EP1903418A1 - Device for transforming mechanical movement into electrical signals - Google Patents

Device for transforming mechanical movement into electrical signals Download PDF

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Publication number
EP1903418A1
EP1903418A1 EP07011747A EP07011747A EP1903418A1 EP 1903418 A1 EP1903418 A1 EP 1903418A1 EP 07011747 A EP07011747 A EP 07011747A EP 07011747 A EP07011747 A EP 07011747A EP 1903418 A1 EP1903418 A1 EP 1903418A1
Authority
EP
European Patent Office
Prior art keywords
control stick
housing
joystick
signal
movements
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07011747A
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German (de)
French (fr)
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EP1903418B1 (en
Inventor
Helmut Fischer
Helmut Gruber
Manfred Kugler
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Rafi GmbH and Co KG
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Rafi GmbH and Co KG
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Publication of EP1903418A1 publication Critical patent/EP1903418A1/en
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G7/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof
    • G05G7/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof characterised by special provisions for conveying or converting motion, or for acting at a distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04748—Position sensor for rotary movement, e.g. potentiometer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04759—Light-sensitive detector, e.g. photoelectric

Definitions

  • the invention relates to a device for converting mechanical movements into electrical signals, which serve for process control, according to the preamble of claim 1.
  • the magnetically conductive sheet terminates in the region of the respective Hall sensor, so that the movements of the pole pieces, so the changes in the magnetic field upon actuation of the joystick, can be determined by this.
  • the thus evaluated magnetic signals are then converted into electrical signals, for example by a microprocessor, and passed on to an electrical unit for their litigation.
  • the movements of the joystick can first in changes of a magnetic field and then in electrical signal be converted to litigation. Accordingly, by such a joystick device, control signals can be transmitted to a screen or the like.
  • the construction cost should be low and the function of the device should be reliably and permanently guaranteed.
  • the position of each signal generator is precisely defined in the housing and is subject to any changes during a longer period of operation by force or other shocks. Furthermore, the assignment of the signal generator in the region of the mounted on a printed circuit board receiving sensors is exactly vorappelbar, so that the setting of the field changes or the sensor signal is not subject to unwanted fluctuations even with a longer operating time. Namely, since the distance between the signal transmitters, which are fixedly supported on the drivers and the mounted on the circuit board receiving sensors is maintained constant, the distance between these components remains unchanged after assembly, so that by the one-time adjustment and calibration of the device reliable and accurate operation is possible.
  • FIG. 1 shows a device 1 for converting mechanical movements of a control stick 3 which is tiltably and rotatably mounted in a housing 2.
  • electrical signals are to be generated, which serve for a process control, for example on a computer screen, and which are modeled on the visible movement of an arrow or the like.
  • a ball 7 is integrally formed on the control stick 3 in the lower region arranged in the housing, which ball acts as a bearing for the control stick 3 in the housing 2.
  • the ball 7 of the joystick 3 is thereby encompassed by two guide plates 5 and 6 and held in these rotatable and tiltable.
  • the guide plates 5 and 6 are supported on the housing 2 via screws 19 and nuts 21.
  • the guide plates 5 and 6 are closed to the outside by a cover 4 and a closure housing 24.
  • a bellows not shown, can be pushed onto the closure housing 24.
  • the joystick 3 passes through the cover 4 and the end housing 24, so that it is manually accessible from the outside.
  • the end housing 24 exerts a restoring force on the control stick 3, by which this is transferred to the starting position.
  • a plate 15 is fixedly attached to the ends ending in the housing 2 lower portion of the joystick 3, projecting from the four pins 16.
  • the housing 2 has four round recesses 10, in each of which a driver 11 is inserted.
  • the carriers 11 are designed to be open in the direction of a printed circuit board 17 accommodated in the housing 2, and in each case a permanent magnet 8 or 9 is inserted in such a way that two adjacent permanent magnets 8 or 9 are poled differently, so that they produce a magnetic field of a different design.
  • circuit board 17 On the circuit board 17 are four magnetic sensors, which are constructed as so-called Hall sensors 18, mounted. The position of the respective Hall sensors 18 is associated with the respective permanent magnet 8 or 9, so that the permanent magnets 8 or 9 extend directly above and in alignment with the Hall sensors 18.
  • the magnetic signals of the Hall sensors 18 can be converted into electrical signals in such a way that a movement of an arrow on a screen can be recognized by means of them, or that specific input commands are transmitted and forwarded by the control stick 3.
  • a partition plate 34 is inserted, by which the drivers 11 are supported in the housing 2.
  • the width of the guide grooves 33 corresponds to the diameter of the ball heads 32 inserted therein.
  • the drivers 11 are now replaced by rotary potentiometer 37.
  • rotary potentiometer 37 By the rotation of the rotary potentiometer 37, a resistance field of different thickness is generated.
  • a plurality of electrical lines 36 are provided in the interior of the joystick 3, which are connected to a mounted on the free outwardly projecting end of the joystick control knob 3 or button.
  • the electrical signals generated by the rotation of the knob or by the operation of the button are transmitted to the circuit board 17 through the lines 36 and utilized by a mounted on the circuit board 17 electrical processing unit and converted into electrical signals.
  • the exit of the electrical lines 36 from the joystick 3 takes place directly in the interior of the housing 2 and at a small distance to the tilting plane 35 of the joystick 3, so that the electrical lines 36 are advantageously exposed to no large deflecting movements and therefore little mechanical load.
  • light-emitting diodes located in the control stick 3 can be actuated via the lines 36.
  • the provision of the joystick 3 in a starting position is effected by a patch on the end housing 24 spring 22, which is inserted between the end housing 24 and attached to the control stick 3 stop 23.
  • a force which acts on the spring 22 and which is compressed by this arises a force which acts on the spring 22 and which is compressed by this.
  • the spring 22 snaps back into its original position and aligns the joystick 3 perpendicular to the housing 2. This corresponds to the starting position of the joystick 3 with respect to the housing 2.
  • a plurality of control sticks 3 may be provided in the housing 2, a plurality of control sticks 3 may be provided.
  • the Hall sensors 18 or receiving sensors are then arranged on the one circuit board 17, so that such a configuration requires less space and is easy to manufacture.
  • intermediate links (12) can cooperate in such a way that an over or under reduction of the movement of the joystick takes place.

