Passive force feedback control device

Abstract

This control device includes a mechanical joint (24) guiding a control lever (22) in rotation relative to a frame (20) via two pivot joints with orthogonal axes. The mechanical joint (24) includes, for at least one of the pivot joints, a device (54) for returning a movable part (52) to a neutral position relative to a stationary part (50). This return device (54) includes at least one elastic element (70) having two arms (72, 76), each extending orthogonally to the axis (X) of the pivot joint from a finger (60) fixed to one of the movable (52) and stationary (50) parts to a respective free end (74, 78). The elastic element(s) (70) is designed to prevent the free ends (74, 78) from moving closer together.The elastic element (70) is interposed, along a transverse direction (T) orthogonal to the bisector (B) of the angle between the branches (72, 76), between a stationary pin (62, 64) fixed to the stationary part (50) and a movable pin (66, 68) fixed to the movable part (52). Figure for the abbreviation: Fig. 3.

Description

Title of the invention: Passive force feedback control device Scope of the invention

[0001] The present invention relates to a piloting device, in particular intended for piloting a vehicle comprising at least one aerodynamic or hydrodynamic control surface such as an aircraft or a ship.

[0002] The invention relates more particularly to a piloting device used by the pilot in the cockpit of an aircraft, in particular a "mini-joystick" including an integrated force feedback to assist the pilot. Technological background

[0003] Many piloting devices are known for operating equipment, such as vehicles or robots, by human pilots operating at least one piloting device such as a joystick, a lever, a rudder pedal, a pedal, etc.

[0004] These known control devices include, in particular, joystick-type control devices comprising a control lever mounted to rotate relative to a frame along a first axis, called the roll axis, and a second axis, called the pitch axis, these two axes being orthogonal to each other. Depending on the position of the control element along these two axes, the joystick transmits movement commands to a device. Such joysticks are commonly found on aircraft, but also on other vehicles, particularly vehicles comprising at least one aerodynamic or hydrodynamic control surface. They are also used for remotely piloting robots in the context of teleoperation.

[0005] Conventionally, a cable system connects the control stick to the control surfaces so that the pilot, by manipulating the lever, directly transmits his forces to the control surfaces. This cable system is still used on "light" aircraft. On heavier aircraft, hydraulic systems assist the pilot.

[0006] On the most recent aircraft models, aircraft movement control is generally electronic. The piloting system integrated into the cockpit is then most often comprised of a particular type of control stick: the "side stick." In this type of stick, the position of the control lever along the two axes of roll and pitch is measured by sensors and translated into movement commands. These movement commands are then sent to actuators that control the movement of the aircraft's moving parts according to said commands. Side sticks also find applications in other classic control stick applications.

[0007] One disadvantage of mini-sleeves is that, as the lever is not directly linked Mechanically linked to the aircraft's moving parts, there is no direct mechanical feedback to the control lever. The pilot is therefore deprived of piloting sensations. To guide their flight, the pilot must then rely entirely on the cockpit's signaling systems. However, these may be insufficient to elicit a sufficiently rapid reaction from the pilot during flight.

[0008] To create variable resistance opposing the movement of the mini-stick operated by the pilot, it is known to equip the latter with a force feedback system, also called "haptic feedback," simulating a counter-reaction force from the control surfaces on a "conventional" stick. The desired force law for these systems, that is, the intensity of the counter-force produced as a function of the lever's angle of inclination, is generally: - asymmetrical for the roll axis, meaning that the slope of the counter-force intensity must vary depending on whether the lever angle is positive or negative, in order to compensate for the difference in pilot force between pronation and supination, and - variable for the pitch axis, that is to say that the slope of intensity of the counter-force must vary when the lever deviates by more than a certain angle from the neutral position.

[0009] Two main types of force feedback systems are distinguished: so-called "passive" force feedback systems, such as that described in document FR 2 988 689 A1, in which the counter-reaction force is produced by passive elements such as springs, and so-called "active" force feedback systems, such as that described in document EP 3 011 815, in which the counter-reaction force is produced by active elements such as actuators.

[0010] These known force feedback systems, however, are not entirely satisfactory.

[0011] Passive force feedback systems, first of all, have the drawback of generally simulating the counter-reaction force of the control surfaces very poorly. The force law is, in fact, most often very simplistic. Very few passive force feedback systems are known that are capable of producing an asymmetric or variable force law, and those that are are generally bulky and complex to implement, often unreliable, and most often require lengthy, even laborious, adjustment.

[0012] As for active force feedback systems, they are generally expensive. In addition, they are vulnerable to electrical failures. Description of the invention

[0013] One objective of the invention is to provide a joystick-type control device equipped with a passive force feedback system capable of producing a complex force law. Other objectives of the invention are that this force feedback system be simple, inexpensive, easy to implement, reliable and easily configurable.

[0014] To this end, the invention relates to a control device comprising a frame, a control lever and a mechanical joint guiding the control lever in rotation relative to the frame by means of two pivot joints with orthogonal axes, the mechanical joint comprising, for each of said pivot joints, a stationary part relative to the axis of the pivot joint and a movable part jointly with the control lever around the axis of the pivot joint relative to the stationary part, the mechanical joint further comprising, for at least one of the pivot joints, a device for returning the movable part to a predetermined position, called the neutral position, relative to the stationary part,in which said return device comprises at least one elastic member having a first arm extending in a first direction orthogonal to the axis of the pivot joint from a finger fixed to one of the moving and stationary parts to a first free end and a second arm extending in a second direction orthogonal to the axis of the pivot joint from said finger to a second free end, the elastic member(s) being adapted to prevent the first free end from approaching the second free end, the elastic member being interposed, in a transverse direction orthogonal to the bisector of the angle between the first direction and the second direction, between a stationary pin fixed to the stationary part and a moving pin fixed to the moving part.

[0015] According to particular embodiments of the invention, the control device also has one or more of the following characteristics, taken individually or in any combination(s): - the elastic element is interposed, along the transverse direction, between a first stationary pin fixed to the stationary part and a second stationary pin fixed to the stationary part; - the first branch is supported against the first stationary pin and the second branch is supported against the second stationary pin when the moving part is in its neutral position, the elastic element being pre-stressed between said first stationary pin and said second stationary pin; - the elastic element is interposed, along the transverse direction, between a first movable pin fixed to the moving part and a second movable pin fixed to the moving part; - when the moving piece is in its neutral position, a first distance between the first moving piece and the first branch is approximately equal to a second distance between the second moving piece and the second branch; - a first distance between the first movable peg and the finger is strictly less than or equal to a second distance between the second movable pawl and the finger; the elastic organ is interposed, in the transverse direction, between, on the one hand, a plurality of movable pins attached to the moving part and, on the other hand, at least one stationary pin attached to the stationary part, the movable pins being aligned along a straight line secant to the axis of the pivot joint and comprising a proximal movable pin, close to the finger, and a distal movable pin, distant from the finger, the first branch comprising a straight portion, capable of bearing against said movable pins and extending in a direction not secant to the axis of the pivot joint when the moving part is in its neutral position, said portion being closer to the proximal movable pin than to the distal movable pin when the moving part is in its neutral position, the finger being attached to the stationary part; the return mechanism comprises a plurality of elastic components; the elastic elements comprise a primary elastic element interposed, along the transverse direction, between a first primary movable pin fixed to the moving part and a second primary movable pin fixed to the moving part, and a secondary elastic element interposed, along the transverse direction, between a first secondary movable pin fixed to the moving part and a second secondary movable pin fixed to the moving part, a first primary distance between the first primary movable pin and the first branch of the primary elastic element and / or a second primary distance between the second primary movable pin and the second branch of the primary elastic element being different(s) from a first secondary distance between the first secondary movable pin and the first branch of the secondary elastic element and from a second secondary distance between the second secondary movable pin and the second branch of the secondary elastic element;; Elastic organs have different stiffnesses; the movable pin(s) presents a bearing surface against the first or second branch of the elastic organ, said bearing surface being constituted by a cam surface; the finger is fixed to the moving part; the finger is fixed to the stationary part; the finger is at a distance from the axis of the pivot joint; the elastic organ(s) consists of a torsion spring wound around the finger; the mechanical joint includes a cradle, mounted to rotate freely attached to the frame by means of a first pivot joint around a first axis, and a plate, attached to the control lever, mounted to rotate movably relative to the cradle by means of a second pivot joint around a second axis, orthogonal to the first axis; - the first and second axes are intersecting; - The moving part is the cradle, the stationary part is the frame; and - the moving part is made up of the plate, the stationary part being made up of the cradle. Brief description of the Figures

