Joystick
The joystick design with independent redundant return mechanisms addresses common-mode failures and wear issues by balancing vertical forces and providing haptic feedback, ensuring reliable operation and reduced wear.
Patent Information
- Authority / Receiving Office
- FR · FR
- Patent Type
- Applications
- Current Assignee / Owner
- CROUZET SA
- Filing Date
- 2024-12-17
- Publication Date
- 2026-06-19
AI Technical Summary
Existing joysticks with redundant return mechanisms are susceptible to common-mode failures due to identical springs bearing against the same edge, leading to simultaneous failure and increased wear.
A joystick design with two redundant return mechanisms, where each mechanism includes an elastically deformable assembly, with one assembly interposed between a seat and a rim, and a shuttle sliding along the handle, ensuring independent operation and reduced wear by balancing vertical forces and providing a non-linear restoring moment.
Prevents common-mode failures and reduces wear on the joint by ensuring independent operation of the return mechanisms, maintaining precise neutral position and minimizing friction, while offering haptic feedback for user guidance.
Smart Images
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Abstract
Description
Title of the invention: Joystick
[0001] The invention relates to a joystick and a method of mounting this joystick.
[0002] Such joysticks are used, for example, to pilot vehicles such as aircraft. In this context, joystick failures must be absolutely avoided. To this end, it is necessary to equip the joystick with two redundant return mechanisms. Each of these return mechanisms is capable of returning the joystick to its neutral position on its own. Thus, if one of these return mechanisms fails, the other return mechanism will still allow the joystick to return to its neutral position.
[0003] Such a joystick equipped with two return mechanisms has already been proposed in application EP3881160. The joystick disclosed in application EP3881160 has many advantages. In particular, the return mechanisms are arranged relative to each other to further limit wear on the joint that allows the handle to pivot.
[0004] However, in the EP3881160 joystick, a simultaneous failure of both return mechanisms is possible. Indeed, in the EP3881160 joystick, the springs of the two return mechanisms bear against opposite faces of the same edge. Therefore, if this edge fails, both return mechanisms fail simultaneously. Such a failure is called a "common-mode failure" because if it occurs, it causes both return mechanisms to fail simultaneously. Furthermore, the springs of the two return mechanisms are identical and subjected to the same stresses. Thus, they will wear at the same rate, so a simultaneous failure or failure at close intervals is also possible.
[0005] The invention aims to remedy this drawback by proposing a device in which common-mode failures between the two redundant return mechanisms are avoided while retaining at least some of the advantages of the joystick of application EP3881160.
[0006] The invention therefore relates to a joystick comprising:
[0007] - a fixed chassis,
[0008] - a handle that extends, along an axis called the "handle axis", from a upper part down to a lower part received inside the fixed chassis, the upper part being accessible from outside the chassis and allowing the handle to be moved in rotation between a neutral position and an inclined position, the neutral position being the position of the handle in the absence of external stress on the handle,
[0009] - a first and a second rim, each integral with the handle,
[0010] - a first and a second set of elastically deformable assemblies, the The first seat being fixed to the frame,
[0011] - a first return mechanism capable, by itself, of returning the handle from its inclined position until its neutral position, this first return mechanism comprising a first elastically deformable assembly interposed between the first seat and the first edge,
[0012] - a second return mechanism capable, by itself, of returning the handle from its inclined position until it returns to its neutral position such that, regardless of the inclined position, the first and second return mechanisms are redundant, this second mechanism comprising a second elastically deformable assembly,
[0013] wherein the second recall mechanism comprises:
[0014] - a contact face integral with the chassis,
[0015] - a shuttle free to slide along the axis of the handle, this shuttle comprising, on one side, a skate resting on the contact surface and, on the opposite side, the second seat, and
[0016] - the second elastically deformable assembly is interposed between the second seat and the second rim so that the second elastically deformable assembly constantly forces the pad against the contact face.
[0017] Embodiments of this joystick may include one or more of the following features:
[0018] 1)
[0019] - the joystick has a joint, this joint having a male part and a female part, one of the male and female parts being fixed without any degree of freedom on the lower part of the handle, and the other of the male and female parts being fixed without any degree of freedom on the fixed frame, and wherein the male and female parts have corresponding and opposite bearing faces, these bearing faces being shaped to permit, by cooperation of form when they rub against each other, a rotational movement of the handle around one or more axes of rotation fixed relative to the frame and perpendicular to the axis of the handle,
[0020] - the first elastically deformable assembly is arranged so as to exert on the handle, in its inclined position, a mechanical moment which forces the handle towards its neutral position and, at the same time, a first vertical force, parallel to a vertical axis coinciding with the axis of the handle when this handle is in the neutral position, which pushes the support face attached to the handle towards the support face attached to the frame,
[0021] - the second elastically deformable assembly is arranged so as to exert on the handle, in the inclined position, a mechanical moment which forces the handle towards the neutral position and, at the same time, a second vertical force, parallel to the vertical axis, in the opposite direction to the first vertical force.
[0022] 2) The second elastically deformable assembly is capable of exerting a second vertical force whose amplitude is between 0.9IFJ and 1.1IFJ, where IFJ is the amplitude of the first vertical force exerted by the first elastically deformable assembly in the same inclined position.
