space and components and reduces the effort required for assembly and manufacturing. Furthermore, particularly reliable operation and a very precise feel result.

[0011] In particular, the second pivot axis (in any position of the operating lever) is parallel and preferably identical to the rotation axis of the second brake unit. In particular, within the scope of the present invention, the terms "first pivot axis" and "first rotation axis" can be used synonymously. In particular, the terms "second pivot axis" and "second rotation axis" can be used synonymously.

[0012] In an advantageous embodiment, the first and second pivot axes are arranged transversely and preferably at right angles to each other in every position of the operating lever. In particular, the first and second pivot axes extend in an (imaginary) common plane. In particular, this plane lies transversely to a central axis of the operating lever. Preferably, this plane lies perpendicular to a central axis of the operating lever in at least one position of the operating lever, in particular in the neutral position.

[0013] It is advantageous and preferred that the second pivot axis intersects the first brake unit in every position of the operating lever. In particular, an imaginary extension of the second pivot axis extends through the first brake unit in every position of the operating lever.

[0014] In particular, the first pivot axis runs through the first brake unit. In particular, the first pivot axis is parallel to and preferably identical to an axis of symmetry and / or longitudinal axis of the first brake unit. In particular, the second pivot axis runs through the second brake unit. In particular, the second pivot axis is parallel to and preferably identical to an axis of symmetry and / or longitudinal axis of the second brake unit. It is also preferred and advantageous that the first pivot axis does not intersect the second brake unit. In other words, the first pivot axis never intersects the second brake unit, or the first pivot axis does not intersect the second brake unit in any position of the operating lever.

[0015] It is preferred and advantageous that the first and second pivot axes (substantially) intersect (in any position of the operating lever). Preferably, the first and second pivot axes intersect within the first brake unit. Preferably, the first pivot axis intersects the second pivot axis (substantially) at a right angle in any position of the operating lever. This enables particularly uniform operating forces, since no significant weight shift or gravity-induced forces occur due to off-center masses.

[0016] When, in the context of the present invention, designs with intersecting axes or designs with intersection points are mentioned, this is understood in particular to include designs in which the axes of the actual components cross at a certain distance (in particular so-called skew lines with a common perpendicular) or in which the axes of the actual components run with a certain angular deviation from one another. Such deviations are particularly due to technical reasons and / or are deliberately intended. For example, they are tolerances which are caused by the material, the manufacturing or the design (e.g. bearing play). For example, they are deviations of less than 10 mm (e.g. for larger joysticks) or less than 5 mm (e.g. for smaller joysticks for gamepads). Preferably, less than 3 mm or less than 2 mm is provided. Particularly preferably, the axes actually separate at one point.Such deviations are particularly possible when there is a correspondence between the axes of rotation and the pivot axes, or the angles of the axes. For example, angular deviations of less than 10°, preferably less than 5°, and particularly preferably less than 3° or even less than 2° are possible. Preferably, the components are actually at right angles to each other with respect to their axes.

[0017] In an advantageous embodiment, a central axis of the operating lever runs transversely and preferably (essentially) at right angles (perpendicular) to the first pivot axis in every position of the operating lever. The central axis of the operating lever is, in particular, a longitudinal axis and / or an axis of symmetry of the operating lever. In particular, the longitudinal axis and / or the axis of symmetry are aligned such that they run through the first brake unit and preferably (essentially) intersect its axis of rotation.

[0018] In particular, an angle between a central axis of the operating lever and the second pivot axis (or a common plane of the first and second pivot axes) depends on how the operating lever is pivoted about the first pivot axis. In particular, the angle between a central axis of the operating lever and the second pivot axis (or a common plane of the first and second pivot axes) is independent of how the operating lever and the second pivot axis are pivoted.

[0019] In particular, the central axis of the operating lever only runs (essentially) at a right angle to the second pivot axis when the operating lever is pivoted at a defined angle about the second pivot axis. This angle preferably exists (only) in a neutral position. When this angle is present, the central axis of the operating lever also runs at a right angle to a common plane of the first and second pivot axes. In other words, when the central axis of the operating lever runs at a right angle to the second pivot axis, the central axis of the operating lever is in particular always at a right angle to the first pivot axis or at a right angle to a common plane of the first and second pivot axes. In particular, in the neutral position, the central axis is at a right angle (perpendicular) to the common plane of the first and second pivot axes.In particular, the central axis of the operating lever runs at right angles to the second pivot axis regardless of how the operating lever is pivoted about the second pivot axis.

[0020] It is advantageous and preferred that a central axis of the operating lever intersects the first brake unit in every position of the operating lever. Such a specification refers in particular to an imaginary extension of the central axis.

[0021] Preferably, the central axis of the operating lever (substantially) intersects the first pivot axis and / or the second pivot axis in every position of the operating lever. Preferably, the central axis of the operating lever intersects a common plane of the first and second pivot axes in every position of the operating lever. In particular, the central axis is upright on the common plane.