[0016] Other features and advantages of the invention will become apparent from the following description, given solely by way of example and with reference to the accompanying drawings, in which: - Figure [1] is a diagram of an example of an aircraft piloting system, - Fig. 2 is a perspective view of a control device equipping the control system of the [Fig. 1] according to an example of an embodiment of the invention, - [Fig.3] is a cross-sectional view of the control device of [Fig.2] according to a first plane marked III-III on [Fig.2], on which is visible a first variant of a first return device, - [Fig.4][Fig.5] Figures 4 and 5 are schematic diagrams explaining the operation of said first variant of the first recall device, - [Fig. 6] is a graph illustrating a force law for the first variant of the first return device, - [Fig.7] is a longitudinal cross-sectional view of the piloting device of [Fig.2] according to a second plane marked VII-VII on [Fig.2], on which a first variant of a second return device is visible, - [Fig.8] [Fig.9] Figures 8 and 9 are schematic diagrams explaining the operation of said first variant of the second return device, - [Fig. 10] is a graph illustrating a force law of the first variant of the second return device, - [Fig. 11] is a diagram of a second variant of the first recall device, - [Fig. 12] [Fig. 13] Figures 12 and 13 are schematic diagrams explaining the operation of the aforementioned second variant of the first recall device, - Figure 14 is a graph illustrating a force law for the second variant of the first return device, - [Fig. 15] is a diagram of a second variant of the second recall device, - Figure 16 is a schematic diagram explaining the operation of the second variant of the second recall device. - Figure 17 is a graph illustrating a force law for the second variant of the second return device, - [Fig. 18] is a diagram of a third variant of the first recall device, and - [Fig. 19] is a graph illustrating an effort law of the third variant of the first return device. Detailed description of an example of implementation

[0017] The piloting system 10 shown in [Fig. 1] is configured to allow a vehicle, in particular an aircraft, to be piloted by a human pilot. For this purpose, the piloting system 10 comprises a piloting device 12 suitable for being operated by the pilot, at least one actuator 14, typically an electric actuator, suitable for moving a movable part (not shown), typically a control surface, of the vehicle, and a control unit 16 configured to control the actuator or each of the actuators 14 according to the pilot's actions on the piloting device 12, the control unit 16 typically being a flight control unit (better known by the abbreviation FCS for "Flight Control System").

[0018] In particular, the piloting device 12 comprises a frame 20, typically fixed to an aircraft floor (not shown), a control lever 22 graspable by a human pilot, and a mechanical joint 24. The mechanical joint 24 guides the control lever 22 in rotation relative to the frame 20 by means of a first pivot joint 26a ([Fig. 2]) with axis X, and by means of a second pivot joint 26b ([Fig. 2]) with axis Y, said axes X and Y being orthogonal and intersecting. The piloting device 12 also comprises a first position sensor 28a associated with the X axis and a second position sensor 28b associated with the Y axis, each configured to communicate to the control unit 16 an electronic signal representing the position of the lever 22 relative to the X and Y axes to which it is associated. Optionally, sensors 26, 28 are also configured to communicate electronic signals representative of the speed of lever 22 along the X, Y axes.The control unit 16 is configured to translate this position information and, where applicable, speed information of the lever 22 with respect to the X, Y axes into control signals for the actuator or each actuator 14.

[0019] The X-axis is preferably a roll axis, i.e., the position of the lever 22 around this axis is interpreted by the control unit 16 to control the roll of the aircraft. The Y-axis is preferably a pitch axis, i.e., the position of the lever 22 around this axis is interpreted by the control unit 16 to control the aircraft pitch. Alternatively, the functions of the X and Y axes are interchanged, with the X axis acting as a pitch axis and the Y axis as a roll axis. Alternatively still, the position of the lever around the X and Y axes is interpreted in a completely different way by the control unit 16. For example, the position of the lever 22 around the X axis can be interpreted by the control unit 16 to control the vehicle's right / left orientation, and the position of the lever around the Y axis can be interpreted by the control unit 16 to control the vehicle's forward and / or reverse movement.

[0020] The control device 12 is shown in more detail in [Fig. 2], in the form of a mini aircraft control stick. In this embodiment, the mechanical joint 24 includes a cradle 30 kinematically interposed between the frame 20 and the lever 22; that is to say, the kinematic chain connecting the frame 20 to the lever 22 comprises a first kinematic linkage between the frame 20 and the cradle 30 and a second kinematic linkage between the lever 22 and the cradle 30. The cradle 30 is here constituted by a rectangular frame.

[0021] The first kinematic link is here constituted by the first pivot joint 26a, that is to say that the cradle 30 is mounted to rotate relative to the frame 20 around the X axis by means of the first pivot joint 26a. This first pivot joint 26a is here materialized by two bearings 32 formed in opposite longitudinal faces 34, 36 of the cradle 30 and in each of which is housed a shaft 38 integral with the frame 20.

[0022] The second kinematic linkage is here constituted by the second pivot joint 26b, that is to say, the lever 22 is mounted to rotate relative to the cradle 30 around the Y axis by means of the second pivot joint 26b. This second pivot joint 26b is here materialized by two bearings 42 (only one of which is visible in [Fig. 2]) formed in opposite lateral faces 44, 46 of the cradle 30 and in each of which is housed a shaft 48 integral with a plate 49 itself integral with the lever 22. It should be noted that the Y axis is thus linked to the cradle 30, so that a pivoting of the cradle 30 around the X axis causes the Y axis to pivot around the X axis.

[0023] The cradle 30 is adapted to pivot around the X axis on either side of a position, called the neutral position of the cradle, in which the plane of the cradle 30, defined by the two axes X and Y, is substantially parallel to the base of the frame 20. The angular stroke of the cradle 30 on each side of this neutral position is preferably about 60°.

[0024] The lever 22 is adapted to pivot around the Y axis on either side of a position, called the neutral position of the lever, in which the axis of extension of the lever 22 is substantially orthogonal to the plane of the cradle 30. The angular stroke of the lever 22 on each side of this neutral position is preferably about 60°.

[0025] The mechanical joint 24 thus comprises, for each of the pivot joints 26a, 26b, a A stationary part 50 relative to the X or Y axis of the pivot joint 26a, 26b when the control lever 22 is pivoted relative to the frame 20 around the X or Y axis of the pivot joint 26a, 26b, and a movable part 52 joint with the control lever 22 around the X or Y axis of the pivot joint 26a, 26b relative to the stationary part 50. In the case of the first pivot joint 26a, the stationary part 50 is constituted by the frame 20, the movable part 52 being constituted by the cradle 30. In the case of the second pivot joint 26b, the stationary part 50 is constituted by the cradle 30, the movable part 52 being constituted by the plate 49.

[0026] The mechanical joint 24 also includes, for each of the pivot joints 26a, 26b, a device 54, 56 for returning the moving part 52 to its neutral position relative to the stationary part 50. For the first pivot joint 26a, this return device consists of a first return device 54 ([Fig. 3]). For the second pivot joint 26b, this return device consists of a second return device 56 ([Fig. 7]).

[0027] First variant of the first recall device 54

[0028] A first variant of the recall device 54 is shown in Figures 3 to 5.

[0029] With reference to [Fig. 3], the first recall device 54 comprises, according to this first variant, a finger 60 fixed to the cradle 30, this finger 60 protruding from one face of the cradle 30, parallel to the X axis, towards the frame 50. The finger 60 is here eccentric, that is to say it is at a distance from the X axis.