[0023] 3) The contact face is shaped so that the restoring moment exerted by the second return mechanism varies non-linearly depending on the angle of inclination of the handle or depending on the direction in which the handle is inclined.
[0024] 4)
[0025] - the first elastically deformable assembly comprises a single spring helical centered on a vertical axis and the second seat is housed inside this helical spring, the vertical axis coinciding with the axis of the handle when this handle is in the neutral position, or
[0026] - the first elastically deformable assembly comprises several springs uniformly distributed around the vertical axis and the second seat is housed between these springs.
[0027] 5) The first and second return mechanisms are entirely located on the side of the first edge turned towards the upper part of the handle.
[0028] 6)
[0029] - the chassis includes a partition that delimits first and second volumes distinct parts that communicate with each other only through an opening in this partition and through which the handle passes, and
[0030] - the first and second recall mechanisms are housed, respectively, in the first and second volumes.
[0031] 7) The handle has a protrusion projecting above the first rim and shaped to obstruct most of the opening in the partition regardless of the handle's position.
[0032] 8) The first and second elastically deformable assemblies each comprise a single spring centered on the vertical axis when the handle is in its neutral position.
[0033] The invention also relates to a method for mounting the above joystick, wherein the method comprises, in order:
[0034] - the placement of the first elastically deformable assembly supported on the first edge,
[0035] - the installation of an upper shell of the chassis, this upper shell comprising the first seat for interposing the first elastically deformable assembly between the first edge and the first seat,
[0036] - the placement of the shuttle resting on the contact face provided in the shell superior,
[0037] - the placement of the second elastically deformable assembly supported on the second seat of the shuttle,
[0038] - the attachment to the handle of the second rim to interpose the second assembly elastically deformable between the second seat and the second edge,
[0039] - the assembly, on the lower side of the handle, of a lower shell of the chassis on the upper shell to form the complete chassis.
[0040] The invention will be better understood upon reading the following description, given solely by way of non-limiting example and made with reference to the drawings in which:
[0041] - Fig. 1 is a schematic illustration in vertical cross-section of a joystick in a neutral position;
[0042] - [Fig. 2] is a schematic illustration, in vertical section, of the joystick of the [Fig.1] in an inclined position;
[0043] - [Fig.3] is a schematic, perspective illustration of the joystick in [Fig.2];
[0044] - [Fig. 4] is a schematic, perspective illustration of elements of a joystick return mechanism of [Fig.1];
[0045] - [Fig. 5] is a schematic illustration, in top view, of a border of the joystick of the [Fig.1],
[0046] - [Fig.6] is a flowchart of a method for assembling the joystick of [Fig.1].
[0047] In this description, the terminology, conventions, and definitions of the terms used in this text are introduced in Chapter I. Detailed examples of embodiments are then described in Chapter II with reference to the figures. In Chapter III, variants of these embodiments are presented. Finally, the advantages of the different embodiments are specified in Chapter IV.
[0048] Chapter I: Definitions, terminology and conventions:
[0049] In the figures, the same references are used to designate the same elements.
[0050] In the remainder of this description, the well-known characteristics and functions of a person skilled in the art are not described in detail.
[0051] The figures are oriented with respect to an orthogonal XYZ coordinate system, where the X and Y directions are horizontal and the Z direction is vertical. Terms such as "above" ", "below", "high", "low", "superior", "lower" are defined with respect to the Z direction.
[0052] A hard material is a material whose Young's modulus, at 20°C, is greater than 50 GPa or 100 GPa.
[0053] The symbol “*” denotes scalar multiplication.
[0054] Chapter II: Example of an embodiment
[0055] Figures 1 to 5 represent a joystick 2 comprising a handle 4 and a fixed chassis 6. This joystick 2 is, in part, identical to that described in application EP3881160. Thus, the following mainly describes in detail the differences between joystick 2 and the joystick of application EP3881160.
[0056] The handle 4 is rotatable around a center of rotation 8 between a neutral position, shown in [Fig. 1], and an inclined position, shown in Figures 2 to 4. The neutral position corresponds to the angular position occupied by the handle 4 in the absence of external forces, and therefore when the handle 4 is not being manipulated by a user. The user is typically a human being.
[0057] The handle 4 extends mainly along an axis 10 from an upper part 12 to a lower part 14. Typically, the axis 10 passes through the center 8.
[0058] In this embodiment, in the neutral position, the axis 10 coincides with a vertical axis 20. The axis 20 is fixed without any degree of freedom to the frame 6. The inclination of the handle 4 corresponds to the angle α ([Fig. 2]) between the axes 10 and 20.
[0059] The upper part 12 includes a gripping means that allows the user to manually move the handle 4 between its inclined position and its neutral position. For example, the upper part 12 includes, in particular, a rod 22 that projects beyond an upper horizontal face 24 of the frame 6.
[0060] In this embodiment, the handle 4 can pivot around all horizontal axes passing through the center 8. For this purpose, the handle 4 is mechanically connected to the chassis 6 by means of a joint 26.
[0061] The joint 26 forms a ball joint allowing all possible degrees of freedom in rotation about the center 8 and no degrees of freedom in translation. "No degrees of freedom in translation" means that the maximum amplitudes of translational displacements along the X, Y, and Z directions are negligible. A translational displacement is considered negligible if, for example, its amplitude is less than 5 mm and, preferably, less than 2 mm or 1 mm.
