Operating device with at least one pivotable operating lever

Abstract

The operating device (701) comprises an operating lever (702) and a support device (703). The operating lever (702) is rotatable relative to the support device (703) about a first pivot axis (714) by a first pivot bearing device (704) and about a second pivot axis (724) by a second pivot bearing device (740). A controllable brake device (705) having at least two brake units (715, 725) is used to adjust the movement resistance to the mobility of the operating lever (702). The first pivot axis (714) is parallel to, and preferably coincides with, the rotation axis (715c) of the first brake unit (715). In this case, the operating lever (702) is rotatable about the second pivot axis (724) only together with the first brake unit (715).

Description

[Technical Field]

[0001] The present invention relates to an operating device comprising at least one operating lever and at least one support device, the operating lever being rotatable relative to the support device about a first pivot axis by a first swivel bearing device and about a second pivot axis by a second swivel bearing device, the operating device comprising at least one controllable braking device having at least two brake units for adjusting the movement resistance to the mobility of the operating lever. [Background technology]

[0002] Such operating devices are designed, for example, as joysticks and can be used to control vehicles, machines, spaceflight and medical technology, or computer simulations (e.g., gaming). Operating devices are known that can output haptic feedback (force feedback) to the user. For example, German Patent Applications Nos. 112020004035T5 and 102020104810 describe the use of magnetorheological brakes that can generate short-term, adjustable torque or force increases to influence the mobility of an operating lever.

[0003] However, despite the complexity of the technology, many applications often have little installation space. This is especially true for gamepads (game controllers), which are often held with both hands and often have two operating devices, each of which must be reachable with one thumb. Vehicle or machine controls also often have very limited installation space.

[0004] Thus, from DE 10 2021120319 A1, a particularly compact joystick is known, in which a magnetorheological brake is housed in the operating lever. The axis of rotation of the brake is identical to the longitudinal axis of the operating lever and extends transversely to the pivot axis of the operating lever that can be braked by the brake. When the operating lever is pivoted, the brake is activated via a transmission.

[0005] To simulate stops or grids, the control lever must be able to brake reliably even with high actuation forces. At the same time, the control lever must brake very precisely and without play, in order to provide as realistic feedback as possible. Combined with the limited installation space, generating the required high torque with high quality (low interaction, fast response, infinitely controllable, low noise) is a huge challenge. Summary of the Invention [Problem to be solved by the invention]

[0006] In contrast, the object of the present invention is to provide an improved operating device, which should have a particularly compact design or require little installation space, and at the same time be easy to implement in terms of design and cost-effective to produce, and preferably should be able to implement haptic feedback with the highest possible quality. [Means for solving the problem]

[0007] This problem is solved by an operating device having the features of claim 1. Preferred developments of the invention are the subject of the dependent claims. Further advantages and features of the invention will become apparent from the description of exemplary embodiments.

[0008] The operating device according to the invention is particularly designed as a joystick or comprises at least one such joystick and comprises at least one operating lever and at least one support device. The operating lever is rotatable (relative to the support device) about a first pivot axis by means of a first swivel bearing device and about a second pivot axis by means of a second swivel bearing device. The operating device comprises at least one controllable brake device with at least two brake units for adjusting the movement resistance of the operating lever's mobility. The movement resistance of the operating lever about the first pivot axis is adjustable using the first brake unit. The movement resistance of the operating lever about the second pivot axis is adjustable using the second brake unit. The brake units each comprise a (fixed) stator unit and a rotor unit rotatable about a rotation axis relative to the stator unit. In particular, the stator unit is designed to be fixed relative to the rotor unit. In particular, the stator unit is arranged so as to be unable to rotate relative to the rotational movement of the rotor unit about the rotation axis. The rotational movement of each rotor unit relative to the associated stator unit can be intentionally braked. The first pivot axis is parallel to, and preferably coincides with, the rotation axis of the first brake unit (in each position of the operating lever). In that case, the operating lever can pivot about the second pivot axis together with (only with) the first brake unit (as a whole). In particular, when the operating lever is pivoted about the second pivot axis, both the stator unit and the rotor unit of the first brake unit pivot about the second pivot axis. In other words, when the operating lever is pivoted about the second pivot axis, the first brake unit always pivots together with it.

[0009] The operating device according to the invention offers many advantages. The special arrangement of the operating lever and the first brake unit relative to the second pivot axis offers significant advantages. This allows the operating lever to be coupled directly to the first brake unit in a space-saving manner, for example without a universal joint connection. Furthermore, no transmission is required to convert the movement of the operating lever into a rotary movement of the first brake unit. Another advantage is that no universal joint connection or other fault-prone mechanism is required to couple the operating lever to the second brake unit. This saves installation space and parts and reduces the assembly and manufacturing effort. Furthermore, a particularly reliable operation and a very precise feel are achieved.

[0010] In particular, the second pivot axis is parallel to, and preferably coincides with, the rotation axis of the second brake unit (in each position of the operating lever). In particular, within the scope of the present invention, the terms first pivot axis and first rotation axis can be used synonymously. In particular, the terms second pivot axis and second rotation axis can be used synonymously.

[0011] In an advantageous embodiment, the first and second pivot axes are arranged transversely to one another, preferably perpendicularly to one another, in each position of the operating lever. In particular, the first and second pivot axes extend in a (virtual) common plane. In particular, this plane is located transversely to the central axis of the operating lever. Preferably, this plane is located perpendicularly to the central axis of the operating lever in at least one position of the operating lever, in particular in the neutral position.