[0030] The first return device 54 also includes two stationary pins 62, 64 each fixed to the frame 50 and projecting from a face of the frame 50, parallel to the axis X, towards the cradle 30, and two movable pins 66, 68 each fixed to the cradle 30 and projecting from a face of the cradle 30, parallel to the axis X, towards the frame 50.

[0031] Here, the stationary pins 62, 64 are substantially equidistant from the X axis. Moreover, the stationary pins 62, 64 are substantially equidistant from the finger 60 when the cradle 30 is in its neutral position.

[0032] Furthermore, the movable pins 66, 68 are at different distances from the X-axis and at different distances from the finger 60 when the cradle 30 is in its neutral position. For example, the first movable pin 66 is, as shown, at a first distance ri from the finger 60 strictly less than a second distance r2 between the second movable pin 68 and the finger 60. Each of these distances rb r2 is measured between the center of the finger 60 and the center of the movable pin, respectively 66, 68, in a plane orthogonal to the X-axis, when the cradle 30 is in its neutral position.

[0033] Optionally, at least part of the pins 62, 64, 66, 68 comprises a body (not shown) and a roller (not shown) mounted rotatably relative to said body around an axis parallel to the X axis centered on said body.

[0034] In the example shown, the pawls 62, 64, 66, and 68 are on one side of the X-axis, with the finger 60 on the other side. In other words, there is a plane containing the X-axis that divides the space into two halves, with the pawls 62, 64, 66, and 68 contained in one half and the finger 60 in the other. This arrangement allows for a compact design of the return device 54.

[0035] The first return device 54 also includes a V-shaped elastic element 70 having a first straight arm 72 extending along a first direction DI orthogonal to the X-axis from the finger 60 to a first free end 74 and a second straight arm 76 extending along a second direction D2 orthogonal to the X-axis from the finger 60 to a second free end 78. These directions D1, D2 form an angle (not referenced). This angle is divided into two equal halves by an angle bisector B. Advantageously, this angle bisector B is, as shown, secant to the X-axis when the cradle 30 is in its neutral position.

[0036] The elastic organ 70 is designed to prevent the first and second free ends 74, 78 from coming together.

[0037] The elastic element 70 is for example constituted, as shown, by a torsion spring wound around the finger 60. In alternative (not shown), the elastic element is constituted by a pair of leaf springs made fixed to the finger 60 by one of their ends, each leaf spring constituting one of the branches 72, 76 of the elastic element 70.

[0038] The elastic member 70 is interposed, along a transverse direction T orthogonal to the axis X and to the bisector B of the angle between the first and second directions D1, D2, between a first 62 of the stationary pins 62, 64 and a second 64 of said stationary pins 62, 64. In other words, the stationary pins 62, 64 frame the elastic member 70 along the transverse direction T.

[0039] In particular, the first arm 72 of the elastic element 70 is in contact with the first stationary pin 62 and the second arm 74 of the elastic element 70 is in contact with the second stationary pin 64 when the cradle 30 is in its neutral position. Preferably, each of these contacts is supported, i.e., the first arm 72 of the elastic element 70 is supported against the first stationary pin 62 and the second arm 74 of the elastic element 70 is supported against the second stationary pin 64 when the cradle 30 is in its neutral position. To this end, the elastic element 70 is pre-stressed between said stationary pins 62, 64. Thus, the return device 54 exerts a noticeable counter-force from the first degrees of inclination of the lever around the axis X.

[0040] The elastic element 70 is also interposed, along said transverse direction T, between a first 66 of the movable pins 66, 68 and a second 68 of said movable pins 66, 68. In other words, the movable pins 66, 68 frame the elastic element 70 along the transverse direction T.

[0041] When the cradle 30 is in its neutral position, as shown in [Fig.3], a first distance di between the first movable pin 66 and the first branch 72 of the elastic member 70 is substantially equal to a second distance d2 between the second movable pin 68 and the second branch 74 of the elastic member 70. Each of said distances dH d2 is constituted by the minimum distance between the outer surface of the movable pin, respectively 66, 68, and the outer surface of the branch, respectively 72, 74, of the elastic member 70.

[0042] In particular, these first and second distances dh d2 are zero, that is to say that the first branch 72 of the elastic member 70 is flush with the first movable pin 66 and the second branch 74 of the elastic member 70 is flush with the second movable pin 68 when the cradle 30 is in its neutral position.

[0043] The elastic element 70 is thus interposed, along the transverse direction T, between the first stationary pin 62 and the second movable pin 68 on the one hand, and between the second stationary pin 64 and the first movable pin 66 on the other hand. Thus, when the cradle 30 is pivoted in a first direction around the axis X, as shown in [Fig. 4], the displacement of the second movable pin 68 towards the first stationary pin 62 caused by this pivoting results in a rapprochement of the first and second free ends 74, 78 of the arms 72, 76 of the elastic element 70, a rapprochement opposed by the elastic element 70, thus exerting a counter-force on the cradle 30 and, through this, on the lever 22. Similarly, when the cradle 30 is pivoted in a second direction opposite to the first direction around the axis X, as shown in [Fig. 4], the movement of the second movable pin 68 towards the first stationary pin 62 caused by this pivoting leads to a rapprochement of the first and second free ends 74, 78 of the arms 72, 76 of the elastic element 70.[5], the movement of the first movable pin 66 towards the second stationary pin 64 generated by this pivoting causes a rapprochement of the first and second free ends 74, 78 of the branches 72, 76 of the elastic member 70, a rapprochement which is opposed by the elastic member 70, thus exerting a counter-force on the cradle 30 and, by this means, on the lever 22.

[0044] Insofar as the elastic element 70 is prestressed between the stationary pins 62, 64, the counter-force exerted by the return device 54 is noticeable from the first degrees of inclination of the lever around the axis X.

[0045] Moreover, since the movable pins 66, 68 are each at zero distance from a branch 72, 76 of the elastic member 70, the elastic member 70 is compressed from the first degrees of inclination of the cradle 30 around the axis X, so that the counter-force exerted by the return device 54 begins to increase from the first degrees of inclination of the cradle 30 around the axis X.

[0046] Finally, since the first movable pin 66 is at a shorter distance from the finger 60 than the second movable pin 68, the torque exerted by the elastic element 70 on the first The force exerted on the movable pin 66 when the cradle 30 is rotated through an angle θ around the X-axis in the second direction is less than the torque exerted on the second movable pin 68 when the cradle 30 is rotated through the same angle θ around the X-axis in the first direction. This results in an asymmetrical force law relative to the neutral position of the cradle 30, as shown in [Fig. 6]. It is thus possible to adjust the force law of the return device 54 to compensate for the difference in force exerted by the rider between pronation and supination.

[0047] It will be noted that this first variant of the return device 54 implies that the initial effort required to pivot the cradle 30 around the X axis (and therefore to tilt the lever along the X axis) is different depending on the direction of pivoting / tilting.

[0048] First variant of the second recall device 56

[0049] A first variant of the second recall device 56 is shown in Figures 7 to 10.

[0050] With reference to [Fig.7], the second return device 56 comprises, according to this first variant, a primary finger 80 and a secondary finger 81 fixed to the cradle 30, each finger 80, 81 projecting from a face of the cradle 30, parallel to the Y axis, towards the plate 49. Each finger 80, 81 is here eccentric, that is to say it is at a distance from the Y axis.

[0051] The fingers 80, 81 are preferably, as shown, substantially equidistant from the Y axis.

[0052] The second return device 56 also includes four stationary pins 82, 83, 84, 85, each fixed to the cradle 30 and projecting from one face of the cradle 30, parallel to the Y-axis, towards the plate 49, and four movable pins 86, 87, 88, 89, each fixed to the plate 49 and projecting from one face of the plate 49, parallel to the Y-axis, towards the cradle 30. The stationary pins 82, 83, 84, 85 include primary stationary pins 82, 83 and secondary stationary pins 84, 85. Similarly, the movable pins 86, 87, 88, 89 include primary movable pins 86, 87 and secondary movable pins 88, 89.