[0062] The joint 26 comprises a male part 28 and a female part 30. The male part 28 is fixed without any degree of freedom to the lower part 14 of the handle 4. Here, the male part 28 is fixed to the lower end of the rod 22. Conversely, the female part 30 is fixed without any degree of freedom to the frame 6. The male part 28 is received inside the female part 30.
[0063] The male part 28 has a bearing face 32 opposite a corresponding bearing face 34 of the female part 30. The bearing faces 32 and 34 are shaped to allow, by cooperation of form, only the rotational degrees of freedom of the handle 4. To this end, the faces 32 and 34 are formed by portions, respectively, of a first and a second sphere, both centered on the center 8. For example, here, in the neutral position, the faces 32 and 34 each correspond to the band of a sphere located between two parallel and horizontal planes that intersect this sphere below its center 8.
[0064] Preferably, in the absence of external stress on the handle 4, the bearing faces 32, 34 are separated from each other by a clearance J. This clearance J is as small as possible. Typically, the clearance J is less than 1 mm, 0.5 mm, or 0.05 mm. For example, the clearance J is greater than 0.01 mm. In Figures 1 to 2, the clearance J corresponds to the thickness of the line separating the bearing faces 32 and 34.
[0065] Above the male part 28, the handle 4 has a circular rim 40. The rim 40 is centered on the axis 10 and makes a complete circumference around the axis 10. The rim 40 extends mainly in a plane perpendicular to the axis 10. This rim 40 has a parallel upper face 42 ([Fig. 1]) and a parallel lower face 44 ([Fig. 1]). In the neutral position, the faces 42 and 44 are horizontal.
[0066] The handle 4 also includes a pusher 54 that can be moved in translation along the axis 10 between a depressed position and a rest position shown in Figures 1 and 2. The pusher 54 includes a slide 56 and a cap 58 fixed, without any degree of freedom, to the upper end of the slide 56. Here, the slide 56 slides along the axis 10 inside the rod 22 and the male part 28 of the joint 26. For this purpose, the rod 22 and the male part 28 are hollowed out along the axis 10 to provide a channel 60 ([Fig. 1] and 4) which passes completely through the handle 4. The upper portion of this channel 60 guides the pusher 56 in translation along the axis 10. The upper portion of the channel is cylindrical and, for example, its cross-section is circular. The lower portion of canal 60, hollowed out in the male part of joint 26, opens at the bottom of the male part 28.This lower portion of the channel 60 allows the lower end of the slide 56 to be pushed further into the frame 6 when the pusher 54 is in its depressed position. The lower portion of the channel 60 is cylindrical and, for example, has a circular cross-section. Here, the diameter of the lower portion of the channel 60 is greater than the diameter of the upper portion of this channel to form a shoulder against which the slide 56 rests when the pusher 54 is in its rest position.
[0067] Correspondingly, the slide 56 is here an essentially cylindrical part received inside the channel 60.
[0068] By way of example only, here the joystick 2 is arranged to allow the movement of the push button 54 towards its pressed position both in its neutral position and in all its inclined positions.
[0069] The push button 54 moves from its rest position to its depressed position when a user presses the cap 58 with a finger. Conversely, the push button 54 automatically returns to its rest position as soon as the user releases the cap 58.
[0070] To automatically return the push button 54 to its rest position, the joystick 2 is equipped with a spring-loaded return mechanism 62. For example, this return mechanism 62 comprises:
[0071] - a rim 70, fixed without any degree of freedom on the upper part of the rod 22, And
[0072] - a spring 72 interposed between this rim 70 and the cap 58.
[0073] The rim 70 has an upper face in which a seat 74 is provided for an elastically deformable assembly. In this example, the seat 74 has an upward-projecting protrusion that is housed inside the lower coils of the spring 72. A seat 76 for an elastically deformable assembly is also provided in an underside face of the cap 58. The spring 72 bears directly, on one side, on the seat 74 and, on the opposite side, on the seat 76. Here, the spring 72 is a helical spring whose coils wind around the slide 56.
[0074] When the push button 54 is moved to its depressed position, the spring 72 is compressed between the seats 74 and 76 and thus stores potential energy. When the user releases the push button 54, the spring 72 relaxes, which automatically returns the push button 54 to its rest position.
[0075] In this embodiment, to measure the angular position of the joystick 4 relative to the frame 6 and to detect the depressed position of the push button 54, the joystick 2 uses the same permanent magnet 80 and the same electronic circuit 82. The magnet 80 is fixed, without any degrees of freedom, to the lower end of the slider 56. The electronic circuit 82 is housed inside the frame 6. This circuit 82 includes a magnetic field sensor 84, for example, centered on the axis 20 and located below the magnet 80 in the neutral position. Typically, the sensor 84 is a triaxial magnetometer. The circuit 82 is capable, based on the measurements taken by the sensor 84, of simultaneously determining the angular position of the joystick 4 and detecting the depressed position of the push button 54.