[0022] In particular, the central axis of the operating lever and the first and second pivot axes (essentially) intersect at a common point in every position of the operating lever. In particular, this point lies within the first brake unit. In particular, this point lies (essentially) on a rotational axis of the first brake unit. In particular, this point lies (essentially) in a common plane of the first and second pivot axes.

[0023] Preferably, the operating lever can be pivoted about the first pivot axis together with the rotor unit of the first brake unit, while the stator unit of the first brake unit remains stationary. In particular, the stator unit does not perform any pivoting movement about the first pivot axis. In particular, the stator unit is stationary relative to the rotor unit. In particular, the stator unit is supported in a rotationally fixed manner with respect to the first axis of rotation (e.g., on the rotor unit of the second brake unit and / or on a coupling unit).

[0024] In an advantageous further development, the operating lever is attached to the rotor unit of the first brake unit. In particular, the operating lever is attached to the second brake unit only indirectly via the first brake unit. In other words, the operating lever can only set the rotor unit of the second brake unit in motion if it simultaneously pivots the entire first brake unit about the second pivot axis.

[0025] It is preferred and advantageous that the first brake unit is connected in a rotationally fixed manner to the rotor unit of the second brake unit by means of a coupling unit. In particular, the stator unit of the first brake unit is connected in a rotationally fixed manner to the rotor unit of the second brake unit by means of the coupling unit. Additionally or alternatively, the first brake unit can be rotatably mounted on the support device by means of the coupling unit. In particular, the coupling unit (always) pivots when the operating lever is pivoted about the second pivot axis. In particular, the rotor unit of the second brake unit can only be pivoted together with the coupling unit.

[0026] In particular, the coupling unit is a structure which is suitable and designed to connect the stator unit of the first brake unit to the rotor unit of the second brake unit in a rotationally fixed manner. In particular, the coupling unit is a separate component. However, it is also possible for the coupling unit to be provided by a section of the brake unit. For example, the stator unit of the first brake unit can be fastened directly to the rotor unit of the second brake unit, so that the stator unit of the first brake unit provides at least part of the coupling unit. In particular, the rotor unit of the first brake unit is rotatably mounted on the coupling unit (in particular by means of the stator unit of the first brake unit and / or at least one further bearing point). In particular, the rotor unit of the first brake unit is rotatable relative to the coupling unit.In particular, the coupling unit is rotatably mounted on the stator unit of the second brake unit by means of the rotor unit of the second brake unit.

[0027] Preferably, the stator unit of the first brake unit is fastened (in a rotationally fixed manner) to the coupling unit. In particular, the coupling unit is mounted on the support device so that it can rotate about the second pivot axis. In particular, the stator unit of the first brake unit is held in the coupling unit in a rotationally fixed manner at two opposite axial ends.

[0028] In particular, the stator unit of the first brake unit is rotationally fixed with respect to the rotation axis of the first brake unit. Furthermore, the stator unit of the first brake unit is also rotationally fixed to the rotor unit of the second brake unit. The stator unit of the first brake unit and the rotor unit of the second brake unit can thus only rotate together about the second pivot axis.

[0029] In particular, the stator unit of the second brake unit is non-rotatably attached to the support device. In particular, the stator unit of the first brake unit is non-rotatably attached to the rotor unit of the second brake unit and / or to the coupling unit and / or to the support device in such a way that it cannot rotate when the rotor unit of the first brake unit is moved about the axis of rotation of the first brake unit.

[0030] In particular, the operating lever has at least one cover. In particular, the cover serves to protect the interior of a housing and / or to cover a housing opening. The interior of the housing or the housing opening are in particular part of a housing in which the operating device is accommodated. In particular, the operating lever extends from the interior of the housing through the housing opening to the outside. In particular, the cover is arranged below a contact section of the operating lever for placing at least one finger. In particular, the contact section is arranged further distally than the cover. In particular, the cover is arranged below the housing opening (in the interior of the housing). The cover is in particular designed such that the housing opening is covered even when the operating lever is (fully) deflected. The cover is in particular hood-like and preferably spherical.Other suitable geometries are also possible.

[0031] In an advantageous embodiment, the coupling unit has at least one recess into which the cover can at least partially engage when the operating lever is pivoted. In particular, the cover can engage in the recess when the operating lever is pivoted relative to the coupling unit and / or about the first pivot axis. Additionally or alternatively, the at least one recess can be arranged on the support device and / or on another component which would otherwise undesirably collide with the cover when the operating lever is pivoted.

[0032] The operating device comprises in particular at least one sensor device with at least two sensor units for detecting the pivoting movements of the operating lever. In particular, at least one first sensor unit is assigned to the first brake unit and at least one second sensor unit is assigned to the second brake unit. In particular, the first sensor unit is at least partially fastened to the stator unit of the first brake unit and / or to the coupling unit. In particular, the second sensor unit is at least partially fastened to the stator unit of the second brake unit and / or to the support device. This offers uncomplicated assembly and simple electrical contacting of the sensor units. In particular, the sensor device serves to detect a relative movement between the rotor unit and the stator unit. The sensor device comprises in particular magnetic field sensors and, for example, Hall sensors or optical sensors or the like.It is possible for a sensory counterpart, such as a magnetic element, a magnetic ring, or an optical structure, to be attached to the rotor unit of the respective brake unit. Alternatively, the sensor device could comprise a potentiometer.