[0012] It is advantageous and preferred that the second pivot axis intersects the first brake unit in each position of the operating lever, in particular that an imaginary extension of the second pivot axis runs through the first brake unit in each position of the operating lever.

[0013] In particular, the first pivot axis extends through the first brake unit. In particular, the first pivot axis is parallel to, and preferably coincides with, the axis of symmetry and / or the longitudinal axis of the first brake unit. In particular, the second pivot axis extends through the second brake unit. In particular, the second pivot axis is parallel to, and preferably coincides with, the axis of symmetry and / or the longitudinal axis of the second brake unit.

[0014] It is also preferred and advantageous that the first pivot axis does not intersect with the second brake unit, in other words, the first pivot axis never intersects with the second brake unit, or the first pivot axis does not intersect with the second brake unit in any position of the operating lever.

[0015] Advantageously, the first and second pivot axes (at each position of the operating lever) preferably intersect (substantially). Preferably, the first and second pivot axes intersect within the first brake unit. Preferably, the first pivot axis intersects the second pivot axis (substantially) at a right angle in each position of the operating lever. This allows for particularly uniform operating forces, since no large weight shifts or gravitational forces due to off-center masses occur.

[0016] Within the scope of the present invention, when referring to a design with intersecting axes or a design with an intersection, this is understood in particular to mean a design in which the axes of the actual components intersect at a certain distance (e.g., so-called inclined lines with a common vertical line) or in which the axes of the actual components extend at a certain angular deviation from one another. Such deviations may be due to technical reasons and / or may be intentional. For example, these may be tolerances due to materials, manufacturing, or design (e.g., bearing clearance). For example, this may be a deviation of less than 10 mm (e.g., for large joysticks) or less than 5 mm (e.g., for relatively small joysticks for gamepads). Preferably, deviations of less than 3 mm or less than 2 mm are provided. Particularly preferably, the axes actually intersect at one point. Such deviations may also occur, in particular, when referring to rotation and pivot axes or angular coincidence of axes. For example, angular deviations of less than 10°, preferably less than 5°, particularly preferably less than 3°, or even less than 2° are possible. Preferably, the components are positioned at right angles to one another with respect to their axes.

[0017] In an advantageous embodiment, it is provided that the central axis of the operating lever extends transversely, preferably (essentially) perpendicularly (vertically), to the first pivot axis in each position of the operating lever. The central axis of the operating lever is in particular the longitudinal axis and / or axis of symmetry of the operating lever. In particular, the longitudinal axis and / or axis of symmetry extends through the first brake unit and is preferably aligned so as to (substantially) intersect its axis of rotation.

[0018] In particular, the angle between the central axis of the operating lever and the second pivot axis (or the common plane of the first and second pivot axes) depends on how the operating lever is rotated around the first pivot axis. In particular, the angle between the central axis of the operating lever and the second pivot axis (or the common plane of the first and second pivot axes) does not depend on how the operating lever and the second pivot axis are rotated.

[0019] In particular, the central axis of the operating lever extends (substantially) perpendicular to the second pivot axis only when the operating lever is pivoted around the second pivot axis by a defined angle. Preferably, this angle exists only in the neutral position. When this angle exists, the central axis of the operating lever also extends perpendicular to the common plane of the first and second pivot axes. In other words, when the central axis of the operating lever extends perpendicular to the second pivot axis, the central axis of the operating lever is also always perpendicular to the first pivot axis or to the common plane of the first and second pivot axes. In particular, in the neutral position, the central axis is perpendicular (vertical) to the common plane of the first and second pivot axes. In particular, the central axis of the operating lever extends perpendicular to the second pivot axis regardless of how the operating lever is pivoted around the second pivot axis.

[0020] It is advantageous and preferred that the central axis of the operating lever intersects with the first brake unit in each position of the operating lever, such a description in particular referring to an imaginary extension of the central axis.

[0021] Preferably, the central axis of the operating lever (substantially) intersects with the first pivot axis and / or the second pivot axis at each position of the operating lever. Preferably, the central axis of the operating lever intersects with a common plane of the first and second pivot axes at each position of the operating lever. In particular, the central axis stands perpendicular to the common plane.

[0022] In particular, the central axis of the operating lever and the first and second pivot axes intersect at (substantially) a common point in each position of the operating lever. In particular, this point is located within the first brake unit. In particular, this point is located (substantially) on the rotation axis of the first brake unit. In particular, this point is located (substantially) on the common plane of the first and second pivot axes.

[0023] Preferably, the operating lever is pivotable together with the rotor unit of the first brake unit about the first pivot axis, while the stator unit of the first brake unit remains stationary. In that case, the stator unit does not, in particular, perform a pivoting movement about the first pivot axis. In that case, the stator unit is, in particular, stationary relative to the rotor unit. In particular, the stator unit is supported (e.g., on the rotor unit of the second brake unit and / or on the coupling unit) so as not to be rotatable about the first rotation axis.

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

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

[0026] In particular, the coupling unit is a structure suitable and designed to non-rotatably connect the stator unit of the first brake unit to the rotor unit of the second brake unit. In particular, the coupling unit is a separate component. However, it is also possible for the coupling unit to be provided by part of the brake units. For example, the stator unit of the first brake unit can be directly attached to the rotor unit of the second brake unit, whereby the stator unit of the first brake unit provides at least part of the coupling unit.