[0076] The handle 4 includes a rotation blocker 88 ([Fig. 4] and 5) which prevents the handle 4 from being rotated about itself around the axis 10 while allowing the handle 4 to pivot about any horizontal axis passing through the center 8. This blocker 88 is identical to that described in application EP3881160 except that it uses two pins 90 ([Fig. 4]) diametrically opposed with respect to the axis 10. Thus, the blocker 88 is not described here in detail. It is only recalled that each of these pins 90 is received at sliding inside a respective vertical groove 92 ([Fig.1] and 5) fitted in the chassis 6. These vertical grooves 92 also allow each pin 90 to rotate on itself.
[0077] Here, the chassis 6 is mainly formed by an upper shell 100 and a lower shell 102. The shells 100 and 102 are assembled one on top of the other without any degree of freedom. The shell 100 has an opening 103 ([Fig. 3]) which opens into the upper face 24 and is centered on the axis 20. This opening 103 is traversed by the rod 22. The wall of this opening 103 also serves as a stop to limit the angular deflection of the handle 4 around the center 8.
[0078] The shell 102 has a fixed horizontal rim 104 ([Fig. 5]) that projects inside the frame 6 and is located opposite the rim 40 when the handle 4 is in its neutral position. The rim 104 is centered on the center 8 and makes almost a complete circumference around the axis 20. Here, the rim 104 is therefore essentially circular. In this embodiment, the rim 104 is traversed by diametrically opposed grooves 92.
[0079] The rim 104 has an upper face 106 ([Fig. 5]). When the handle 4 is in its neutral position, the face 106 extends in a first horizontal plane and the face 42 of the rim 40 extends in a second horizontal plane. This first horizontal plane is either coincident with the second horizontal plane or located above this second horizontal plane. For example, the shortest distance between these first and second horizontal planes is generally between 0 mm and 1 mm or between 0 mm and 0.5 mm. For example, the rim 104 and the shell 102 form a single block of material.
[0080] The joystick 2 includes two redundant mechanisms 110 and 112 for returning the joystick 4 to its neutral position. These return mechanisms 110 and 112 are called "redundant" because each one can return the joystick 4 to its neutral position from any tilted position of the joystick 4. Thus, if one of the mechanisms 110 or 112 fails, the joystick 4 is still correctly returned to its neutral position by the other, non-failing return mechanism. Furthermore, the mechanisms 110 and 112 are also designed to limit friction between the bearing surfaces 32 and 34 of the joint 26.
[0081] Mechanism 110 is similar to that described in application EP3881160 except that it comprises only one elastically deformable assembly. An elastically deformable assembly is an assembly of one or more elements that store potential energy when deformed and then release this potential energy when they return to their initial state. More specifically, mechanism 110 comprises:
[0082] - an elastically deformable assembly 120, and
[0083] - a movable annular plate 124.
[0084] In this embodiment, the assembly 120 comprises a single helical spring 122 whose coils are centered on the axis 20 in the neutral position. Thus, the central axis of the spring 122 coincides with the axis 20 in the neutral position.
[0085] In the neutral position, the plate 124 extends in a horizontal plane. In the neutral position, it is supported, all around the axis 20, directly, on the face 106 of the edge 104.
[0086] The plate 124 is rigid, that is, made of a hard material. In the neutral position, the plate 124 also extends over the face 42 of the rim 40. Here, the plate 124 is a metal washer. Thus, when the handle 4 is tilted, one side of the face 42 rests directly on one side of the plate 124 and lifts that side of the plate 124 upwards, as illustrated in [Fig. 2]. The opposite side, with respect to the axis 10, of the plate 124 remains directly resting on the face 106 of the rim 104. In other words, the plate 124 moves from a horizontal position, shown in [Fig. 1], to a tilted position shown in [Fig. 2]. In [Fig. 2], for the sake of simplicity, the spring 122 has not been shown.
[0087] The assembly 120 is interposed between a seat 126 and the faces 42 and 106. The seat 126 is arranged in the upper part of the shell 100. Here, the seat 126 and the shell 100 form a single block of material. More precisely, the assembly 120 rests directly, on its upper side, on the seat 126 and, on its opposite side, on the plate 124.
[0088] The length of the spring 122 is adjusted so that, in the neutral position, it constantly presses the plate 124 against the face 106. Typically, the spring 122 is pre-stressed. Thus, as soon as the handle 4 is moved away from its neutral position, a restoring force appears. In the inclined position of the handle 4, and therefore in the tilted position of the plate 124, the spring 122 is compressed asymmetrically with respect to the axis 20. For example, in the case of the inclined position shown in [Fig. 2], the spring 122 is more compressed on the right side than on the left side. The vertical force Fi exerted by the spring 122 on the right side of the face 42 is therefore greater than that exerted on the left side of the same face 42. Under these conditions, the spring 122 creates a mechanical moment with respect to the center 8 which tends to return the handle 4 to its neutral position. Simultaneously, the vertical force Fi pushes the support face 32 towards the support face 34.Here, the Fi force is directed downwards.
[0089] The return mechanism 112 comprises:
[0090] - an elastically deformable assembly 130,
[0091] - a shuttle 132 mounted to slide along the rod 22,
[0092] - a ring 134 made of a hard material.
[0093] In this embodiment, the assembly 130 comprises a single helical spring 136 whose coils are centered on the axis 10. Here, the coils of the spring 136 surround the rod 22.