[0033] In particular, the operating lever can be braked around both pivot axes with the same torque. This results in the same resistance for both pivot axes when operating the operating lever. In particular, the second brake unit is suitable and designed to apply a deliberately higher torque than the first brake unit in order to be able to brake not only the operating lever but also the moving mass of the first brake unit when the operating lever is pivoted around the second pivot axis. For example, when controlling the second brake unit, a control device takes into account that the mass of the first brake unit must be braked.

[0034] In an advantageous further development, the operating device comprises at least one return device. By means of the return device, the operating lever can be moved, in particular, from a deflected position into a neutral position. In particular, the return device comprises a lever component assigned to the operating lever, a pressure component, and a pretensioning device. In particular, the lever component is coupled to the operating lever such that it follows the pivoting movements of the operating lever. In particular, the lever component can only be pivoted together with the operating lever. In particular, the pressure component is mounted on the support device in such a way (linearly movable or displaceable) that the pivoting movements of the lever component can be converted into linear movements of the pressure component. In particular, the pressure component can be pressed against the lever component by means of a pretensioning force of the pretensioning device.

[0035] In particular, the lever component and the pressure component are only connected to each other by force through the preload force.

[0036] Preferably, the lever component linearly displaces the pressure component counter to the direction of the preload force when the operating lever is moved into a deflected position. In particular, the pressure component moves the lever component in the direction of the preload force and thereby returns the operating lever coupled to the lever component from the deflected position to the neutral position. In particular, in the neutral position, a contact surface at which the pressure component and the lever component touch is larger than in the (operationally intended) deflected positions of the operating lever.

[0037] In particular, the pressure component and / or the lever component are plate-shaped. Other suitable geometries are also possible, which can provide a contact surface for the function of the return device. In particular, the lever component and the pressure component are designed in the region of the contact surface so that they do not jam against each other.

[0038] The pretensioning device comprises, in particular, at least one spring accumulator and / or pressure accumulator and / or at least one magnetic device for generating a magnetic field. The magnetic device can comprise a permanent magnet and / or electromagnet. The spring device can comprise a compression spring and / or tension spring and / or a gas pressure spring or the like.

[0039] The reset device can be contactless. In this case, the pretensioning device is equipped, in particular, with a magnetic device. A reset device in which the operating lever is retracted to the neutral position by a tension spring or the like is also possible.

[0040] In an advantageous development, the preload force of the preload device can be adjusted by means of at least one electromagnetic actuator device. In particular, the actuator device comprises at least one (controllable) electrical coil device and, in particular, at least one core that interacts with the coil device. The actuator device can then also be referred to as an electromagnet. The actuator device can comprise at least one permanent magnet that interacts with the coil device. For example, the permanent magnet is arranged on the pressure component.

[0041] In particular, the preload force of the preload device can be specifically increased and / or decreased by means of the actuator device. Preferably, the actuator device is suitable and designed to alternately increase and / or decrease the preload force of the preload device (in particular at an adjustable frequency). In particular, this can cause the operating lever to vibrate.

[0042] The applicant reserves the right to claim a reset device with at least one electromagnetic actuator device. In particular, the reset device is designed for use in an operating device (e.g., a joystick) with at least one pivotable operating lever. The operating device can be designed as described here for the operating device according to the invention. However, the reset device can also be advantageously used in other operating devices.

[0043] In a particularly preferred and advantageous development, the first and / or second brake unit are magnetorheologically designed. In particular, the brake units then each comprise a magnetorheological medium and a field generating device for generating a magnetic field. In particular, the medium is arranged in a gap between the rotor unit and the stator unit. In particular, a circumferential gap is formed between the rotor unit and the stator unit. The gap can have a variable gap height and, for example, a star contour.

[0044] In all embodiments, it is preferred that the magnetorheological medium comprises magnetorheological particles and gas as a filling medium. In particular, the magnetorheological particles are suspended in air. In particular, the magnetorheological medium is formed as a magnetizable powder. It is also possible for the magnetorheological medium to comprise magnetorheological particles and a carrier fluid, such as oil, water, alcohol, or the like. The medium can comprise liquid and / or solid additives (e.g., a graphite additive, molybdenum compounds, etc.).

[0045] It is particularly preferred that the magnetorheological particles (in each case) consist predominantly of carbonyl iron powder or its derivatives. Other magnetorheologically responsive particles are also possible. The magnetorheological particles can have coatings to protect against abrasion and / or corrosion and / or additional components to make the magnetorheological particles more durable, abrasion-resistant, and / or more lubricious during operation.

[0046] In particular, the magnetorheologically designed braking unit is suitable and designed to adapt a torque for the relative rotatability of the rotor unit to the stator unit and thereby to adjust the movement resistance for the mobility of the operating lever. In particular, the torque is adapted by adjusting the field strength of the magnetic field of the field generating device, which acts on the medium in the gap. The applicant reserves the right to claim a gamepad (game controller) with at least one and preferably with at least two operating devices according to the invention. In particular, the at least one operating device is then designed as a joystick. In particular, the operating devices can each be reached with one thumb if the gamepad is held with both hands as intended.In particular, the at least one braking device can be controlled by means of a control device in such a way that haptic feedback can be generated on the at least one operating lever as a function of a game scenario.