[0027] In particular, the rotor unit of the first brake unit is rotatably supported on the coupling unit (in particular by the stator unit of the first brake unit and / or at least one further bearing), in particular the rotor unit of the first brake unit is rotatable relative to the coupling unit, in particular the coupling unit is rotatably supported by the rotor unit of the second brake unit on the stator unit of the second brake unit.

[0028] Preferably, the stator unit of the first brake unit is (non-rotatably) attached to the coupling unit, in particular the coupling unit is supported on the support device so as to be rotatable about the second pivot axis, in particular the stator unit of the first brake unit is non-rotatably received in the coupling unit at two axially opposite ends.

[0029] In particular, the stator unit of the first brake unit is mounted non-rotatably with respect to the rotation axis of the first brake unit, and the stator unit of the first brake unit is also non-rotatably connected to the rotor unit of the second brake unit, so that the stator unit of the first brake unit and the rotor unit of the second brake unit can only rotate together about the second rotation axis.

[0030] In particular, the stator unit of the second brake unit is non-rotatably mounted on the support device, and in particular the stator unit of the first brake unit is non-rotatably mounted on the rotor unit of the second brake unit and / or the coupling unit and / or the support device such that the stator unit cannot rotate together with the rotor unit of the first brake unit when the rotor unit of the first brake unit is moved about the rotation axis of the first brake unit.

[0031] In particular, the operating lever has at least one cover. In particular, the cover is used to protect the housing interior space and / or to cover the housing opening. The housing interior space or the housing opening is in particular a part of the housing in which the operating device is accommodated. In particular, the operating lever extends from the housing interior space through the housing opening to the outside. In particular, the cover is arranged below a touch area of ​​the operating lever for resting at least one finger. In particular, the touch area is arranged further distal than the cover. In particular, the cover is arranged below the housing opening (in the housing interior space). The cover is in particular designed in such a way that the housing opening is covered even when the operating lever is (fully) deflected. The cover is in particular hood-shaped, preferably spherical. Other suitable geometries are also possible.

[0032] In an advantageous embodiment, the coupling unit has at least one recess into which the cover can at least partially sink when the operating lever is pivoted, in particular into which the cover can sink when the operating lever is pivoted relative to the coupling unit and / or about the first pivot axis. Additionally or alternatively, the at least one recess can be arranged on the support device and / or on another part that may undesirably collide with the cover when the operating lever is pivoted.

[0033] The operating device includes at least one sensor device having at least two sensor units for detecting the pivoting movement of the operating lever. In particular, at least one first sensor unit is assigned to the first brake unit and at least one second sensor unit is assigned to the second brake unit. In particular, the first sensor unit is at least partially attached to the stator unit and / or the coupling unit of the first brake unit. In particular, the second sensor unit is at least partially attached to the stator unit and / or the support device of the second brake unit. This provides for uncomplicated assembly of the sensor units and simple electrical contact. In particular, the sensor device is used to detect the relative movement between the rotor unit and the stator unit. The sensor device includes, in particular, a magnetic field sensor, such as a Hall sensor or an optical sensor. It is possible to attach a sensor object, such as a magnetic element, a magnetic ring, or an optical structure, to the rotor unit of each brake unit. Alternatively, the sensor device may include a potentiometer.

[0034] In particular, the control lever can be braked with the same torque about the two pivot axes, so that the same resistance occurs about the two pivot axes when the control lever is operated. In particular, the second brake unit is suitable and designed to intentionally provide a higher torque than the first brake unit so that, when the control lever is pivoted about the second pivot axis, the second brake unit can brake the moving mass of the first brake unit in addition to the control lever. For example, when controlling the second brake unit, the control device takes into account the need to brake the mass of the first brake unit.

[0035] In an advantageous development, the operating device comprises at least one return device. By means of the return device, the operating lever can be moved, in particular, from a deflected position to a neutral position. In particular, the return device includes a lever component associated with the operating lever, a pressure component, and a biasing device. In particular, the lever component is connected to the operating lever and thereby follows the pivoting movement of the operating lever. In particular, the lever component can be pivoted only together with the operating lever. In particular, the pressure component is supported (linearly movable or displaceable) on the support device so that the pivoting movement of the lever component can be converted into a linear movement of the pressure component. In particular, the pressure component can be pressed against the lever component by the biasing force of the biasing device. In particular, the lever component and the pressure component are connected to each other only by a force connection due to the biasing force.

[0036] Preferably, the lever component linearly displaces the pressing component in a direction opposite to the direction of the biasing force when the operating lever is moved to the deflected position. In particular, the pressing component moves the lever component in the direction of the biasing force, thereby returning the operating lever coupled to the lever component from the deflected position to the neutral position. In particular, in the neutral position, the contact surface between the pressing component and the lever component is larger than in the deflected position (intended in response to the operation of the operating lever).

[0037] In particular, the pressure component and / or the lever component are plate-shaped. Other suitable geometries are possible that provide a contact surface for the return device function. In particular, the lever component and the pressure component are designed such that they cannot tilt relative to one another in the area of ​​the contact surface.

[0038] The biasing device may include, in particular, at least one spring accumulator and / or pressure accumulator and / or at least one magnetic device for generating a magnetic field. The magnetic device may include a permanent magnet and / or an electromagnet. The spring device may include a compression spring and / or a tension spring and / or a gas pressure spring, etc.