[0094] The shuttle 132 is free to slide along the rod 22 and therefore along the axis 10. The shuttle 132 comprises:
[0095] - a seat 140 ([Fig.4]) for an elastically deformable assembly arranged on the upper face of shuttle 132, and
[0096] - a pad 142 ([Fig. 1], 2 and 4) bearing on an upper contact face 144 ([Fig.4]) of ring 134.
[0097] The spring 136 is interposed between the seat 140 and the rim 70 so as to constantly press the pad 142 against the contact face 144. For this purpose, the lower face of the rim 70 has a seat 146 ([Fig. 1]) on which the upper end of the spring 136 rests directly. Here, the seat 146 and the rim 70 form a single block of material. The lower end of the spring 136 also rests directly on the seat 140 of the shuttle 132.
[0098] Preferably, the seat 140 and here the major part of the shuttle 132 are located inside the coils of the spring 122 of the return mechanism 110 in order to nest the return mechanism 112 inside the return mechanism 110.
[0099] The ring 134 is centered on the axis 20. It is stationary relative to this axis 20. To this end, the ring 134 is fixed to the shell 100. For example, it is received inside a housing that prevents any movement of the ring in a horizontal or downward direction. The ring 134 is held at the bottom of this housing by the pressure exerted by the pad 142 on its contact face 144.
[0100] The contact face 144 is shaped to return the handle 4 to its neutral position from any inclined position through shape cooperation with the pad 142. For this purpose, the face 144 is centered on the axis 20 and makes a complete rotation around this axis 20. The face 144 extends continuously from an outer annular edge to an inner annular edge. The outer annular edge is the one furthest from the axis 20. The inner annular edge is the one closest to the axis 20. Starting from its outer annular edge and moving towards its inner annular edge, the face 144 descends continuously. Thus, the only stable position of the handle 4 is the position where the pad 142 is as close as possible to the inner annular edge. This stable position corresponds to the neutral position of the handle.Therefore, as soon as the handle 4 is moved away from its neutral position by the user, the mechanism 112 automatically returns the handle 4 to this neutral position when the handle 4 is released by the user.
[0101] Furthermore, in this embodiment, the contact face 144 is also shaped to exert a haptic effect. To this end, the contact face 144 is shaped to that the return moment on the handle 4 varies according to the horizontal direction in which the handle 4 is inclined and / or according to the angle α. In this embodiment, the contact face 144 is shaped to exert a haptic effect that indicates the X and Y directions to the user. For this purpose, the contact face 144 comprises:
[0102] - two grooves 150, 152 ([Fig.4]) symmetrical to each other with respect to axis 20 and which extend mainly in the X direction, and
[0103] - two grooves 154, 156 ([Fig.4]) symmetrical to each other with respect to axis 20 and which extend mainly in the Y direction.
[0104] When the handle 4 is tilted in the X direction, the pad 142 slides inside one of the grooves 150, 152. When the handle 4 is tilted in the Y direction, the pad 142 slides inside one of the grooves 154, 156. When the pad 142 slides inside one of the grooves 150, 152, 154, and 156, the spring 136 is under less stress than when the pad 142 slides outside of these grooves. Thus, when the pad 142 slides inside one of the grooves 150, 152, 154, and 156, the return moment felt by the user is less. Indeed, grooves 150, 152, 154 and 156 form bearing faces which are further from the rim 70. Thus, if the user wishes to tilt the handle 4 in a direction other than the X and Y directions, then the user feels an increase in the return moment of the handle 4 towards its neutral position.Such a conformation of the contact face 144 produces a haptic effect which helps the user to guide the handle 4 along the X and Y directions.
[0105] Furthermore, when using the joystick 2, the spring 136 exerts a vertical force F2 on the handle 4 parallel to the force Fi but in the opposite direction, i.e., directed upwards. Thus, the force F2 compensates for, and ideally cancels, the vertical force Fi created simultaneously by the spring 122. This helps to limit friction between the bearing surfaces 32 and 34 of the joint 26. To minimize friction between the bearing surfaces 32 and 34, the stiffness of the spring 136 is chosen so that the magnitude of the force F2 is between 0.9*IFJ and 1.1*IFJ and, preferably, between 0.95*IFJ and 1.05*IFJ, where IFJ is the magnitude of the vertical force Fi exerted by the return mechanism 110.
[0106] The shell 100 includes a partition 160 ([Fig. 1] and 2) which mechanically isolates the return mechanism 112 from the return mechanism 110. To this end, the partition 160 delimits an upper volume in which the mechanism 110 is housed and a lower volume in which the mechanism 112 is housed. These upper and lower volumes are fluidly connected to each other solely by an orifice 162 ([Fig. 1] and 2) provided in the partition 160 and centered on the axis 20. The orifice 162 is traversed by the handle 4. The dimensions of the 162 orifice are adjusted to allow handle 4 to tilt in the desired directions.
[0107] To limit the space between the handle 4 and the edge of the orifice 162, the handle 4 has a protrusion 164 ([Fig. 1] and 2) which permanently obstructs at least 50% and, preferably, at least 70% or 80% or 90% of the surface of the orifice 162. For this purpose, in this embodiment, the protrusion 164 is in the form of a hemisphere projecting above the rim 40. The diameter of this hemisphere is chosen to obstruct more than 90% of the surface of the orifice 162 while allowing the handle 4 to move to each of its inclined positions.