[0053] Here, the primary stationary pins 82, 83 are substantially equidistant from the Y axis and are substantially equidistant from the primary finger 80. Similarly, the secondary stationary pins 84, 85 are substantially equidistant from the Y axis and are substantially equidistant from the secondary finger 81. In particular, the stationary pins 82, 83, 84, 85 are all substantially equidistant from the Y axis.

[0054] Furthermore, the primary movable pins 86, 87 are substantially equidistant from the Y-axis and are substantially equidistant from the primary finger 80 when the lever 22 is in the neutral position. Similarly, the secondary movable pins 88, 89 are substantially equidistant from the Y-axis and are substantially equidistant from the finger. secondary 81 when lever 22 is in the neutral position. In particular, the movable pins 86, 87, 88, 89 are all substantially equidistant from the Y axis.

[0055] In the example shown, the primary pawns 82, 83, 86, 87 are on one side of the Y-axis, with the primary finger 80 on the other side. In other words, there exists a plane containing the Y-axis that divides the space into two halves, with the primary pawns 82, 83, 86, 87 contained in one of these halves and the primary finger 80 contained in the second half. Similarly, the secondary pawns 84, 85, 88, 89 are on one side of the Y-axis, with the secondary finger 81 on the other side. In other words, there exists a plane containing the Y-axis that divides the space into two halves, with the secondary pawns 84, 85, 88, 89 contained in the first of these halves and the secondary finger 81 contained in the second half. This arrangement allows for good compactness of the recall device 56.

[0056] In the example shown, the primary pins 82, 83, 86, 87 are on the same side of the Y axis as the secondary finger 81, and the secondary pins 84, 85, 88, 89 are on the same side of the Y axis as the primary finger 80.

[0057] The second return device 56 also includes a plurality of elastic elements 90, 91 each in the shape of V. These elastic elements 90, 91 are here two in number and include a primary elastic element 90 and a secondary elastic element 91. In an alternative (not shown), the number of elastic elements 90, 91 is equal to three at most.

[0058] The primary elastic element 90 comprises a first branch 92 extending along a first direction LU orthogonal to the Y-axis from the primary finger 80 to a first free end 93 and a second branch 94 extending along a second direction L12 orthogonal to the Y-axis from the primary finger 80 to a second free end 95. These directions LU, L12 form an angle (not referenced). This angle is divided into two equal halves by an angle bisector KL. Advantageously, this angle bisector KL is, as shown, secant to the Y-axis when the lever 22 is in its neutral position.

[0059] The secondary elastic element 91 comprises a first straight branch 96 extending along a first direction L21 orthogonal to the Y-axis from the secondary finger 81 to a first free end 97 and a second straight branch 98 extending along a second direction L22 orthogonal to the Y-axis from the secondary finger 81 to a second free end 99. These directions L21, L22 form an angle (not referenced). This angle is divided into two equal halves by an angle bisector K2. Advantageously, this angle bisector K2 is, as shown, intersecting the Y-axis when the lever 22 is in its neutral position. Preferably, the angle bisector K2 is, as shown, coincident with the angle bisector KL

[0060] Each of said elastic organs 90, 91 is designed to oppose a rapprochement of its first and second free extremities 93, 95, 97, 99.

[0061] Each elastic element 90, 91 is for example constituted, as shown, by a torsion spring wound around the primary finger 80 or secondary finger 81. In alternative (not shown), at least one of these elastic elements 90, 91 is constituted by a pair of leaf springs made fixed to the finger 80, respectively 81, by one of their ends, each leaf spring constituting one of the branches 92, 94, respectively 96, 98, of the elastic element 90, respectively 91.

[0062] The primary elastic element 90 is interposed, along a transverse direction Q1 orthogonal to the Y axis and to the bisector Kl of the angle between the first and second directions LU, L12, between a first 82 of the primary stationary pins 82, 83 and a second 83 of said primary stationary pins 82, 83. In other words, the primary stationary pins 82, 83 frame the primary elastic element 90 along the transverse direction Ql.

[0063] Similarly, the secondary elastic member 91 is interposed, along a transverse direction Q2 orthogonal to the axis Y and to the bisector K2 of the angle between the first and second directions L21, L22, between a first 84 of the secondary stationary pins 84, 85 and a second 85 of said secondary stationary pins 84, 85. In other words, the secondary stationary pins 84, 85 frame the secondary elastic member 91 along the transverse direction Q2.

[0064] In particular, the first arm 92 of the primary elastic element 90 is in contact with the first primary stationary pin 82 and the second arm 94 of the primary elastic element 90 is in contact with the second primary stationary pin 83 when the lever 22 is in its neutral position. Similarly, the first arm 96 of the secondary elastic element 91 is in contact with the first secondary stationary pin 84 and the second arm 98 of the secondary elastic element 91 is in contact with the second secondary stationary pin 85 when the lever 22 is in its neutral position.Preferably, the contacts of the arms 92, 94 of the primary elastic element 90 with the primary stationary pins 82, 83 and / or the contacts of the arms 96, 98 of the secondary elastic element 91 with the secondary stationary pins 84, 85 are supported contacts, that is to say, the arms 92, 94 of the primary elastic element 90 are supported against the primary stationary pins 82, 83 and / or the arms 96, 98 of the secondary elastic element 91 are supported against the secondary stationary pins 84, 85 when the lever 22 is in its neutral position. For this purpose, the primary elastic element 90 is pre-stressed between said primary stationary pins 82, 83 and / or the secondary elastic element 91 is pre-stressed between said secondary stationary pins 84, 85.

[0065] The primary elastic element 90 is also interposed, along said transverse direction Q1, between a first 86 of the primary movable pins 86, 87 and a second 87 of the said primary movable pins 86, 87. In other words, the primary movable pins 86, 87 frame the primary elastic member 90 along the transverse direction Ql.

[0066] When the handle 22 is in its neutral position, as shown in [Fig. 7], the first primary movable pin 86 is at a first primary distance ai from the first arm 92 of the elastic element 90, and the second primary movable pin 87 is at a second primary distance a2 from the second arm 94 of the elastic element 90. Each of these distances aB a2 is constituted by the minimum distance between the outer surface of the primary movable pin, respectively 86, 87, and the outer surface of the arm, respectively 92, 94, of the elastic element 90. Advantageously, said first primary distance ai and second primary distance a2 are substantially equal to each other. Alternatively (not shown), the first and second primary distances ab a2 are different from each other.

[0067] Preferably, the first and second primary distances ab a2 are, as represented, zero, that is to say that the first branch 92 of the elastic member 90 is flush with the first primary movable pin 86 and the second branch 93 of the elastic member 90 is flush with the second primary movable pin 87 when the lever 22 is in its neutral position.

[0068] Similarly, the secondary elastic member 91 is also interposed, along said transverse direction Q2, between a first 88 of the secondary movable pins 88, 89 and a second 89 of said secondary movable pins 88, 89. In other words, the secondary movable pins 88, 89 frame the secondary elastic member 91 along the transverse direction Q2.

[0069] When the handle 22 is in its neutral position, as shown in [Fig. 7], the first secondary movable pin 88 is at a first secondary distance bi from the first arm 96 of the elastic element 91, and the second secondary movable pin 89 is at a second secondary distance b2 from the second arm 98 of the elastic element 91. Each of these distances b2 is constituted by the minimum distance between the outer surface of the secondary movable pin, respectively 88, 89, and the outer surface of the arm, respectively 96, 98, of the elastic element 91. Advantageously, said first secondary distance bi and second secondary distance b2 are substantially equal to each other. Alternatively (not shown), the first and second secondary distances bB and b2 are different from each other.

[0070] Advantageously, the first and second secondary distances bb b2 are, as shown, strictly greater than the first and second primary distances aH a2.

[0071] The primary elastic element 90 is thus interposed, along the transverse direction Q1, between the first primary stationary pin 82 and the second primary movable pin 87 on the one hand, and between the second primary stationary pin 83 and the first primary movable pin 86 on the other hand. Similarly, the secondary elastic member 91 is thus interposed, along the transverse direction Q2, between the first secondary stationary pin 84 and the second secondary movable pin 89 on the one hand, and between the second secondary stationary pin 85 and the first secondary movable pin 88 on the other hand.