[0039] The return device can be designed to be contactless, in which case the biasing device is equipped, in particular, with a magnetic device. A return device, which returns the operating lever to its neutral position by means of a tension spring or the like, is also possible.

[0040] In an advantageous development, the biasing force of the biasing device can be adjusted by at least one electromagnetic actuator device. In particular, the actuator device comprises at least one (controllable) electric coil device and, in particular, at least one core cooperating with the coil device. In that case, the actuator device can also be called an electromagnet. The actuator device can comprise at least one permanent magnet cooperating with the coil device. For example, the permanent magnet can be arranged on the pressing component.

[0041] In particular, the actuator device allows the biasing force of the biasing device to be intentionally increased and / or decreased. Preferably, the actuator device is suitable and designed to alternately increase and / or decrease the biasing force of the biasing device, in particular with an adjustable frequency, in order to, in particular, cause the operating lever to oscillate.

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

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

[0044] In all embodiments, the magnetorheological medium preferably comprises magnetorheological particles and a gas as a filler medium. In particular, the magnetorheological particles are entrained in air. In particular, the magnetorheological medium is designed as a magnetizable powder. It is also possible for the magnetorheological medium to comprise magnetorheological particles and a carrier liquid, such as oil, water or alcohol. The medium may contain liquid and / or solid additives (e.g., graphite additives, molybdenum compounds, etc.).

[0045] It is particularly preferred that the magnetorheological particles consist primarily of carbonyl iron powder or its derivatives (respectively). Particles exhibiting other magnetorheological responses are also possible. The magnetorheological particles may have a coating for wear and / or corrosion protection and / or additional components to make the magnetorheological particles more durable, wear-resistant, and / or lubricating during operation.

[0046] In particular, the magnetorheological brake unit is suitable and designed to adapt the torque that allows the relative rotation of the rotor unit with respect to the stator unit, thereby adjusting the resistance to the movement of the operating lever. In particular, the torque is adapted by adjusting the magnetic field strength of the magnetic field generating device acting on the medium in the gap.

[0047] The Applicant reserves the right to claim a gamepad (game controller) comprising at least one, preferably at least two, operating devices according to the invention. In particular, at least one operating device is designed as a joystick, and in particular is reachable with one thumb each when the gamepad is properly held with both hands. In particular, at least one braking device is controllable by the control device in such a way that haptic feedback can be generated on at least one operating lever depending on the game scenario.

[0048] In particular, within the scope of the present invention, "position of the operating lever" is understood to mean the position to which the operating lever can be adjusted by pivoting about the first and second pivot axes in response to an operation.

[0049] The first brake unit particularly has a first stator unit, a first rotor unit, and a first rotation shaft. The second brake unit particularly has a second stator unit, a second rotor unit, and a second rotation shaft. In particular, when the operating lever is rotated about the second rotation shaft, the rotor unit of the second brake unit rotates relative to the stator unit of the second brake unit. In particular, when the operating lever is rotated about the second rotation shaft, the stator unit and the rotor unit of the first brake unit do not rotate relative to each other.

[0050] In particular, the rotor unit and the stator unit of the first brake unit and / or the second brake unit are arranged coaxially (if they belong to the same brake unit). In particular, the axis of symmetry corresponds to the coaxial arrangement of the rotation axes of the brake units. In particular, the rotor unit is arranged radially outward and the stator unit is arranged radially inward. It is also possible to arrange the rotor unit radially inward and the stator unit radially outward. Such an inner rotor unit can be provided, in particular for the first brake unit, and may be advantageous.

[0051] In particular, the slewing bearing device is at least partially provided by each of the at least two brake units. The first and / or second brake units each provide at least one bearing part. The first and / or second slewing bearing device can have at least one further bearing part provided in addition to the bearing part of the respective brake unit. In particular, the stator unit of the first brake unit is supported on the support device by the second slewing bearing device so as to be swivelable about a second swivel axis.

[0052] In particular, the operating lever is non-rotatably connected to the rotor unit of the first brake unit (at least relative to the first and / or second pivot axis). In particular, the stator unit of the second brake unit is non-rotatably connected to the support device. In particular, the rotor unit of the second brake unit is non-rotatably coupled to the stator unit of the first brake unit. In particular, the rotor unit of the second brake unit can rotate only together with the first brake unit and the operating lever. Preferably, the first brake unit is arranged outside the operating lever. The operating lever has, in particular, at least one part for placing at least one finger during operation. In particular, the operating lever can be operated manually. The operating lever can be designed as an operating grip (or control grip) that can be held with one hand (the whole hand). It is possible that the operating lever can be at least partially swiveled by (or with the assistance of) a motor (i.e., actively).

[0053] In particular, the neutral position is a position in which the operating lever cannot be pivoted around any of the pivot axes. In particular, the neutral position is defined by the central axis and the two pivot axes standing at right angles to each other. The neutral position can be freely defined. Furthermore, for example, the operating lever can be braked by a braking device in a position desired as the neutral position and fixed there. In particular, such fixation of the operating lever can be overcome by applying a (definable) force. In a freely defined neutral position, the central axis cannot stand at right angles to the second pivot axis either. In a freely defined neutral position, the operating lever is fixed, in particular by a braking device, against the force of a return device.