[0108] Here, the partition 160 extends from the seat 126 towards the axis 20. The housing which receives the ring 134 is made in an upper face of this partition 160. Thus, the partition 160 also serves as a support for the ring 134.
[0109] The method for mounting joystick 2 will now be described with reference to the method in [Fig.6].
[0110] Initially, in a step 200, the male part 28 is placed on a support having a female part identical to the female part 30 to hold the rod 22 vertically. At this stage, the rod 22 is without the rim 70 and the slide 56.
[0111] Then, in a step 202, the plate 124 and the spring 122 are put in place around the rod 22. For this, the plate 124 and then the spring 122 are placed on the upper face 42 of the rim 40.
[0112] During a step 204, the shell 100 is placed on the spring 122 so that the upper end of the spring 122 comes directly into contact with the seat 126.
[0113] During a step 206, the ring 134 is placed inside the housing provided for this purpose in the partition 160.
[0114] During a step 208, the shuttle 132 is put in place around the rod 22. The pad 142 is then in contact with the contact face 144.
[0115] During a step 210, the spring 136 is placed around the rod 22 and resting on the seat 140 of the shuttle 132.
[0116] During a step 212, the rim 70 is fixed on the rod 22. For example, the rim 70 is screwed onto the rod 22. At this stage, the spring 136 is compressed against the shuttle 132 and the spring 122 is compressed against the rim 40. Thus, from this stage of assembly, the two return mechanisms 110 and 112 are integral with the shell 100 and form a sub-assembly.
[0117] During a step 214, the subassembly is removed from the support and then the slide 56 containing the magnet 80 is inserted from below into the channel 60.
[0118] During a step 216, the spring 72 is placed around the upper end of the slide 56 which protrudes above the rim 70. The spring 72 is then directly supported on the seat 74.
[0119] Then, in a step 218, the cap 58 is forcibly fitted onto the upper end of the slide 56. The spring 72 is then constrained between the cap 58 and the rim 70.
[0120] Finally, in a step 220, the shell 102 is assembled, without any degree of freedom, at the bottom of the shell 100. At this stage, the electronic circuit 82 is pre-mounted in the shell 102 so that, after the fixing of the shell 102 on the shell 100, the sensor 84 is located just below the magnet 80.
[0121] Chapter III: Variants:
[0122] Variants of the return mechanism 110:
[0123] Alternatively, the return mechanism 110 is located under the rim 40. In this case, the seat of the spring 122 is provided in the lower shell 102, and the spring 122 is interposed between this seat and the lower face 44 of the rim 40. This variant is implemented, for example, when the position of the handle 4 is measured without using a permanent magnet or magnetic fields. This variant is also suitable, for example, when the sensor that measures the tilt of the handle is not housed inside the lower shell 102 but in the upper shell 100.
[0124] Many different embodiments are possible for the elastically deformable assembly 120. For example, the assembly 120 comprises several helical springs. In this case, these helical springs are typically uniformly distributed around the vertical axis 20. It is also possible to use one or more elastomeric buffers to create this elastically deformable assembly. It is also possible to use leaf springs or similar devices instead of helical springs. Finally, it is also possible to use permanent magnets whose magnetic poles of the same sign are opposite each other so that these permanent magnets repel each other.
[0125] In the case where the handle is only movable between its neutral position and a forward inclined position, it is not necessary for the spring(s) of the assembly 120 to be uniformly distributed around the axis 20.
[0126] If precise localization of the neutral position using the return mechanism 110 is not required, the edge 104 can be omitted.
[0127] In a simplified embodiment, the movable plate 124 is omitted. In this case, the end of the spring 122 comes directly into contact with the face 42 in the neutral position and with the face 42 in the inclined position.
[0128] Variants of the return mechanism 112:
[0129] The different possible embodiments of assembly 120 are each transposable to the elastically deformable assembly 130.
[0130] It is not necessary for the spring(s) of assembly 130 to be uniformly distributed around the axis 10 of the handle.
[0131] The contact face 144 is not necessarily inclined with respect to the axis 20. For example, alternatively, the face 144 is horizontal.
[0132] If the handle can only pivot in one direction, the contact face 144 required to return the handle 4 to the neutral position can be obtained using only two inclined surfaces located on either side of the axis 20 in that predetermined direction. For example, these two inclined surfaces are symmetrical to each other with respect to the axis 20. If the handle 4 can only be tilted forward and in a single predetermined direction, only one of these two inclined surfaces is sufficient.
[0133] The contact face 144 has been described here in the particular case where the haptic effect consists of varying the restoring force non-linearly as a function of the direction of inclination of the handle 4. Alternatively, in addition to or instead of this, the contact face is shaped to vary the restoring force of the mechanism 112 non-linearly as a function of the angle α of inclination of the handle. A haptic effect that is a function of the angle α is then obtained. For example, the face 144 has notches or bumps arranged one behind the other in a direction that diverges from the axis 20.