Abstract

The device (1) has a housing (2), in which a control stick (3) is tiltably arranged for the receiving and transforming of movements in a section. A signal transmitter is pivot supported in the housing. The receiving sensors (18) are accommodated directly in the area of the signal transmitter in the housing and the signal transmitter is connected by connecting link (12) operated with the control stick.

Description

Die Erfindung bezieht sich auf eine Vorrichtung zur Umwandlung mechanischer Bewegungen in elektrische Signale, die zur Prozesssteuerung dienen, nach dem Oberbegriff des Patentanspruches 1.The invention relates to a device for converting mechanical movements into electrical signals, which serve for process control, according to the preamble of claim 1.

Aus der CH 688 065 A5 ist eine solche Vorrichtung zu entnehmen, in dessen Gehäuse vier Polschuhe angeordnet sind, die mit dem Steuerknüppel fest verbunden werden und daher jede Kippbewegung des Steuerknüppels nachvollziehen. Zwei gegenüberliegende Polschuhe sind als Permanentmagnete ausgebildet und mit einem magnetisch leitenden L-förmig ausgebildeten Profil fest verbunden, so dass die Bewegungen der einzelnen Polschuhe an die beiden Profile weitergegeben wird. Im Bereich der im Gehäuse integrierten Leiterplatte ist ein sogenannter Hall-Sensor, also ein Sensor, der die Änderungen des Magnetfeldes messen kann, vorgesehen.From the CH 688 065 A5 is to remove such a device, in the housing four pole shoes are arranged, which are firmly connected to the joystick and therefore understand each tilting movement of the joystick. Two opposite pole pieces are designed as permanent magnets and firmly connected to a magnetically conductive L-shaped profile, so that the movements of the individual pole pieces is passed on to the two profiles. In the area of the circuit board integrated in the housing, a so-called Hall sensor, that is to say a sensor which can measure the changes in the magnetic field, is provided.