[0054] Other advantages and features of the present invention will become apparent from the following description of exemplary embodiments which proceeds with reference to the accompanying drawings. [Brief explanation of the drawings]

[0055] [Figure 1] 1 is a perspective view of an operating device according to the invention, in a completely schematic manner; [Figure 2] FIG. 2 is a cross-sectional view of the operating device of FIG. [Figure 3a] 1 with the operating lever in another deflected position. [Figure 3b] 1 with the operating lever in another deflected position. [Figure 3c] 1 with the operating lever in another deflected position. [Figure 3d] 1 with the operating lever in another deflected position. [Figure 4] 1 is a perspective view, entirely diagrammatically, of another operating device according to the invention; [Figure 5] FIG. 5 is a cross-sectional view of the operating device of FIG. [Figure 6] 1 is a completely schematic side view of another operating device according to the invention; [Figure 7] FIG. 7 is a side cross-sectional view of the operating device of FIG. 6. [Figure 7a]7 is a detailed view of a variant of the operating device of FIG. 6 in a deflected position. [Figure 8a] FIG. 3 is a cross-sectional view showing details of the operating device. [Figure 8b] FIG. 3 is a cross-sectional view showing details of the operating device. [Figure 9] FIG. 1 is a perspective view showing a game pad in a completely schematic manner. [Figure 10] FIG. 10 is a perspective view showing another operating device in a completely schematic manner; [Figure 11] FIG. 11 is a side view of the operating device of FIG. 10 in a deflected position. DETAILED DESCRIPTION OF THE INVENTION

[0056] 1 and 2 show an operating device 701 according to the invention, here designed exemplarily as a joystick 710. The operating device 701 comprises an operating lever 702 which is swivellable about a first or second pivot axis 714, 724 by means of a first and a second swivel bearing device 704, 740, so that the operating lever 702 can be swiveled relative to a fixed support device 703. The operating lever 702 is here in a neutral position 722, in which case the operating lever 702 has not been moved about either of the pivot axes 714, 724.

[0057] The controllable braking device 705 allows adapting the movement resistance to the operating lever 702 so that, for example, tactile feedback (grid, block, vibration, end point) can be felt at the operating lever 702. The braking device 705 comprises first and second braking units 715, 725 of magnetorheological design.

[0058] The first brake unit 715 is assigned to the first pivot axis 714, and the second brake unit 725 is assigned to the second pivot axis 724. The brake units 715, 725 have fixed stator units 715a, 725a, respectively, and rotor units 715b, 725b that are rotatable about rotation axes 715c, 725c relative to the stator units 715a, 725a, respectively.

[0059] Here, stator unit 725a is non-rotatably mounted on support device 703. Rotor unit 725b is rotatably supported on stator unit 725a. Rotation axis 725c here is the same as second pivot axis 724. Therefore, when rotor unit 725b rotates about stator unit 725a, it also rotates about second pivot axis 724.

[0060] The stator unit 715a of the first brake unit 715 is non-rotatably connected to the rotor unit 725b by means of the coupling unit 706. As a result, when the rotor unit 725b rotates about the stator unit 725a, the entire first brake unit 715 pivots about the second pivot axis 724. The axial end of the coupling unit 706 opposite the second brake unit 725 is rotatably supported on the support device 703 by means of a bearing 716, here in the region of the second sensor unit 727.

[0061] Rotor unit 715b is rotatably supported by stator unit 715a. Rotation axis 715c is the same as first pivot axis 714. Therefore, when rotor unit 715b rotates around stator unit 715a, it also rotates around first pivot axis 714. Operating lever 702 is attached to rotor unit 715b.

[0062] The functional coupling of the brake units 715, 725 and the operating lever 702 shown here allows the operating lever 702 to be pivoted together with the first brake unit 715 and about the second pivot axis 724. That is, when the operating lever 702 is pivoted from the neutral position 722 about the second pivot axis 724, the entire first brake unit 715 moves with it and rotates about the second pivot axis 724 as well.

[0063] When the operating lever 702 is pivoted about the first pivot axis 714, the rotor unit 715b rotates relative to the stator unit 715a about the first pivot axis 714. In this case, the stator unit 715a remains stationary and is supported by the coupling unit 706. The coupling unit 706 is supported by the rotor unit 715b and the support device 703 when it pivots about the first pivot axis 714.

[0064] The operating lever 702 has a central axis 712, which corresponds to its axis of symmetry and longitudinal axis. The central axis 712 intersects with the first brake unit 715 on an imaginary extension line, and stands perpendicular to the first pivot axis 714.

[0065] The first and second pivot axes 714, 724 lie on a common plane and extend at right angles to each other. Furthermore, the first and second pivot axes 714, 724 intersect at an intersection located within the first brake unit 715. The central axis 712 of the operating lever 702 also passes through this intersection.

[0066] The perpendicular arrangement of the two pivot axes 714, 724 on a common plane and their intersection within the first brake unit 715 exists in all positions of the operating lever 702. In the neutral position 722, the central axis 712 also extends at a right angle to the two pivot axes 714, 724 and stands perpendicular to the common plane of the pivot axes 714, 724.

[0067] The central axis 712 here always stands perpendicular to the first pivot axis, regardless of how much the operating lever 702 is pivoted about the first or second pivot axis 714, 724. However, when the operating lever 702 is pivoted about the first pivot axis 714, the angle between the central axis 712 and the second pivot axis 724 changes. In the neutral position 722 shown here, this angle is a right angle, or 90°. In other words, in the neutral position 723, the central axis 712 and the two pivot axes 714, 724 intersect each other at right angles within the first brake unit 715.