[0134] In another embodiment, the haptic effect is omitted. In this case, the contact face 144 is configured only to return the handle to its neutral position in the absence of external force. The return force of the mechanism 112 varies linearly with the angle of inclination. Furthermore, the return force is independent of the direction of inclination. For example, to achieve this, grooves 150, 152, 154, and 156 are omitted.
[0135] The ring 134 can be fixed in the shell 100 by other means. For example, the ring 134 is glued to the inside of the shell 100. The ring 134 and the upper shell 100 can also form a single block of material.
[0136] Other embodiments of the skate 142 are possible. For example, alternatively, the skate 142 includes one or more balls capable of rolling along the contact face 144 to reduce the friction forces between the contact face 144 and the skate 142.
[0137] Alternatively, the return mechanism 112 is located below the rim 40. In this case, the rim 70, the shuttle 132, the elastically deformable assembly 130, and the contact face 144 are all located below the rim 40. For example, the return mechanism 112 is then located on an extension of the handle 4 that extends below the male part 28. The The contact face 144 is then arranged in the lower shell 102. This variant is for example suitable when the sensor which measures the angular position of the handle 4 is not housed inside the lower shell but in the upper shell.
[0138] Other variants:
[0139] Most of the variants described in application EP3881160 can also be applied to the joystick 2 described in that application. In particular, the following variants apply to the joystick of that application:
[0140] - the variants of the articulation described with reference to Figures 5 and 6 of the application EP3881160,
[0141] - the variants of the articulation described in the chapter "Variants" and, in particular, the fact that, in a simplified embodiment, the joint 26 can be replaced by a pivot joint only,
[0142] - the variant of the position of the rim 40 described with reference to figure 7 of the request EP3881160,
[0143] - variants of the pusher 54 and, in particular, the fact that the pusher can be omitted.
[0144] It is possible to measure the angular position of the handle 4 and to detect the position of the button 54 using different sensors. For example, the joystick has one sensor dedicated to measuring the angular position of the joystick 4 and another sensor dedicated to measuring the position of the button 54. In this case, the sensors used do not need to be based on the same technologies. Thus, it is possible to use a mechanical sensor to detect one or more angular positions of the joystick 4 instead of a magnetic sensor. Similarly, a mechanical sensor can also be used to detect the depressed position of the button 54. In another example, it is possible to use one magnetic sensor only to measure the angular position of the joystick 4 and another magnetic sensor only to detect the depressed position of the button 54. The magnetic sensors can be redundant.
[0145] In another embodiment, the position of the magnet 80 and the circuit 82 is reversed. In this case, the magnet 80 is fixed to the chassis 6 and the circuit 82 is fixed to the handle 4.
[0146] The number of axes around which the handle 4 can pivot may be limited. For example, the joystick has additional mechanical stops that limit the number of directions in which the handle 4 can be moved. Thus, the number of horizontal axes around which the handle 4 can pivot may be less than or equal to 4, 3, 2, or 1.
[0147] The means for gripping the handle 4 may include a handle, a button, a slider, or something else. In another embodiment, the handle 4 is not moved by a human being but by a robot.
[0148] Several of the variants described above can be combined in the same embodiment.
[0149] Chapter IV: Advantages of the embodiments described:
[0150] The fact that the elastically deformable assembly 130 of the return mechanism 112 is interposed between the rim 70, which is distinct from the rim 40, and the seat 140, which is different from the seat 126, improves the independence of the two return mechanisms 110, 112. In particular, a failure of the rim 40, for example its breakage, has no effect on the operation of the return mechanism 112. The converse is also true, i.e., a failure of the rim 70 has no effect on the operation of the return mechanism 110.
[0151] Furthermore, the seats 126 and 140 do not need to be positioned on either side of the rim 40. It is therefore possible to position the seat 140 more freely inside the chassis 6. This freedom can be used to nest the mechanisms 110, 112 inside each other and thus limit the size of the joystick.
[0152] There is some mechanical play that means the plate 124 is not always simultaneously in contact with the rim 40 and the edge 104. Because of this, the neutral position to which the mechanism 110 returns the handle 4 is not always exactly the same. With the mechanism 110, the neutral position remains somewhat imprecise. This lack of precision does not exist in the case of the return mechanism 112. Thus, as long as the return mechanism 112 is functioning, the precision of the neutral position is improved compared to the case of a joystick such as the one disclosed in application EP3881160.
[0153] The fact that the vertical forces Fi and F2 are in opposite directions limits friction in the joint 26, which helps to limit wear on this joint.
[0154] The fact that the vertical forces Fi and F2 balance each other allows friction to be minimized in the joint 26.
[0155] The fact that the contact face 144 is configured so that the mechanism 112 exerts a restoring moment that varies non-linearly according to the angle α of inclination or the direction of inclination makes it possible, using the same mechanism 112, to exert a haptic effect and return the handle to its neutral position. This therefore simplifies the manufacture of the joystick.
[0156] Housing the seat 140 inside the spring 122 or between the springs of the return mechanism 110 allows the size of the joystick to be limited.
[0157] The fact that the return mechanisms 110, 112 are both located above the rim 40 frees up space to house the handle tilt sensor 84 in the lower shell 102. Furthermore, this moves away any metallic part, and in particular spring 122, of sensor 84. This therefore limits the disturbances of sensor 84.