[0072] Thus, when the lever 22 is pivoted in a first direction around the axis Y, as shown in [Fig.8], the displacement of the second primary movable pin 87 towards the first primary stationary pin 82 and the displacement of the second secondary movable pin 89 towards the first secondary stationary pin 84 generated by this pivoting results in a rapprochement of the first and second free ends 93, 95 of the branches 92, 94 of the primary elastic member 90 and a rapprochement of the first and second free ends 97, 99 of the branches 96, 98 of the secondary elastic member 91, rapprochements which are opposed by the elastic members 90, 91, thus exerting a counter-force on the lever 22. Similarly, when the lever 22 is pivoted in a second direction opposite to the first direction around the axis Y, as shown in the [Fig.9], the displacement of the first primary movable pin 86 towards the second primary stationary pin 83 and the displacement of the first secondary movable pin 88 towards the second secondary stationary pin 85 generated by this pivoting cause a rapprochement of the first and second free ends 93, 95 of the branches 92, 94 of the primary elastic member 90 and a rapprochement of the first and second free ends 97, 99 of the branches 96, 98 of the secondary elastic member 91, rapprochements which are opposed by the elastic members 90, 91, thus exerting a counter-force on the lever 22. .

[0073] Thanks to the arrangement of the primary pins 82, 83, 86, 87 and secondary pins 84, 85, 88, 89 relative respectively to the primary finger 80 and the secondary finger 81, the counter-force of the elastic members 90, 91 is symmetrical relative to the neutral position, that is to say that, at the same angle of inclination, the counter-force exerted is the same whether this inclination is observed in the first direction or in the second direction.

[0074] Moreover, the primary elastic member 90 being prestressed between the primary stationary pins 82, 83 and / or the secondary elastic member 91 being prestressed between the secondary stationary pins 84, 85, the return device 56 exerts a noticeable counter-force from the first degrees of inclination of the lever 22 around the Y axis.

[0075] Furthermore, the first arm 92 of the elastic element 90 being flush with the first primary movable pin 86 and the second arm 93 of the elastic element 90 being flush with the second primary movable pin 87 when the lever 22 is in its neutral position, the elastic element 90 is compressed from the first degrees of inclination of the lever 22 around the Y axis, so that the counter-force exerted by the device reminder 56 begins to increase from the first degrees of inclination of the lever 22 around the Y axis.

[0076] Finally, since the first and second secondary distances bB b2 are strictly greater than the first and second primary distances aB a2, the secondary movable pins 88, 89 come into contact with the arms 96, 98 of the secondary elastic element 91 when the lever 22 pivots around the Y-axis, after the primary movable pins 86, 87 have come into contact with the arms 92, 94 of the primary elastic element 90. The resistance of the secondary elastic element 91 to the pivoting of the lever 22 therefore only begins to be exerted once the lever 22 has reached a predetermined inclination. Thus, the counterforce exerted by the return device 56 increases from this predetermined inclination. This allows for a force law whose slope varies with the inclination, as shown in [Fig. 10].

[0077] It should be noted that it is also possible, with this variant, to have a force law for the return device 56 exhibiting several slope breaks. This is indeed the case when the number of elastic elements is three or more. The return device must then comprise as many fingers, pairs of stationary pins, and pairs of movable pins as there are elastic elements, each elastic element being associated with a pair of movable pins flanking the elastic element and codistant from the branches of the elastic element, each pair of movable pins being at a distance from the branches of the associated elastic element different from the distance of each other pair of movable pins to the branches of the associated elastic element.

[0078] Second variant of the first recall device 54

[0079] A second variant of the first recall device 54 is shown in Figures 11 to 14.

[0080] With reference to [Fig. 11], the first return device 54 comprises, according to this second variant, a primary finger 100 and a secondary finger 101 fixed to the frame 20, each finger 100, 101 projecting from a face of the frame 20, parallel to the X axis, towards the cradle 30. Each finger 100, 101 is here eccentric, that is to say it is at a distance from the X axis.

[0081] The first return device 54 also includes four stationary pins 102, 103, 104, 105, each fixed to the cradle 30 and projecting from a face of the frame 20, parallel to the X-axis, towards the cradle 30, and two movable pins 106, 108, each fixed to the cradle 30 and projecting from a face of the cradle 30, parallel to the X-axis, towards the frame 20. The stationary pins 102, 103, 104, 105 include primary stationary pins 102, 103 and secondary stationary pins 104, 105. Similarly, the movable pins 106, 108 include a primary movable pin 106 and a secondary movable pin 108.

[0082] Here, the primary stationary pins 102, 103 are substantially equidistant from the axis X and are substantially equidistant from the primary finger 100. Similarly, the secondary stationary pins 104, 105 are substantially equidistant from the X axis and are substantially equidistant from the secondary finger 101. In particular, the stationary pins 102, 103, 104, 105 are all substantially equidistant from the X axis.

[0083] Furthermore, the primary movable pins 106, 107 are substantially equidistant from the X-axis and are substantially equidistant from the primary finger 100 when the cradle 30 is in the neutral position. Similarly, the secondary movable pins 108, 109 are substantially equidistant from the X-axis and are substantially equidistant from the secondary finger 101 when the cradle 30 is in the neutral position. In particular, the movable pins 106, 107, 108, 109 are all substantially equidistant from the X-axis.

[0084] In the example shown, the primary pawns 102, 103, 106 are on the same side of the X-axis as the primary finger 100. In other words, there exists a plane containing the X-axis dividing the space into two halves, with the primary pawns 102, 103, 106 being contained in the same half as the primary finger 100. Similarly, the secondary pawns 104, 105, 108 are on the same side of the X-axis as the secondary finger 101. In other words, there exists a plane containing the X-axis dividing the space into two halves, with the secondary pawns 104, 105, 108 being contained in the same half as the secondary finger 101.

[0085] The first return device 54 also includes a primary elastic element 110 and a secondary elastic element 111, each in the shape of a V.

[0086] The primary elastic element 110 comprises a first branch 112 extending along a first direction C1 orthogonal to the X-axis from the primary finger 100 to a first free end 113 and a second branch 114 extending along a second direction C12 orthogonal to the X-axis from the primary finger 100 to a second free end 115. These directions C11 and C12 form an angle (not referenced). This angle is divided into two equal halves by an angle bisector ML. Advantageously, this angle bisector ML is, as shown, secant to the X-axis when the cradle 30 is in its neutral position.

[0087] The secondary elastic element 111 comprises a first straight branch 116 extending along a first direction C21 orthogonal to the X-axis from the secondary finger 101 to a first free end 117 and a second straight branch 118 extending along a second direction C22 orthogonal to the X-axis from the secondary finger 101 to a second free end 119. These directions C21, C22 form an angle (not referenced). This angle is divided into two equal halves by an angle bisector M2. Advantageously, this angle bisector M2 is, as shown, intersecting the X-axis when the cradle 30 is in its neutral position. Preferably, the angle bisector M2 is, as shown, coincident with the angle bisector ML

[0088] Each of said elastic organs 110, 111 is adapted to oppose a rap- approaching its first and second free extremities 113, 115, 117, 119.

[0089] Each elastic element 110, 111 is for example made up of a torsion spring wound around the primary finger 100 or secondary finger 101. In alternative (not shown), at least one of these elastic elements 110, 111 is made up of a pair of leaf springs made fixed to the finger 100, respectively 101, by one of their ends, each leaf spring constituting one of the branches 112, 114, respectively 116, 118, of the elastic element 110, respectively 111.

[0090] The primary elastic element 110 is interposed, along a transverse direction SI orthogonal to the axis X and to the bisector Ml of the angle between the first and second directions Cil, C12, between a first 102 of the primary stationary pins 102, 103 and a second 103 of said primary stationary pins 102, 103. In other words, the primary stationary pins 102, 103 frame the primary elastic element 110 along the transverse direction SI.