[0047] In particular, within the scope of the present invention, the "positions of the operating lever s" are understood to mean those positions which can be set by swiveling the operating lever s about the first and second swivel axes in accordance with the operation.

[0048] The first brake unit has, in particular, a first stator unit, a first rotor unit, and a first rotational axis. The second brake unit has, in particular, a second stator unit, a second rotor unit, and a second rotational axis. In particular, the rotor unit of the second brake unit rotates relative to the stator unit of the second brake unit when the operating lever is pivoted about the second pivot axis. In particular, the stator unit and the rotor unit of the first brake unit do not rotate relative to one another when the operating lever is pivoted about the second pivot axis.

[0049] In particular, the rotor unit and the stator unit of the first and / or second brake unit are arranged coaxially (if they belong to the same brake unit). In particular, an axis of symmetry of the coaxial arrangement corresponds to the axis of rotation of the brake unit. In particular, the rotor unit is arranged radially outwards and the stator unit radially inwards. It is also possible for the rotor unit to be arranged radially inwards and the stator unit radially outwards. Such an internal rotor unit can be provided and advantageous in particular for the first brake unit.

[0050] In particular, the pivot bearing devices are provided at least partially by one of the at least two brake units. The first and / or second brake unit each provide at least one bearing point. The first and / or second pivot bearing device can have at least one further bearing point, which is provided in addition to the bearing point of the respective brake unit. In particular, the stator unit of the first brake unit is pivotally mounted on the support device about the second pivot axis by means of the second pivot bearing device.

[0051] In particular, the operating lever is connected in a rotationally fixed manner (at least with respect to the first and / or second pivot axis) to the rotor unit of the first brake unit. In particular, the stator unit of the second brake unit is connected in a rotationally fixed manner to the support device. In particular, the rotor unit of the second brake unit is coupled in a rotationally fixed manner to the stator unit of the first brake unit. In particular, the rotor unit of the second brake unit can only be rotated together with the first brake unit and the operating lever. Preferably, the first brake unit is arranged outside the operating lever. The operating lever in particular has at least one section for applying at least one finger during operation. In particular, the operating lever can be operated manually. The operating lever can be designed as an operating handle (or control handle) which can be grasped with one (whole) hand. It is possible for the operating lever to be at least partially pivotable by a motor (or with assistance, i.e. actively).

[0052] In particular, the neutral position is a position in which the operating lever is not pivoted about any of the pivot axes. In particular, the neutral position is defined by the central axis and the two pivot axes being at right angles to one another. The neutral position can be freely defined. For example, the operating lever is braked in a position desired as the neutral position by means of the braking device so that it is fixed there. In particular, such a fixing of the operating lever can be overcome with a (definable) expenditure of force. In the freely defined neutral position, the central axis may also not be at right angles to the second pivot axis. In the freely defined neutral position, the operating lever is fixed in particular by the braking device against the force of the return device.

[0053] Further advantages and features of the present invention will become apparent from the description of the embodiments which are explained below with reference to the accompanying figures.

[0054] The figures show:

[0055] Fig. 1 is a purely schematic representation of an operating device according to the invention in a perspective view;

[0056] Fig. 2 shows the operating device of Fig. 1 in a sectional view;

[0057] Fig. 3a-d the operating device of Fig. 1 with an operating lever in various deflected positions;

[0058] Fig. 4 is a purely schematic representation of another operating device according to the invention in a perspective view;

[0059] Fig. 5 shows the operating device of Fig. 4 in a sectional view;

[0060] Fig. 6 is a purely schematic representation of a further operating device according to the invention in a

[0061] side view ;

[0062] Fig. 7 shows the operating device of Fig. 6 in a deflected position;

[0063] Fig. 7a is a detailed view of a variant of the operating device of Fig. 6 in a deflected position;

[0064] Fig. 8a-b a detailed representation of the operating device in two sectional views;

[0065] Fig. 9 is a purely schematic representation of a gamepad in a perspective view;

[0066] Fig. 10 is a purely schematic representation of another operating device in a perspective view; and

[0067] Fig. 11 shows the operating device of Fig. 10 in a deflected position in a side view.

[0068] Figures 1 and 2 show an operating device 701 according to the invention, which is embodied here, by way of example, as a joystick 710. The operating device 701 comprises an operating lever 702, which can be pivoted about a first and a second pivot axis 714, 724 by means of a first and a second pivot bearing device 704, 740, respectively. This allows the operating lever 702 to be pivoted relative to a stationary support device 703. The operating lever 702 is located here in a neutral position 722. The operating lever 702 has not been moved about any of the pivot axes 714, 724.

[0069] By means of a controllable braking device 705, the movement resistance of the operating lever 702 can be adjusted so that, for example, haptic feedback (grids, blockages, vibrations, end points) can be felt on the operating lever 702. The braking device 705 comprises a first and a second braking unit 715, 725, which are designed magnetorheologically.