[0158] The partition 160, which mechanically separates the return mechanisms 110 and 112, helps to limit the risk that, in the event of a breakage of a part in one of these return mechanisms, debris from that part could interfere with the operation of the other return mechanism. Thus, this partition 160 increases the robustness of the joystick.
[0159] The fact that the assemblies 120, 130 each have a single spring centered on the vertical axis 20 in the neutral position simplifies the manufacture of the joystick.
Claims
Demands
1. Joystick comprising: - a fixed chassis (6), - a handle (4) which extends, along an axis (10) called the "handle axis", from an upper part (12) to a lower part (14) received inside the fixed frame, the upper part being accessible from outside the frame and allowing the handle to be moved in rotation between a neutral position and an inclined position, the neutral position being the position of the handle in the absence of external stress on the handle, - a first and a second rim (40, 70) each attached to the handle, - a first and a second seating (126, 140) of elastically deformable assemblies, the first seating being integral with the fixed frame, - a first return mechanism (110) capable, by itself, of returning the handle from its inclined position to its neutral position, this first return mechanism comprising a first elastically deformable assembly (120) interposed between the first seat and the first edge, - a second return mechanism (112) capable, by itself, of returning the handle from its inclined position to its neutral position so that, regardless of the inclined position, the first and second return mechanisms are redundant, this second mechanism comprising a second elastically deformable assembly (130), characterized in that the second return mechanism (112) comprises: - a contact face (144) integral with the chassis, - a shuttle (132) free to slide along the axis of the handle, this shuttle having, on one side, a pad (142) bearing on the contact face (144) and, on the opposite side, the second seat (140), and - the second elastically deformable assembly (130) is interposed between the second seat (140) and the second rim (70) so that the second elastically deformable assembly constantly forces the pad against the contact face.
2. Joystick according to claim 1, wherein: - the joystick includes a joint (26), this joint having a male part (28) and a female part (30), one of the male and female parts being fixed without any degree of freedom on the lower part of the handle, and the other of the male and female parts being fixed without any degree of freedom on the fixed frame, and wherein the male and female parts have corresponding and opposite bearing faces (32, 34), these bearing faces being shaped to allow, by cooperation of form when they rub against each other, a rotational movement of the handle around one or more axes of rotation fixed relative to the frame and perpendicular to the axis of the handle, - the first elastically deformable assembly (120) is arranged so as to exert on the handle, in its inclined position, a mechanical moment which forces the handle towards its neutral position and, at the same time, a first vertical force,parallel to a vertical axis coinciding with the axis of the handle when the handle is in the neutral position, which pushes the support face (32) integral with the handle towards the support face (34) integral with the frame, - the second elastically deformable assembly (130) is arranged so as to exert on the handle, in the inclined position, a mechanical moment which forces the handle towards the neutral position and, at the same time, a second vertical force, parallel to the vertical axis, in the opposite direction to the first vertical force.
3. Joystick according to claim 2, wherein the second elastically deformable assembly (130) is capable of exerting a second vertical force whose amplitude is between 0.9IFJ and 1.1IFJ, where IFi 1 is the amplitude of the first vertical force exerted by the first elastically deformable assembly in the same inclined position.
4. Joystick according to any one of the preceding claims, wherein the contact face (144) is shaped so that the restoring moment exerted by the second restoring mechanism varies non-linearly as a function of the angle (a) of tilt of the stick or as a function of the direction in which the stick is tilted.
5. Joystick according to any one of the preceding claims, wherein: - the first elastically deformable assembly comprises a single helical spring (122) centered on a vertical axis (20) and the second seat is housed inside this helical spring, the vertical axis being confused with the axis of the handle when this handle is in the neutral position, or - the first elastically deformable assembly comprises several springs uniformly distributed around the vertical axis (20) and the second seat is housed between these springs.
6. Joystick according to any one of the preceding claims, wherein the first and second return mechanisms (110, 112) are entirely located on the side of the first rim (40) facing the upper part of the handle.
7. Joystick according to any one of the preceding claims, wherein: - the chassis comprises a partition (160) which delimits first and second distinct volumes which communicate with each other only through an opening (162) provided in this partition and through which the handle passes, and - the first and second return mechanisms are housed, respectively, in the first and second volumes.
8. Joystick according to claim 7, wherein the handle has a protrusion (164) projecting above the first rim (40) and shaped to obstruct the majority of the orifice (162) provided in the partition regardless of the position of the handle.
9. Joystick according to any one of the preceding claims, wherein the first and second elastically deformable assemblies each comprise a single spring centered on the vertical axis when the stick is in its neutral position.
10. A method for mounting a joystick according to any one of the preceding claims, wherein the method comprises, in order: - the placement (202) of the first elastically deformable assembly resting on the first rim, - the placement (204) of an upper shell of the chassis, this upper shell having the first seat for interposing the first elastically deformable assembly between the first rim and the first seat, - the placement (208) of the shuttle resting on the contact face provided in the upper shell, - the placement (210) of the second elastically deformable assembly resting on the second seat of the shuttle, - the attachment (212) on the handle of the second rim to interpose the second elastically deformable assembly between the second seat and the second rim, - the assembly (220), on the lower side of the handle, of a lower shell of the chassis onto the upper shell to form the complete chassis.