Das magnetisch leitende Blech endet im Bereich des jeweiligen Hall-Sensors, so dass durch diesen die Bewegungen der Polschuhe, also die Änderungen des Magnetfeldes beim Betätigen des Steuerknüppels, ermittelbar ist. Die derart ausgewerteten magnetischen Signale werden anschließend in elektrische Signale, beispielsweise durch einen Mikroprozessor, umgerechnet und an eine elektrische Einheit für deren Prozessführung weitergegeben. Somit können die Bewegungen des Steuerknüppels zunächst in Änderungen eines Magnetfeldes und anschließend in elektrische Signal zur Prozessführung umgewandelt werden. Durch eine solche Joystick-Vorrichtung können demnach Steuersignale auf einen Bildschirm oder dgl. übertragen werden.The magnetically conductive sheet terminates in the region of the respective Hall sensor, so that the movements of the pole pieces, so the changes in the magnetic field upon actuation of the joystick, can be determined by this. The thus evaluated magnetic signals are then converted into electrical signals, for example by a microprocessor, and passed on to an electrical unit for their litigation. Thus, the movements of the joystick can first in changes of a magnetic field and then in electrical signal be converted to litigation. Accordingly, by such a joystick device, control signals can be transmitted to a screen or the like.

Als nachteilig bei diesem Stand der Technik hat sich herausgestellt, dass der Steuerknüppel ausschließlich in einer Ebene bewegt werden kann. Eine solche Bewegung entspricht einer Kippbewegung des Steuerknüppels. Wenn jedoch zusätzliche Informationen durch den Steuerknüppel an die elektrisch betriebene Baugruppe weitergegeben werden sollen, beispielsweise durch einen Drehknopf, sind zusätzliche Leitungen vorzusehen, durch die diese elektrischen Signale an die Leiterplatte und deren Bauteile übertragen werden. Diese Leitungen müssen demnach im Kippwinkelbereich des Steuerknüppels, also im Bereich der Lagerung des Steuerknüppels, verlaufen und unterliegen in diesem Übergangsbereich einer erheblichen Biegebelastung, so dass diese Leitungen oftmals kaputt gehen.A disadvantage of this prior art has been found that the joystick can be moved only in one plane. Such a movement corresponds to a tilting movement of the joystick. However, if additional information to be passed through the joystick to the electrically operated assembly, for example by a knob, additional lines must be provided by which these electrical signals are transmitted to the circuit board and its components. Accordingly, these lines must run in the tilt angle range of the control stick, ie in the region of the mounting of the control stick, and are subject to a considerable bending load in this transition region, so that these lines are often broken.

Darüber hinaus ist der Bauaufwand für eine solche Steuerknüppelvorrichtung äußerst aufwändig, denn die die magnetischen Änderungen übertragenden Profile sind äußerst exakt zu fertigen und einzubauen.In addition, the construction cost of such a joystick device is extremely complex, because the magnetic changes transmitted profiles are extremely accurate to manufacture and install.

Es ist daher Aufgabe der Erfindung, eine Vorrichtung der eingangs genannten Gattung zur Verfügung zu stellen, mittels der sowohl die Kippbewegungen des Steuerknüppels als auch zusätzliche weitere Bewegungen, beispielsweise Drehungen des Steuerknüppels, und zwar auch in dessen gekippten Stellungen, übertragen zu können. Dabei soll der Bauaufwand gering sein und die Funktion der Vorrichtung soll zuverlässig und dauerhaft gewährleistet sein.It is therefore an object of the invention to provide a device of the type mentioned by means of both the tilting movements of the joystick and additional additional movements, such as rotations of the joystick, even in its tilted positions to be able to transfer. The construction cost should be low and the function of the device should be reliably and permanently guaranteed.