[0091] Similarly, the secondary elastic element 111 is interposed, along a transverse direction S2 orthogonal to the axis X and to the bisector M2 of the angle between the first and second directions C21, C22, between a first 104 of the secondary stationary pins 104, 105 and a second 105 of said secondary stationary pins 104, 105. In other words, the secondary stationary pins 104, 105 frame the secondary elastic element 111 along the transverse direction S2.

[0092] In particular, the first arm 112 of the primary elastic element 110 is in contact with the first primary stationary pin 102 and the second arm 114 of the primary elastic element 110 is in contact with the second primary stationary pin 103 when the cradle 30 is in its neutral position. Similarly, the first arm 116 of the secondary elastic element 111 is in contact with the first secondary stationary pin 104 and the second arm 118 of the secondary elastic element 111 is in contact with the second secondary stationary pin 105 when the cradle 30 is in its neutral position.Preferably, the contacts of the branches 112, 114 of the primary elastic element 110 with the primary stationary pins 102, 103 and the contacts of the branches 116, 118 of the secondary elastic element 111 with the secondary stationary pins 104, 105 are contacts with support, that is to say that the branches 112, 114 of the primary elastic element 110 are in support against the primary stationary pins 102, 103 and the branches 116, 118 of the secondary elastic element 111 are in support against the secondary stationary pins 104, 105 when the cradle 30 is in its neutral position. For this purpose, the primary elastic element 110 is prestressed between said primary stationary pins 102, 103 and the secondary elastic element 111 is prestressed between said secondary stationary pins 104, 105. .

[0093] The primary movable pin 106 is located on a first side of the elastic member primary 110 in the trigonometric direction, near the second branch 114 of the elastic member 110. It is at a primary distance pi from said second branch 114 when the cradle 30 is in its neutral position, this distance pi being constituted by the minimum distance between the outer surface of the primary movable pin 106 and the outer surface of the second branch 114.

[0094] The secondary movable pin 108 is located on a second side, opposite to the first side, of the secondary elastic member 111 in the trigonometric direction, near the first branch 116 of the elastic member 111. It is at a secondary distance p2 from said first branch 116 when the cradle 30 is in its neutral position, this distance p2 being constituted by the minimum distance between the outer surface of the secondary movable pin 108 and the outer surface of said first branch 116.

[0095] In particular, the primary and secondary distances pb p2 are preferably, as shown, substantially equal to each other. Advantageously, these primary and secondary distances pb p2 are, as shown, zero, that is to say that the second branch 114 of the primary elastic member 110 is flush with the primary movable pin 106 and the first branch 116 of the secondary elastic member 111 is flush with the secondary movable pin 108 when the cradle 30 is in its neutral position.

[0096] The primary elastic member 110 is thus interposed, along said transverse direction SI, between the first primary stationary pin 102 and the primary mobile pin 106. Similarly, the secondary elastic member 111 is thus interposed, along said transverse direction S2, between the second secondary stationary pin 105 and the secondary mobile pin 108.

[0097] Thus, when the cradle 30 is pivoted in a first direction around the X axis, as shown in [Fig. 12], the displacement of the primary movable pin 106 towards the first primary stationary pin 102 generated by this pivoting causes the first and second free ends 113, 115 of the branches 112, 114 of the primary elastic member 110 to come closer together, a coming closer which is opposed by the elastic member 110, thus exerting a counter-force on the cradle 30. Similarly, when the cradle 30 is pivoted in a second direction opposite to the first direction around the X axis, as shown in [Fig. 13], the movement of the secondary mobile pin 108 towards the second secondary stationary pin 105 generated by this pivoting causes a rapprochement of the first and second free ends 117, 119 of the branches 116, 118 of the secondary elastic member 111, a rapprochement which is opposed by the elastic member 111, thus exerting a counter-force on the cradle 30.

[0098] When the cradle 30 is in its neutral position, the second arm 114 of the primary elastic member 110 is flush with the primary movable pin 106, and the first arm 116 of the secondary elastic member 111 is flush with the secondary movable pin 108. This counter-force exerted by the return device 54 begins to increase. from the first degrees of inclination of the cradle 30 around the X axis.

[0099] Advantageously, the primary elastic element 110 has a different stiffness than the secondary elastic element 111, which allows for an asymmetrical force law relative to the neutral position of the cradle 30, as seen in [Fig. 14]. It is thus possible to adjust the force law of the return device 54 so as to compensate for the difference in force exerted by the rider between pronation and supination.

[0100] Moreover, the primary elastic member 110 being prestressed between the primary stationary pins 102, 103 and the secondary elastic member 111 being prestressed between the secondary stationary pins 104, 105, the return device 54 exerts a noticeable counter-force from the first degrees of inclination of the cradle 30, and therefore of the lever 22, around the axis X.

[0101] Advantageously, the same preload is applied to the primary and secondary elastic members 110, 111. As can be seen in [Fig. 14], this allows, unlike the first variant of the return device 54, for the initial force required to pivot the cradle 30 around the X axis (and therefore to tilt the lever 22 along the X axis) to be identical regardless of the direction of pivoting / tilting.

[0102] Second variant of the second recall device 56

[0103] A second variant of the second recall device 56 is shown in Figures 15 to 17.

[0104] With reference to [Fig. 15], the second return device 56 comprises, according to this second variant, a finger 120 integral with the cradle 30, this finger 120 projecting from one face of the cradle 120, parallel to the Y axis, towards the plate 49. The finger 120 is here eccentric, that is to say it is at a distance from the Y axis.

[0105] The second return device 56 also includes two stationary pins 122, 124 each fixed to the cradle 30 and projecting from one face of the cradle 30, parallel to the Y axis, towards the plate 49, and four movable pins 126, 127, 128, 129 each fixed to the plate 49 and projecting from one face of the plate 49, parallel to the Y axis, towards the cradle 30.

[0106] Here, the stationary pins 122, 124 are substantially equidistant from the Y axis. Moreover, the stationary pins 122, 124 are substantially equidistant from the finger 120 when the lever 22 is in its neutral position.

[0107] The movable pegs 126, 127, 128, 129 comprise first movable pegs 126, 127 aligned along a first line RI intersecting the Y-axis and second movable pegs 128, 129 aligned along a second line R2 also intersecting the Y-axis. The first movable pegs 126, 127 comprise a proximal first movable peg 126, relatively close to the Y-axis, and a distal first movable peg 127, relatively far from the Y-axis. The second movable pegs 128, 129 comprise a proximal second movable peg 128, relatively close to the Y-axis, and a distal second movable peg 127. distal 129, relatively distant from the Y axis.

[0108] Here, the proximal movable pins 126, 128 are substantially equidistant from the Y-axis and are substantially equidistant from the finger 120 when the lever 22 is in its neutral position. Furthermore, the distal movable pins 127, 129 are substantially equidistant from the Y-axis and are substantially equidistant from the finger 120 when the lever 22 is in its neutral position.

[0109] Moreover, each of the movable pawls 126, 127, 128, 129 is here at a distance from the Y axis greater than the distance of each of the stationary pawls 122, 124 to the Y axis. In addition, when the lever 22 is in its neutral position, each of the movable pawls 126, 127, 128, 129 is at a distance from the finger 120 greater than the distance of each of the stationary pawls 122, 124 to the finger 120.

[0110] In the example shown, the pegs 122, 124, 126, 127, 128, and 129 are on one side of the Y-axis, with the finger 120 on the other side. In other words, there is a plane containing the Y-axis that divides the space into two halves, with the pegs 122, 124, 126, 127, 128, and 129 contained in one of these halves and the finger 120 contained in the other half. This arrangement allows for good compactness of the return device 56.

[0111] The second return device 56 also includes a single elastic V-shaped member 130 having a first arm 132 extending from the finger 120 to a first free end 134 and a second straight arm 136 extending from the finger 120 to a second free end 138.