[0068] The angle between the central axis 712 and the second pivot axis 724 is determined by how much the operating lever 702 is pivoted relative to the first pivot axis 714. In contrast, pivoting about the second pivot axis 724 does not affect this angle. These relationships can be particularly clearly seen in Figures 3a to 3d.

[0069] The construction shown here allows for a particularly compact operating device 701, which at the same time requires a very small number of parts and does not require a complex mechanism for connecting the operating lever 702 to the brake device 705. As can be clearly seen, all brake units are driven directly by the pivoting movement. Thus, here, despite the very compact design, a transmission for converting the pivoting movement into a rotary movement can be dispensed with.

[0070] Furthermore, neither of the brake units 715, 725 need to pivot eccentrically about one of the pivots 714, 724. This provides a particularly uniform actuation force and very accurate tactile feedback. The actuation device 701 shown here does not experience undesirable weight transfer or gravitational forces due to the pivoting of an eccentric or off-center mass.

[0071] A sensor arrangement 707 having two sensor units 717, 727 (e.g., rotation angle sensors) is used to detect the angular position of the operating lever 702. The sensor units 717, 727, for example, determine the angular position of each rotor unit 715b, 725b relative to the associated stator unit 715a, 725a. The sensor unit 717 for the first brake unit 715 is here attached to the coupling unit 706. The sensor unit 727 for the second brake unit 725 is here attached to the support device 703.

[0072] 3a to 3d, the aforementioned operating device 701 is shown in various deflection positions 732 of the operating lever 702. In this regard, FIGS. 3a and 3c show the pivoting movement of the operating lever 702 about the second pivot axis 724. It can be clearly seen here that the central axis 712 and the two pivot axes 714, 724 always intersect at right angles, regardless of how far the operating lever 702 is moved about the second pivot axis 724. It can also be clearly seen that when the operating lever 702 is pivoted about the second pivot axis 724, the entire first brake unit 715 is moved along with it.

[0073] 3b and 3d show the pivotal movement of the operating lever 702 and the first pivot axis 714. Here it can be clearly seen that when the operating lever 702 is moved about the first pivot axis 714, the angle between the central axis 712 and the second pivot axis 724 changes.

[0074] 4 and 5 show an embodiment of the aforementioned operating device 701 in which the rotor unit 715b is arranged radially inward and the stator unit 715a is arranged radially outward. For this purpose, the rotor unit 715b is connected to the operating lever 702 via the arm 715d. In this case, the coupling unit 706 is provided by the stator unit 715a, so that a separate part can be omitted. The arrangement of the central shaft 712 and the pivots 714, 724 is in the same relationship as described above with reference to FIGS. 1 to 3.

[0075] In Fig. 6, a development of the operating device 701 with a return device 708 is shown, where the operating lever 702 is in a neutral position 722. The deflected position 732 is shown exemplarily in Fig. 7, where only one connecting pin of the operating lever 702 is shown.

[0076] The return device 708 here includes a lever component 718, a pressing component 728, and a biasing device 738. The lever component 718 is rigidly connected to the operating lever 702, thereby allowing the lever component to pivot together with the operating lever 702. The pressing component 728 here is supported by the support device 703 so that it can move linearly downward with the pivoting movement of the lever component 718.

[0077] When the operating lever 702 is pivoted about one of the pivots 714, 724, the pressing component 728 is pressed down by the lever component 718. In the neutral position 722, the lever component 718 rests, so to speak, on the entire surface of the pressing component 728. The displacement of the pressing component 728 biases the biasing device 738.

[0078] When the operating lever 702 is released, the pressing component 728 is pushed up in the direction of the force by the biasing force of the biasing device 738. As a result, the pressing component 728 pushes the lever component 718 so as to generate a restoring moment that returns the operating lever 702 to the neutral position 722.

[0079] For example, the biasing device 738 here comprises a compression spring that is biased by moving the pushing component 728. Other embodiments of the biasing device 738 are possible, such as using magnetic devices and / or air springs.

[0080] 7a, an exemplary structure of the return device 708 is shown in detail. The operating lever 702 is in the deflected position 732. The biasing device 738 is a compression spring here. The biasing force is adjustable by an electromagnetic actuator device 738a having a coil 738b and a core 738c. Furthermore, the pressing component 728 is provided with a permanent magnet 728a that can be attracted or repelled by the magnetic field of the coil 738b.

[0081] The coil 738b of the return device 708 can be operated in various ways here. For example, it can be de-energized, in which case only the (spring) force of the biasing device 738 acts. For example, it can be energized in one direction, thereby attracting the permanent magnet 728a, thereby canceling the return. It can also be energized in the other direction, thereby strengthening the return. Alternating energization is also possible. This allows for a reliable and easy-to-design implementation of, for example, a vibration mode for active feedback. Such a mode can, for example, indicate touching a wall in a game or that the vehicle has gone off course in a driving simulation.

[0082] 8a and 8b show an exemplary structure of the first brake unit 715, here of magnetorheological design. Preferably, the second brake unit 725 has a similar structure. The stator unit 715a here comprises a hollow axle or shaft 796 and a housing member 798 attached thereto, which houses an electric coil unit 799 of the magnetic field generating device. Wiring 797 for electrical contact of the coil unit 799 runs inside the hollow shaft 796.