Diese Aufgaben werden durch die Merkmale des kennzeichnenden Teils des Patentanspruches 1 gelöst.These objects are achieved by the features of the characterizing part of claim 1.

Weitere vorteilhafte Weiterbildungen der Erfindung ergeben sich aus den Unteransprüchen.Further advantageous developments of the invention will become apparent from the dependent claims.

Dadurch, dass die Signalgeber mit Mitnehmer verbunden sind, die im Gehäuse drehbar gelagert werden, wird die Position jedes Signalgebers im Gehäuse exakt festgelegt und unterliegt auch während einer längeren Betriebsdauer keinerlei Veränderungen durch Krafteinflüsse oder sonstigen Erschütterungen. Des Weiteren ist die Zuordnung der Signalgeber im Bereich der auf einer Leiterplatte angebrachten Empfangs-Sensoren exakt vornehmbar, so dass die Einstellung der Feldänderungen oder des Sensorsignals auch bei einer längeren Betriebsdauer nicht ungewollten Schwankungen unterliegt. Da nämlich der Abstand zwischen den Signalgebern, die ortsfest an den Mitnehmern abgestützt sind und den auf der Leiterplatte angebrachten Empfangs-Sensoren konstant beibehalten wird, bleibt der Abstand zwischen diesen Bauteilen nach der Montage unverändert, so dass durch die einmalige Einstellung und Kalibrierung der Vorrichtung ein zuverlässiger und exakter Betrieb möglich ist.The fact that the signalers are connected to drivers, which are rotatably mounted in the housing, the position of each signal generator is precisely defined in the housing and is subject to any changes during a longer period of operation by force or other shocks. Furthermore, the assignment of the signal generator in the region of the mounted on a printed circuit board receiving sensors is exactly vornehmbar, so that the setting of the field changes or the sensor signal is not subject to unwanted fluctuations even with a longer operating time. Namely, since the distance between the signal transmitters, which are fixedly supported on the drivers and the mounted on the circuit board receiving sensors is maintained constant, the distance between these components remains unchanged after assembly, so that by the one-time adjustment and calibration of the device reliable and accurate operation is possible.

In der Zeichnung sind zwei erfindungsgemäße Ausführungsbeispiele dargestellt, die nachfolgend näher erläutert werden. Im Einzelnen zeigt:

Figur 1
ein erstes Ausführungsbeispiel einer Vorrichtung, mit einem in einem Gehäuse eingesetzten kippbaren und drehbaren Steuerknüppel, dessen Bewegungen auf vier Zwischenglieder übertragen werden, die an in dem Gehäuse eingesetzten Mitnehmern angeformt sind, in Explosionsdarstellung,
Figur 2
die Vorrichtung gemäß Figur 1 im zusammengebauten Zustand, entlang der Schnittlinie II-II,
Figur 3
die Vorrichtung gemäß Figur 1 um 45° gedreht gegenüber der Figur 2, im Schnitt,
Figur 4
die Vorrichtung gemäß Figur 1 in Unteransicht,
Figur 5
ein zweites Ausführungsbeispiel einer Vorrichtung, mit einem in einem Gehäuse kipp- und drehbar eingesetzten Steuerknüppel, dessen Bewegungen über vier Zwischenglieder an vier in das Gehäuse eingesetzten als Drehpotentiometer ausgebildeten Mitnehmern übertragbar ist, im Schnitt,
Figur 6
die Vorrichtung gemäß Figur 5 mit im Gehäuse zusätzlich vorgesehenen elektrischen Leitungen, im Schnitt und
Figur 7
die Vorrichtung gemäß Figur 5, in Ansicht von unten.
In the drawing, two embodiments of the invention are shown, which are explained in more detail below. In detail shows:
FIG. 1
a first embodiment of a device, with a tiltable and rotatable control stick used in a housing, the movements of which are transmitted to four intermediate links, which are integrally formed on drivers inserted in the housing, in an exploded view,
FIG. 2
the device according to Figure 1 in the assembled state, along the section line II-II,
FIG. 3
the device according to Figure 1 rotated by 45 ° with respect to Figure 2, in section,
FIG. 4
the apparatus of Figure 1 in bottom view,
FIG. 5
A second embodiment of a device, with a in one Housing tilt-and rotatably inserted control stick, whose movements can be transmitted via four intermediate links to four used in the housing designed as a rotary potentiometer drivers, in section,
FIG. 6
the device according to Figure 5 with in the housing additionally provided electrical lines, in section and
FIG. 7
the device of Figure 5, in a view from below.