[0070] The first brake unit 715 is assigned to the first pivot axis 714, and the second brake unit 725 is assigned to the second pivot axis 724. The brake units 715, 725 each have a stationary stator unit 715a, 725a and a rotor unit 715b, 725b that is rotatable relative to the stator unit 715a, 725a about a rotation axis 715c, 725c.

[0071] The stator unit 725a is here non-rotatably attached to the support device 703. The rotor unit 725b is rotatably mounted on the stator unit 725a. The rotation axis 725c is identical to the second pivot axis 724. When the rotor unit 725b rotates around the stator unit 725a, it also rotates around the second pivot axis 724.

[0072] The stator unit 715a of the first brake unit 715 is connected to the rotor unit 725b in a rotationally fixed manner by means of a coupling unit 706. As a result, the first brake unit 715 pivots as a whole about the second pivot axis 724 when the rotor unit 725b rotates about the stator unit 725a. An axial end of the coupling unit 706, which is opposite the second brake unit 725, is rotatably mounted on the support device 703 by means of a bearing point 716 in the region of the second sensor unit 727.

[0073] The rotor unit 715b is rotatably mounted on the stator unit 715a. The rotation axis 715c is identical to the first pivot axis 714. The rotor unit 715b thus rotates about the first pivot axis 714 when it rotates about the stator unit 715a. The operating lever 702 is attached to the rotor unit 715b.

[0074] Due to the functional coupling of the brake units 715, 725 with the operating lever 702 shown here, the operating lever 702 can be pivoted together with the first brake unit 715 and the second pivot axis 724. Thus, when the operating lever 702 is pivoted from the neutral position 722 about the second pivot axis 724, the entire first brake unit 715 moves with it and is also rotated about the second pivot axis 724.

[0075] When the operating lever 702 is pivoted about the first pivot axis 714, the rotor unit 715b rotates relative to the stator unit 715a about the first pivot axis 714. The stator unit 715a remains stationary and is supported by the coupling unit 706. During a pivoting movement about the first pivot axis 714, the coupling unit 706 is supported by the rotor unit 725b and the support device 703.

[0076] The operating lever 702 has a central axis 712, which corresponds to its axis of symmetry and its longitudinal axis. The central axis 712 intersects the first brake unit 715 in an imaginary extension and is perpendicular to the first pivot axis 714.

[0077] The first and second pivot axes 714, 724 lie in a common plane and extend at right angles to one another. Furthermore, the first and second pivot axes 714, 724 intersect at an intersection point located within the first brake unit 715. The central axis 712 of the operating lever 702 also extends through this intersection point.

[0078] The right-angled arrangement of the two pivot axes 714, 724 in a common plane and their intersection within the first brake unit 715 are present in all positions of the operating lever 702. In the neutral position 722, the central axis 712 also runs at right angles to the two pivot axes 714, 724 and is perpendicular to the common plane of the pivot axes 714, 724.

[0079] The central axis 712 is always at a right angle to the first pivot axis, regardless of how far the operating lever 702 is pivoted about the first or second pivot axis 714, 724. However, an angle between the central axis 712 and the second pivot axis 724 changes when the operating lever 702 is pivoted about the first pivot axis 714. In the neutral position 722 shown here, this angle is a right angle, or 90°. In other words, in the neutral position 723, the central axis 712 and the two pivot axes 714, 724 intersect at a right angle to each other within the first brake unit 715.

[0080] The angle between the central axis 712 and the second pivot axis 724 depends on how far the operating lever 702 and the first pivot axis 714 are pivoted. Pivoting about the second pivot axis 724, however, has no influence on this angle. These relationships are particularly clearly visible in Figures 3a-d.

[0081] The design shown here enables a particularly compact operating device 701, which simultaneously requires very few components and no complex mechanics for connecting the operating lever 702 to the braking device 705. As can be clearly seen, all braking units are driven directly by the pivoting movement. Thus, despite the very compact design, a gear unit that converts the pivoting movement into a rotary movement is omitted.

[0082] Furthermore, none of the brake units 715, 725 need to be pivoted eccentrically about one of the pivot axes 714, 724. This results in particularly uniform operating forces and very precise haptic feedback. With the operating device 701 shown here, there are no adverse weight shifts or gravity-induced forces resulting from the pivoting of eccentric or off-center masses.

[0083] A sensor device 707 with two sensor units 717, 727 (e.g., rotation angle sensors) serves to detect the angular position of the operating lever 702. The sensor units 717, 727 detect, for example, the angular position of the respective rotor unit 715b, 725b relative to the associated stator unit 715a, 725a. The sensor unit 717 for the first brake unit 715 is attached here to the coupling unit 706. The sensor unit 727 for the second brake unit 725 is attached here to the support device 703.