[0112] Each of the branches 132, 136 includes a primary straight portion, respectively 140, 142, configured to come into contact with the movable pins 126, 127, 128, 129. In the example shown, these primary straight portions 140, 142 constitute distal portions of the branches 132, 136, relatively distant from the finger 120, and include in particular the free ends 134, 138 of the branches 132, 136.

[0113] The primary straight portion 140 of the first branch 130 extends along a first direction El orthogonal to the Y axis. This first direction El intersects the finger 120 and in particular passes through the center of the finger 120. Thus, the first direction El is not secant to the Y axis when the lever 22 is in its neutral position.

[0114] The primary straight portion 142 of the second branch 132 extends along a second direction E2 orthogonal to the Y axis. This second direction E2 intersects the finger 120 and in particular passes through the center of the finger 120. Thus, the second direction E2 is not secant to the Y axis when the lever 22 is in its neutral position.

[0115] These directions El, E2 form a first angle (not referenced). This angle is divided into two equal halves by an angle bisector G. Advantageously, this angle bisector G is, as shown, secant to the Y axis when the lever 22 is in its neutral position.

[0116] Each of the branches 130, 132 also includes a secondary straight portion, respectively 144, 146, configured to come into contact with the stationary pins 122, 124. In the example shown, these secondary straight portions 144, 146 constitute proximal portions of the branches 132, 136, relatively close to the finger 120, and extend in particular from the finger 120.

[0117] Here, each of the branches 132, 136 is bent so that its secondary straight portion, respectively 144, 146, is not aligned with its primary straight portion, respectively 140, 142. The proximal portion 144, 146 of each branch 132, 134 is connected to the distal portion, respectively 140, 142, of said branch 132, 134 by a connecting portion, respectively 147, 148.

[0118] The secondary straight portion 144 of the first branch 132 extends along a third direction E3 orthogonal to the Y axis. This third direction E3 intersects the finger 120 and in particular passes through the center of the finger 120. Thus, the third direction E3 is not secant to the Y axis when the lever 22 is in its neutral position.

[0119] The secondary straight portion 146 of the second branch 136 extends along a fourth direction E4 orthogonal to the Y axis. This fourth direction E4 intersects the finger 120 and in particular passes through the center of the finger 120. Thus, the fourth direction E4 is not secant to the Y axis when the lever 22 is in its neutral position.

[0120] These directions E3, E4 form a second (unreferenced) angle greater than the first angle. This angle is divided into two equal halves by an angle bisector H. Advantageously, this angle bisector H is, as shown, intersecting the Y-axis when the lever 22 is in its neutral position. The angle bisector H typically coincides with the angle bisector G.

[0121] The elastic organ 130 is designed to prevent the first and second free ends 134, 138 from coming together.

[0122] The elastic element 130 is for example constituted, as shown, by a torsion spring wound around the finger 120. In alternative (not shown), the elastic element is constituted by a pair of leaf springs made fixed to the finger 120 by one of their ends, each leaf spring constituting one of the branches 132, 136 of the elastic element 130.

[0123] The elastic member 130 is interposed, along a transverse direction U orthogonal to the axis Y and to the bisector G of the angle between the first and second directions El, E2, between a first 122 of the stationary pins 122, 124 and a second 124 of said stationary pins 122, 124. In other words, the stationary pins 122, 124 frame the elastic member 130 along the transverse direction U.

[0124] In particular, the proximal portion 144 of the first branch 132 of the elastic organ 130 is in contact with the first stationary pin 122 and the proximal portion 136 of the second branch 134 of the elastic organ 130 is in contact with the second stationary pin 124 when the lever 22 is in its neutral position. Preferably, each of these contacts is supported, that is, the proximal portion 144 of the first arm 132 of the elastic element 130 is supported against the first stationary pin 122 and the proximal portion 136 of the second arm 134 of the elastic element 130 is supported against the second stationary pin 124 when the lever 22 is in its neutral position. For this purpose, the elastic element 130 is pre-stressed between said stationary pins 122, 124. Thus, the return device 56 exerts a noticeable counter-force from the first degrees of inclination of the lever 22 around the Y-axis.

[0125] The elastic element 130 is also interposed, along said transverse direction U, between the first movable points 126, 127 on the one hand and the second movable points 128, 129 on the other hand. In other words, the movable points 126, 127, 128, 129 frame the elastic element 130 along the transverse direction U.

[0126] The elastic element 130 is thus interposed, along the transverse direction U, between the first stationary pin 122 and the second movable pins 128, 129 on the one hand, and between the second stationary pin 124 and the first movable pins 126, 127 on the other hand. Thus, when the lever 22 is pivoted in a first direction around the axis Y, as shown in [Fig. 16], the displacement of the second movable pins 128, 129 towards the first stationary pin 122 caused by this pivoting results in a coming together of the first and second free ends 134, 138 of the arms 132, 136 of the elastic element 130, a coming together which is opposed by the elastic element 130, thus exerting a counter-force on the lever 22.Similarly, when the lever 22 is pivoted in a second direction opposite to the first direction around the Y axis, the displacement of the first movable pins 126, 127 towards the second stationary pin 124 generated by this pivoting causes a rapprochement of the first and second free ends 134, 138 of the arms 132, 136 of the elastic member 130, a rapprochement which is opposed by the elastic member 130, thus exerting a counter-force on the lever 22. .

[0127] When the lever 22 is in its neutral position, as shown in the [Fig.

[15] , the first proximal mobile pin 126 is at a first proximal distance Ei from the first branch 132 of the elastic organ 130, the first distal mobile pin 127 is at a first distal distance ôi from the first branch 132 of the elastic organ 130, the second proximal mobile pin 128 is at a second proximal distance e2 from the second branch 134 of the elastic organ 130 and the second distal mobile pin 129 is at a second distal distance ô2 from the second branch 134 of the elastic organ 130. Each of said distances Eb e2, ôb ô2 is constituted by the minimum distance between the outer surface of the mobile pin, respectively 126, 127, 128, 129, and the outer surface of the branch, respectively 132, 134, of the elastic organ 130.

[0128] Preferably, the first proximal distance Ei is, as shown, substantially equal to the second proximal distance e2. Similarly, the first distal distance ôi is preferably, as shown, substantially equal to the second distal distance ô2.

[0129] In particular, the first and second proximal distances Eb e2 are zero, that is, the first arm 132 of the elastic element 130 is flush with the first movable pin 126 and the second arm 134 of the elastic element 130 is flush with the second movable pin 128 when the lever 22 is in its neutral position. Thus, the counter-force exerted by the return device 56 begins to increase from the first degrees of inclination of the lever 22 around the Y-axis.

[0130] Advantageously, the first distal distance ôi is, as shown, strictly greater than the first proximal distance Eb. Similarly, the second distal distance ô2 is, as shown, strictly greater than the second proximal distance e2. Thus, when the lever 22 begins to pivot about the Y-axis, only the first or second proximal pin 126, 128 (depending on the direction of pivoting) presses on the elastic element 130. The counter-force generated by the return device 56 is therefore a function of the torque exerted by the elastic element 130 on the first or second proximal pin 126, 128. It is only when the pivoting of the lever 22 is such that the first or second direction E1, E2 becomes secant to the Y-axis that the first, respectively the second, distal pin 127, 129 comes into contact with the elastic element 130.From this inclination, the counter-force generated by the return device 56 is therefore a function of the torque exerted by the elastic element 130 on the first or second distal pin 127, 129. Since the latter is further from the finger 120 than the corresponding proximal pin 126, 128, the torque exerted by the elastic element 130 is greater, so the counter-force produced by the return device 56 is increased. This results in a force law whose slope varies with the inclination, as shown in [Fig. 17].

[0131] Third variant of the first recall device 54

[0132] A third variant of the first recall device 54 is shown in Figures 18 and 19. Since this third variant is very close to the first variant, the same reference symbols are used as for the description of the latter for the elements common to the two variants.

[0133] With reference to [Fig. 18], this third variant differs from the first variant only in the following characteristics.

[0134] First, the movable pins 66, 68 are not at different distances from the X-axis or the finger 60: on the contrary, the movable pins 66, 68 are substantially equidistant from the X-axis and substantially equidistant from the finger 60 when the cradle 30 is in its neutral position. The distances rb r2 are therefore substantially equal to each other. the other one.