[0083] The rotor unit 715b is rotatably supported on the stator unit 715a. The rotor unit 715b includes a base member 793 including a bearing journal 795, a sleeve 792 attached to the base member 793, and a cap member 793a. The operating lever 702 is attached to the sleeve 792 and / or the base member 793, for example. The bearing journal 795 is used to support the rotor unit 715b on the coupling unit 706 or the support device 703, for example. The cap member 793a is used to support the rotor unit 715b on the stator unit 715a, for example. The hollow shaft 796 is inserted through the cap member 793a. The base member 793, the sleeve 792, and the cap member 793a are rigidly connected to each other.

[0084] A circumferential gap 791 is formed between the rotor unit 715b and the stator unit 715a, containing a magnetorheological medium 790. The magnetic field of the coil unit 799 can change the viscous properties of the medium 790 to brake or even block mobility between the rotor unit 715b and the stator unit 715a.

[0085] In order to provide a particularly high braking torque with simultaneously very compact dimensions, a star contour 794 and a magnetic field concentrator 798a are provided here. The circumferentially surrounding star contour 794 allows the gap height to be varied. The star contour 794 is here formed circumferentially radially outside the magnetic field concentrator 798a. The magnetic field concentrator 798a here forms part of a closed magnetic circuit through which the magnetic field of the coil unit 799 extends. This results in a particularly strong field in the area of ​​the star contour 794.

[0086] FIG. 9 shows a gamepad 711 having two operating devices 701 designed as joysticks 710. The operating levers 702 are rotated here by a thumb or another finger, for example, resting on the end or side. The operating levers 702 are provided at their distal ends with touch sections 702b, here, for resting the thumbs. In use, the gamepad 711 is held with both hands, so that each thumb reaches one joystick 710. The operating levers 702 each protrude from the housing 711a of the gamepad 711 through a housing opening 711b. To protect the internal mechanism and cover the housing opening 711b, the operating levers 702 are each equipped with a cover 702a below their touch sections 702b.

[0087] 10 and 11 show a variant of the operating device 701, which here has an operating lever 702 including a spherical cover 702a. This variant can be particularly advantageously used in a game pad 711, etc. To prevent the cover 702a from undesirably restricting the pivot angle, the coupling unit 706 here is equipped with recesses 702c on both sides of the operating lever 702. When the operating lever 702 is pivoted around the first pivot axis 714, the operating lever can sink into the recesses 702c together with the cover 702a. If necessary, the other variants presented here can also be equipped with the cover 702a or the recesses 702c.

[0088] The support device 703 here has an arm 713, which provides a further (third) bearing for the pivot axis 724 of the second brake unit 725. Depending on the expected operating forces, this arm 713 or the further bearing can also be omitted. If necessary, the other variants presented here can also be equipped with such an arm 713. [Explanation of symbols]

[0089] 701 Operating device 702 Operating lever 702a cover 702b Touch section 702c Recess 703 Support device 704 Slewing bearing device 705 Brake equipment 706 Combined Unit 707 Sensor Device 708 Return device 710 Joystick 711 Gamepad 711a Housing 711b Housing opening 712 Center axis 713 Arm 714 Swivel Axis 715 Brake unit 715a Stator Unit 715b rotor unit 715c Rotating Axis 715d Arm 716 Bearing section 717 Sensor Unit 718 Lever Components 722 Neutral position 724 Swivel Axis 725 Brake Unit 725a stator unit 725b rotor unit 725c rotating shaft 727 Sensor Unit 728 Pressing Components 728a Permanent magnet 732 position 738 Actuating device 738a Actuator device 738b Coil 738c Core 740 Slewing bearing device 790 Medium 791 Gap 792 sleeve 793 Base material 793a Cap member 794 Star Outline 795 bearing journal 796 Hollow Shaft 797 Wiring 798 Storage material 798a Magnetic Field Concentrator 799 Coil Unit

Claims

1. At least one operating lever (702) and at least one support device (703), The operating lever (702) is rotatable relative to the support device (703) around a first pivot axis (714) by a first pivot bearing device (704) and around a second pivot axis (724) by a second pivot bearing device (740); at least one controllable braking device (705) having at least two braking units (715, 725) for adjusting the movement resistance to the movability of said operating lever (702); the resistance to movement of the operating lever (702) about the first pivot axis (714) is adjustable by means of a first brake unit (715) and the resistance to movement of the operating lever (702) about the second pivot axis (724) is adjustable by means of a second brake unit (725); The brake units (715, 725) each have a stator unit (715a, 725a) and a rotor unit (715b, 725b) rotatable around a rotation axis (715c, 725c) relative to the stator unit (715a, 725a), an operating device (701), in particular a joystick (710), capable of intentionally braking the rotational movement of the rotor unit (715b, 725b) relative to the stator unit (715a, 725a), the first pivot axis (714) being parallel to and preferably identical with the rotation axis (715c) of the first brake unit (715), The operating lever (702) is rotatable about the second pivot axis (724) only together with the first brake unit (715), whereby when the operating lever (702) is rotated about the second pivot axis (724), both the stator unit (715a) and the rotor unit (715b) of the first brake unit (715) rotate about the second pivot axis (724).

2. 2. The operating device (701) according to claim 1, wherein the second pivot axis (724) is parallel to, and preferably coincident with, the rotation axis (725c) of the second brake unit (725).