[0084] In Figures 3a-d the previously described operating device

[0085] 701 with various deflected positions 732 of the operating lever 702. Figures 3a and 3c show a pivoting movement of the operating lever 702 about the second pivot axis 724. Here, it can be clearly seen that the central axis 712 and the two pivot axes 714, 724 always intersect at right angles, regardless of how far the operating lever 702 is moved about the second pivot axis 724. It can also be clearly seen that the entire first brake unit 715 is moved when the operating lever 702 is pivoted about the second pivot axis 724.

[0086] Figures 3b and 3d show pivoting movements of the operating lever

[0087] 702 and the first pivot axis 714. Here it can be clearly seen that the angle between the central axis 712 and the second pivot axis 724 changes when the operating lever 702 is moved about the first pivot axis 714.

[0088] Figures 4 and 5 show an embodiment of the previously described operating device 701, in which the rotor unit 715b is arranged radially inward and the stator unit 715a is arranged radially outward. For this purpose, the rotor unit 715b is connected to the operating lever 702 via an arm 715d. The coupling unit 706 is provided by the stator unit 715a, so that a separate component can be dispensed with. With regard to the arrangement of the central axis 712 and the pivot axes 714, 724, the same relationships apply here as previously described with reference to Figures 1 to 3.

[0089] Figure 6 shows a further development of the operating device 701 with a reset device 708. Here, the operating lever 702 is in a neutral position 722. A deflected position 732 is shown as an example in Figure 7. Only a connecting pin of the operating lever 702 is shown here.

[0090] The return device 708 here comprises a lever component 718 and a pressure component 728 and a pretensioning device 738. The lever component 718 is firmly connected to the operating lever 702, so that it can only be pivoted together with the operating lever 702. The pressure component 728 is mounted on the support device 703 in such a way that it can be displaced linearly downward by the pivoting movements of the lever component 718.

[0091] When the operating lever 702 is pivoted about one of the pivot axes 714, 724, the pressure component 728 is pressed downward by the lever component 718. In the neutral position 722, the lever component 718 rests almost completely against the pressure component 728. The pretensioning device 738 is pretensioned by the displacement of the pressure component 728.

[0092] When the operating lever 702 is released, the pressure component 728 is pushed upward in the direction of force by the preload force of the preload device 738. As a result, the pressure component 728 presses on the lever component 718 in such a way that a restoring moment is generated, which returns the operating lever 702 to the neutral position 722.

[0093] For example, the pretensioning device 738 here comprises a compression spring, which is pretensioned by the displacement of the pressure component 728. Other designs of the pretensioning device 738 are also possible, for example with a magnetic device and / or an air spring or the like.

[0094] Figure 7a shows an example of the structure of the

[0095] The reset device 708 is shown in more detail. The operating lever 702 is in a deflected position 732. The preload device 738 is a compression spring. The preload force is adjustable by means of an electromagnetic actuator device 738a with a coil 738b and a core 738c. Furthermore, a permanent magnet 728a is arranged on the pressure component 728, which can be attracted or repelled by the magnetic field of the coil 738b.

[0096] The coil 738b of the reset device 708 can be operated in various ways. For example, no current is supplied. Then only the (spring) force of the preloading device 738 acts. For example, the current is supplied in one direction, so that the permanent magnet 728a is attracted. This cancels the reset. The current can also be supplied in the other direction. This amplifies the reset. Alternating current can also be supplied. This allows, for example, a vibration mode for active feedback to be implemented reliably and with minimal design effort. Such a mode can signal, for example, that a wall is touched in a game or that a vehicle in a driving simulation has veered off a track, or the like.

[0097] Figures 8a and 8b show an exemplary structure of the first brake unit 715, which here is magnetorheologically designed. The second brake unit 725 is preferably constructed in a similar manner. The stator unit 715a comprises a hollow axle or hollow shaft 796 and a receiving part 798 attached thereto, in which an electrical coil unit 799 of a field generating device is accommodated. A line 797 runs within the hollow shaft 796 for electrically contacting the coil unit 799.

[0098] The rotor unit 715b is rotatably mounted on the stator unit 715a. The rotor unit 715b here comprises a base part 793 with a bearing pin 795 and a sleeve 792 fastened to the base part 793, as well as a cover part 793a. The operating lever 702 is fastened, for example, to the sleeve 792 and / or to the base part 793. The bearing pin 795 serves, for example, to mount the rotor unit 715b on the coupling unit 706 or the support device 703. The cover part 793a here serves, for example, to mount the rotor unit 715b on the stator unit 715a. The hollow shaft 796 is guided through the cover part 793a. The base part 793 and the sleeve 792 as well as the cover part 793a are firmly connected to one another here.

[0099] A circumferential gap 791 is formed between the rotor unit 715b and the stator unit 715a, in which a magnetorheological medium 790 is located. The magnetic field of the coil unit 799 can change the rheological properties of the medium 790 in such a way that the mobility between the rotor unit 715b and the stator unit 715a is slowed or even blocked.

[0100] To provide particularly high braking torques while maintaining very compact dimensions, a star contour 794 and magnetic field concentrators 798a are provided here. The circumferentially extending star contour 794 results in a variable gap height. The star contour 794 is formed circumferentially on the radial outer sides of the magnetic field concentrators 798a. The magnetic field concentrators 798a form part of a closed magnetic circuit through which the magnetic field of the coil unit 799 extends. This results in a particularly powerful field in the area of ​​the star contour 794.