[0135] Next, each movable pin 66, 68 has a bearing surface 150 against the first, respectively against the second arm 72, 76 of the elastic element 70 which is particular: this bearing surface 150 is in fact constituted by a cam surface 152. This makes it possible to vary the distance between the bearing point of the movable pin 66, 68 against the arm, respectively 72, 76, as a function of the angle of inclination of the cradle 30 around the axis X and, thus, to vary the torque exerted by the elastic element 70 and therefore the counter-force produced by the return device 70. This makes it possible to obtain a very complex force law of the return device 54, of the "smooth law" type, as seen in [Fig. 19]. In addition, this makes the return device 54 easily configurable, since, to obtain a specific effort law, it is sufficient to modify the profile of the cam surface 152.

[0136] Thus, thanks to the embodiment examples described above, it is possible to produce a complex force law for a joystick-type control device by means of a simple passive force feedback system, this passive force feedback system being compact, economical, simple to implement and easy to parameterize.

[0137] Although the features of the invention have been described herein in different variants, the features of these different variants can be freely combined with one another. For example, the features of the first and second variants of the second return device 56 are freely applicable to the first return device 54, which exhibits the features of these variants, particularly when the X-axis constitutes the pitch axis. Similarly, the features of the first, second, and third variants of the first return device 54 are freely applicable to the second return device 56, which exhibits the features of these variants, particularly when the Y-axis constitutes the roll axis.Furthermore, the fact of having a mobile pin bearing surface constituted by a cam surface, as described in the third variant of the first return device 54, is freely applicable to all return device variants 54, 56 described here.

Claims

1. Demands A control device (12) comprising a frame (20), a control lever (22) and a mechanical joint (24) guiding the control lever (22) in rotation relative to the frame (20) by means of two pivot joints (26a, 26b) with orthogonal axes (X, Y), the mechanical joint (24) comprising, for each of said pivot joints (26a, 26b), a stationary part (50) relative to the axis (X, Y) of the pivot joint (26a, 26b) and a movable part (52) jointly with the control lever (22) around the axis (X, Y) of the pivot joint (26a, 26b) relative to the stationary part (50), the mechanical joint (24) further comprising, for at least one of the pivot joints (26a, 26b), a device (54, 56) for returning the movable part (52) to a predetermined position, said neutral position, relative to the stationary part (50), in which said return device (54, 56) comprises at least one elastic member (70, 90, 91, 110, 111, 130) comprising a first arm (72, 92, 96, 112, 116,132) extending along a first direction (D1, LU, L21, C11, C21, E1) orthogonal to the axis (X, Y) of the pivot joint (26a, 26b) from a finger (60, 80, 81, 100, 101, 120) fixed to one of the moving (52) and stationary (50) parts to a first free end (74, 93, 97, 113, 117, 134) and a second branch (76, 94, 98, 114, 118, 136) extending along a second direction (D2, L12, L22, C12, C22, E2) orthogonal to the axis (X, Y) of the pivot joint (26a, 26b) from said finger (60, 80, 81, 100, 101, 120) up to a second free end (78, 95, 99, 115, 119, 138), the elastic element(s) (70, 90, 91, 110, 111, 130) being designed to prevent the first free end (74, 93, 97, 113, 117, 134) from approaching the second free end (78, 95, 99, 115, 119, 138), the elastic element (70, 90, 91, 110, 111, 130) being interposed, along a transverse direction (T, Q1, Q2, SI, S2, U) orthogonal to the bisector (B, K1, K2, M1, M2,G) of the angle between the first direction (D1, LU, L21, C11, C21, E1) and the second direction (D2, L12, L22, C12, C22, E2), between a stationary pawn (62, 64, 82, 83, 84, 85, 102, 103, 104, 105, 122, 124) fixed to the stationary piece (50) and a movable pawn (66, 68, 86, 87, 88, 89, 106, 108, 126, 127, 128, 129) fixed to the movable piece (52), and in which the or each movable pawn (66, 68) has a surface, (150) bearing against the first or second branch (72, 76) of the elastic member (70), said bearing surface (150) being constituted by a cam surface (152).

2. Control device according to claim 1, in which the elastic member (70, 90, 91, 110, 111, 130) is interposed, along the transverse direction (T, Q1, Q2, SI, S2, U), between a first stationary pin (62, 82, 84, 102, 104, 122) integral with the stationary part (50) and a second stationary pin (64, 83, 85, 103, 105, 124) integral with the stationary part (50).

3. A piloting device (12) according to claim 2, wherein the first arm (72, 92, 96, 112, 116, 132) bears against the first stationary pin (62, 82, 84, 102, 104, 122) and the second arm (76, 94, 98, 114, 118, 136) bears against the second stationary pin (64, 83, 85, 103, 105, 124) when the moving part (52) is in its neutral position, the elastic element (70, 90, 91, 110, 111, 130) being pre-stressed between said first stationary pin (62, 82, 84, 102, 104, 122) and said second stationary pawn (64, 83, 85, 103, 105, 124).

4. Steering device (12) according to any one of the preceding claims, wherein the elastic member (70, 90, 91, 130) is interposed, along the transverse direction (T, Q1, Q2, U), between a first movable pin (66, 86, 88, 126, 127) integral with the movable part (52) and a second movable pin (68, 87, 89, 128, 129) integral with the movable part (52).

5. Pilot device (12) according to claim 4, wherein, when the movable part (52) is in its neutral position, a first distance (db aB bb £i, ôi) between the first movable pin (66, 86, 88, 126, 127) and the first branch (72, 92, 96, 112, 116, 132) is substantially equal to a second distance (d2, a2, b2, e2, ô2) between the second movable pin (68, 87, 89, 128, 129) and the second branch (76, 94, 98, 114, 118, 136).

6. Control device (12) according to claim 4 or 5, wherein a first distance (rj) between the first movable pin (66) and the finger (60) is strictly less than or equal to a second distance (r2) between the second movable pin (68) and the finger (60).

7. A control device (12) according to any one of claims 1 to 5, wherein the elastic element (130) is interposed, along the transverse direction (S1, S2), between, on the one hand, a plurality of movable pins (126, 127) fixed to the movable part (52) and, on the other hand, to the

8.

9. less a stationary pin (124) integral with the stationary part (50), the movable pins (126, 127) being aligned along a straight line (RI) intersecting the axis (X, Y) of the pivot joint (26a, 26b) and comprising a proximal movable pin (126), close to the finger (120), and a distal movable pin (127), distant from the finger (120), the first branch (132) comprising a straight portion (140), adapted to bear against said movable pins (126, 127) and extending in a direction (E1) not intersecting the axis (X, Y) of the pivot joint (26a, 26b) when the movable part (52) is in its neutral position, said portion (140) being closer to the proximal movable pin (126) than to the distal movable pin (127) when the movable part (52) is in its neutral position, the finger (120) being fixed to the stationary part (50). Control device (12) according to any one of the preceding claims, wherein the return device (54, 56) comprises a plurality of elastic members (90, 91, 110, 111). Control device (12) according to claim 8, in which the elastic members (90, 91) comprise a primary elastic member (90) interposed, along the transverse direction (Q1, Q2), between a first primary movable pin (86) integral with the movable part (52) and a second primary movable pin (87) integral with the movable part (52), and a secondary elastic member (91) interposed, along the transverse direction (Q1, Q2), between a first secondary movable pin (88) integral with the movable part (52) and a second secondary movable pin (89) integral with the movable part (52),a first primary distance (ai) between the first primary movable pin (86) and the first branch (92) of the primary elastic organ (90) and / or a second primary distance (a2) between the second primary movable pin (87) and the second branch (94) of the primary elastic organ (90) being different from a first secondary distance (a2) between the first secondary movable pin (88) and the first branch (96) of the secondary elastic organ (91) and a second secondary distance (b2) between the second secondary movable pin (89) and the second branch (98) of the secondary elastic organ (91).

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