3. 3. An operating device (701) according to claim 1 or 2, wherein the first and second pivot axes (714, 724) are arranged laterally, preferably at right angles, to each other in each position of the operating lever (702).

4. 3. The operating device (701) according to claim 1 or 2, wherein the second pivot axis (724) intersects with the first brake unit (715) at each position of the operating lever (702).

5. 3. The operating device (701) according to claim 1 or 2, wherein the first pivot axis (714) does not intersect with the second brake unit (725).

6. 3. An operating device (701) according to claim 1 or 2, wherein the first pivot axis and the second pivot axis (714, 724) intersect, preferably within the first brake unit (715).

7. 2. An operating device (701) according to claim 1, wherein the central axis (712) of the operating lever (702) extends transversely, preferably perpendicularly, to the first pivot axis (714) in each position of the operating lever (702).

8. 8. The operating device (701) of claim 7, wherein the angle between the central axis (712) of the operating lever (702) and the second pivot axis (724) depends on how the operating lever (702) is pivoted around the first pivot axis (714), and the angle between the central axis (712) of the operating lever (702) and the second pivot axis (724) does not depend on how the operating lever (702) is pivoted around the second pivot axis (724).

9. 9. An operating device (701) as described in claim 7 or 8, wherein the central axis (712) of the operating lever (702) extends perpendicular to the second pivot axis (724) only when the operating lever (702) is pivoted around the second pivot axis (724) by a specified angle, this angle preferably existing in the neutral position (722).

10. 9. The operating device (701) according to claim 7 or 8, wherein a central axis (712) of the operating lever (702) intersects with the first brake unit (715) at each position of the operating lever (702).

11. 9. The operating device (701) according to claim 7 or 8, wherein the central axis (712) of the operating lever (702) intersects with the first pivot axis (714) and / or the second pivot axis (724) at each position of the operating lever (702).

12. 9. The operating device (701) according to claim 7 or 8, wherein the central axis (712) of the operating lever (702) and the first pivot axis and the second pivot axis (714, 724) intersect at a common point at each position of the operating lever (702).

13. 3. An operating device (701) as described in claim 1 or 2, wherein the operating lever (702) is rotatable around the first pivot axis (714) together with the rotor unit (715b) of the first brake unit (715), whereas the stator unit (715a) of the first brake unit (715) remains stationary and does not perform rotational movement around the first pivot axis (714).

14. 3. The operating device (701) according to claim 1 or 2, wherein the operating lever (702) is attached to the rotor unit (715b) of the first brake unit (715).

15. 2. The operating device (701) of claim 1, wherein the first brake unit (715) is non-rotatably connected to the rotor unit (715b) of the second brake unit (725) by a coupling unit (706) and / or is rotatably supported on the support device (703).

16. 16. The operating device (701) according to claim 15, wherein the stator unit (715a) of the first brake unit (715) is attached to the coupling unit (706).

17. An operating device (701) as described in claim 15 or 16, wherein the operating lever (702) has a cover (702a), and the coupling unit (706) has at least one recess (702c) into which the cover (702a) can at least partially sink when the operating lever (702) is pivoted.

18. 17. The operating device (701) according to claim 15 or 16, comprising a sensor device (707) having at least two sensor units (717, 727) for detecting the pivoting movement of the operating lever (702), wherein a first sensor unit (717) is assigned to a first brake unit (715) and a second sensor unit (727) is assigned to the second brake unit (725), the first sensor unit (717) is at least partially attached to the stator unit (715a) of the first brake unit (715) and / or the coupling unit (706), and the second sensor unit (727) is at least partially attached to the stator unit (725a) of the second brake unit (725) and / or the support device (703).

19. 3. The operating device (701) according to claim 1 or 2, wherein the operating lever (702) can be braked with the same torque around both pivot axes (714, 724), and the second brake unit (725) is suitable and designed to intentionally provide a higher torque than the first brake unit (715) so as to be able to brake the moving mass of the first brake unit (715) in addition to the operating lever (702) when the operating lever (702) is pivoted about the second pivot axis (724).

20. 2. The operating device according to claim 1, further comprising at least one return device by means of which the operating lever can be moved from a deflected position to a neutral position, the return device including a lever component, a pressure component, and a biasing device assigned to the operating lever, the lever component being coupled to the operating lever and thereby following the pivoting movement of the operating lever, the pressure component being linearly movably supported by the support device and thereby converting the pivoting movement of the lever component into a linear movement of the pressure component, and the pressure component being able to be pressed against the lever component by the biasing force of the biasing device.

21. 21. The operating device (701) of claim 20, wherein when the operating lever (702) is moved to the deflected position (732), the lever component (718) linearly displaces the pressing component (728) opposite to the direction of force of the biasing force, and the pressing component (728) moves the lever component (718) in the direction of force of the biasing force, thereby returning the operating lever (702) coupled to the lever component (718) from the deflected position (732) to the neutral position (722).

22. 22. The operating device (701) according to claim 20 or 21, wherein the biasing force of the biasing device (738) is adjustable by means of at least one electromagnetic actuator device (738a).

23. 23. The operating device (701) according to claim 22, wherein the electromagnetic actuator device (738a) is suitable and designed to alternately increase and / or decrease the biasing force, thereby causing the operating lever (702) to oscillate.

24. 3. An operating device (701) according to claim 1 or 2, wherein the first and / or second brake unit (715, 725) is of magnetorheological design.

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