[0101] Figure 9 shows a gamepad 711 with two operating devices 701 designed as joysticks 710. The pivoting of the operating lever 702 is achieved here, for example, by a thumb or another finger placed on the front or side. For placing the thumb, the operating lever 702 is equipped at its distal end with a contact section 702b. During use, the gamepad 711 is held with two hands so that the thumbs can each reach a joystick 710. The operating levers 702 each protrude through a housing opening 711b from the housing 711a of the gamepad 711. To protect the internal components and to cover the housing openings 711b, the operating levers 702 are each equipped with a cover 702a below their contact sections 702b.

[0102] Figures 10 and 11 show a variant of the operating device 701, which here has an operating lever 702 with a spherical cover 702a. This variant can be used particularly advantageously in a gamepad 711 or the like. So that the cover 702a does not undesirably limit the pivot angle, the coupling unit 706 is equipped here with a recess 702c on each side of the operating lever 702. When the operating lever 702 is pivoted about the first pivot axis 714, it can penetrate into the recess 702c with the cover 702a. The other variants presented here can also be equipped with a cover 702a or a recess 702c if required.

[0103] The support device 703 here has an arm 713, which provides an additional (third) bearing point for the pivot axis 724 of the second brake unit 725. Depending on the expected operating forces, this arm 713 or the additional bearing point can also be omitted. The other variants presented here can also be equipped with such an arm 713 if necessary.

[0104] List of reference symbols:

[0105] 701 Control device 738b Coil

[0106] 702 operating lever 738 c core

[0107] 702a Cover 740 Swivel bearing device

[0108] 702b Contact section 790 Medium

[0109] 702 c Recess 791 Gap

[0110] 703 Carrying device 792 Sleeve

[0111] 704 Swivel bearing device 793 Base steep

[0112] 705 Brake device 793a Cover part

[0113] 706 Coupling unit 794 Star contour

[0114] 707 Sensor device 795 Bearing journal

[0115] 708 Reset device 796 Hollow shaft

[0116] 710 Joystick 797 Cable

[0117] 711 Gamepad 798 Mounting part

[0118] 711a Housing 798a Magnetic field concentrator

[0119] 711b Housing opening 799 Coil unit

[0120] 712 Central Axis

[0121] 713 Arm

[0122] 714 swivel axis

[0123] 715 brake unit

[0124] 715a stator unit

[0125] 715b rotor unit

[0126] 715 c rotation axis

[0127] 715 d arm

[0128] 716 storage location

[0129] 717 sensor unit

[0130] 718 Lever component

[0131] 722 Neutral position

[0132] 724 swivel axis

[0133] 725 brake unit

[0134] 725a stator unit

[0135] 725b rotor unit

[0136] 725 c rotation axis

[0137] 727 sensor unit

[0138] 728 pressure component

[0139] 728a permanent magnet

[0140] 732 Position

[0141] 738 pre-tensioning device

[0142] 738a Actuator device

Claims

Claims:

1. Operating device (701), in particular joystick (710), comprising at least one operating lever (702) and at least one support device (703), wherein the operating lever (702) is pivotable about a first pivot axis (714) by means of a first pivot bearing device (704) and about a second pivot axis (724) relative to the support device (703), and comprising at least one controllable braking device (705) with at least two braking units (715, 725) for adjusting a movement resistance for the mobility of the operating lever (702), wherein the movement resistance of the operating lever (702) about the first pivot axis (714) is adjustable by means of a first braking unit (715) and the movement resistance of the operating lever (702) about the second pivot axis (724) is adjustable by means of a second braking unit (725), wherein the braking units (715, 725) one stator unit (715a, 725a) and one relative to the stator unit (715a,725a) have a rotor unit (715b, 725b) rotatable about a rotational axis (715c, 725c), and wherein a rotational movement of the rotor unit (715b, 725b) relative to the stator unit (715a, 725a) can be braked in a targeted manner, and wherein the first pivot axis (714) is parallel and preferably identical to the rotational axis (715c) of the first brake unit (715), characterized in that the operating lever (702) can only be pivoted about the second pivot axis (724) together with the first brake unit (715), so that both the stator unit (715a) and the rotor unit (715b) of the first brake unit (715) pivot about the second pivot axis (724) when the operating lever (702) is pivoted about the second pivot axis (724).

2. Operating device (701) according to the preceding claim, wherein the second pivot axis (724) is parallel and preferably is identical to the rotation axis (725c) of the second brake unit (725).

3. Operating device (701) according to one of the preceding claims, wherein the first and second pivot axes (714, 724) are arranged transversely and preferably at right angles to each other in each position of the operating lever (702).

4. Operating device (701) according to one of the preceding claims, wherein the second pivot axis (724) intersects the first brake unit (715) in each position of the operating lever (702).

5. Operating device (701) according to one of the preceding claims, wherein the first pivot axis (714) does not intersect the second braking unit (725).

6. Operating device (701) according to one of the preceding claims, wherein the first and second pivot axes (714, 724) and preferably within the first brake unit (715).

7. Operating device (701) according to one of the preceding claims, wherein a central axis (712) of the operating lever (702) in each position of the operating lever (702) runs transversely and preferably at right angles to the first pivot axis (714).

8. Operating device (701) according to the preceding claim, wherein an angle between a central axis (712) of the operating lever (702) and the second pivot axis (724) depends on how the operating lever (702) is pivoted about the first pivot axis (714) and wherein the angle between a central axis (712) of the operating lever (702) and the second pivot axis (724) is independent of how the operating lever (702) is pivoted about the second pivot axis (724) is pivoted.

9. Operating device (701) according to one of the two preceding claims, wherein the central axis (712) of the operating lever (702) only extends at right angles to the second pivot axis (724) when the operating lever (702) is pivoted at a defined angle about the second pivot axis (724) and wherein this angle is preferably present in a neutral position (722).

10. Operating device (701) according to one of the three preceding claims, wherein a central axis (712) of the operating lever (702) cuts the first brake unit (715) in every position of the operating lever (702).

11. Operating device (701) according to one of the four preceding claims, wherein the central axis (712) of the operating lever (702) in each position of the operating lever (702) intersects the first pivot axis (714) and / or the second pivot axis (724).

12. Operating device (701) according to one of the five preceding claims, wherein the central axis (712) of the operating lever (702) and the first and second pivot axes (714, 724) intersect at a common point in each position of the operating lever (702).

13. Operating device (701) according to one of the preceding claims, wherein the operating lever (702) is pivotable together with the rotor unit (715b) of the first brake unit (715) about the first pivot axis (714), while the stator unit (715a) of the first brake unit (715) remains stationary and does not perform any pivoting movement about the first pivot axis (714).

14. Operating device (701) according to one of the preceding Claims, wherein the operating lever (702) is attached to the rotor unit (715b) of the first brake unit (715).

15. Operating device (701) according to one of the preceding claims, wherein the first brake unit (715) is connected to the rotor unit (715b) of the second brake unit (725) in a rotationally fixed manner by means of a coupling unit (706) and / or is rotatably mounted on the support device (703).

16. Operating device (701) according to the preceding claim, wherein the stator unit (715a) of the first brake unit (715) is attached to the coupling unit (706).

17. Operating device (701) according to one of the two preceding claims, wherein the operating lever (702) has a cover (702a) and wherein the coupling unit (706) has at least one recess (702c) into which the cover (702a) can at least partially dip when the operating lever (702) is pivoted.

18. Operating device (701) according to one of the preceding claims, comprising a sensor device (707) with at least two sensor units (717, 727) for detecting the pivoting movements of the operating lever (702), wherein a first sensor unit (717) is assigned to the first brake unit (715) and a second sensor unit (727) is assigned to the second brake unit (725), and wherein the first sensor unit (717) is at least partially fastened to the stator unit (715a) of the first brake unit (715) and / or to the coupling unit (706), and wherein the second sensor unit (727) is at least partially fastened to the stator unit (725a) of the second brake unit (725) and / or to the support device (703).

19. Operating device (701) according to one of the preceding claims, wherein the operating lever (702) can be pivoted about both pivot axes (714, 724) can be braked with the same torque and wherein the second brake unit (725) is suitable and designed to apply a deliberately higher torque than the first brake unit (715) in order to be able to brake the moving mass of the first brake unit (715) in addition to the operating lever (702) when the operating lever (702) is pivoted about the second pivot axis (724).

20. Operating device (701) according to one of the preceding claims, comprising at least one reset device (708) by means of which the operating lever (702) can be moved from a deflected position (732) into a neutral position (722), wherein the return device (708) comprises a lever component (718) assigned to the operating lever (702), a pressure component (728), and a pretensioning device (738), wherein the lever component (718) is coupled to the operating lever (702) such that it follows the pivoting movements of the operating lever (702), and wherein the pressure component (728) is mounted on the support device (703) such that it can be moved linearly, such that the pivoting movements of the lever component (718) can be converted into linear movements of the pressure component (728), and wherein the pressure component (728) can be pressed against the lever component (718) by means of a pretensioning force of the pretensioning device (738).

21. Operating device (701) according to the preceding claim, wherein the lever component (718) linearly displaces the pressure component (728) against the direction of force of the prestressing force when the operating lever (702) is moved into a deflected position (732) and wherein the pressure component (728) displaces the lever component (718) in the direction of force of the Preload force is moved and the operating lever (702) coupled to the lever component (718) is thereby returned from the deflected position (732) to the neutral position (722).

22. Operating device (701) according to one of the two preceding Claims, wherein the pretensioning force of the pretensioning device (738) is adjustable by means of at least one electromagnetic actuator device (738a).

23. Operating device (701) according to the preceding claim, wherein the actuator device (738a) is suitable and designed to alternately increase and / or decrease the pretensioning force so that the operating lever (702) can be set into vibration.

24. Operating device (701) according to one of the preceding claims, wherein the first and / or second brake unit (715, 725) is magnetorheologically designed.

Images