Figur 1 kann eine Vorrichtung 1 zur Umwandlung von mechanischen Bewegungen eines in einem Gehäuse 2 kippbar und drehbar gelagerten Steuerknüppels 3 entnommen werden. Durch die Bewegungen des Steuerknüppels 3 sollen elektrische Signale erzeugt werden, die zu einer Prozesssteuerung, beispielsweise auf einem Computerbildschirm, dienen und die dem sichtbaren Bewegungsablauf eines Pfeils oder dgl. nachempfunden sind.FIG. 1 shows a device 1 for converting mechanical movements of a control stick 3 which is tiltably and rotatably mounted in a housing 2. By the movements of the joystick 3 electrical signals are to be generated, which serve for a process control, for example on a computer screen, and which are modeled on the visible movement of an arrow or the like.

Zur Bewegungsausrichtung ist an dem Steuerknüppel 3 in dessen unteren im Gehäuse angeordneten Bereich eine Kugel 7 angeformt, die als Lager für den Steuerknüppel 3 in dem Gehäuse 2 wirkt. Die Kugel 7 des Steuerknüppels 3 wird dabei von zwei Führungsplatten 5 und 6 umgriffen und in diesen drehbar und kippbar gehalten. Die Führungsplatten 5 und 6 sind an dem Gehäuse 2 über Schrauben 19 und Muttern 21 abgestützt.For movement alignment, a ball 7 is integrally formed on the control stick 3 in the lower region arranged in the housing, which ball acts as a bearing for the control stick 3 in the housing 2. The ball 7 of the joystick 3 is thereby encompassed by two guide plates 5 and 6 and held in these rotatable and tiltable. The guide plates 5 and 6 are supported on the housing 2 via screws 19 and nuts 21.

Die Führungsplatten 5 und 6 sind nach außen durch eine Abdeckung 4 und ein Abschlussgehäuse 24 verschlossen. Um den Eintritt von Staub und sonstigen Verschmutzungen zu verhindern kann ein nicht dargestellter Faltenbalg auf das Abschlussgehäuse 24 aufgeschoben werden. Der Steuerknüppel 3 durchgreift die Abdeckung 4 und das Abschlussgehäuse 24, so dass dieser von außen manuell greifbar ist. Das Abschlussgehäuse 24 übt dabei eine Rückstellkraft auf den Steuerknüppel 3 aus, durch die dieses in die Ausgangslage überführt ist.The guide plates 5 and 6 are closed to the outside by a cover 4 and a closure housing 24. In order to prevent the entry of dust and other contaminants, a bellows, not shown, can be pushed onto the closure housing 24. The joystick 3 passes through the cover 4 and the end housing 24, so that it is manually accessible from the outside. The end housing 24 exerts a restoring force on the control stick 3, by which this is transferred to the starting position.

Des Weiteren ist an dem im Gehäuse 2 endenden unteren Abschnitt des Steuerknüppels 3 ein Teller 15 fest angebracht, von dem vier Stifte 16 abstehen. Das Gehäuse 2 weist vier rund ausgebildete Aufnahmen 10 auf, in die jeweils ein Mitnehmer 11 eingesetzt ist. Die Mitnehmer 11 sind in Richtung einer im Gehäuse 2 untergebrachten Leiterplatte 17 offen ausgebildet und in diesen ist jeweils ein Permanent-Magnet 8 oder 9 derart eingesetzt, dass zwei benachbarte PermanentMagnete 8 oder 9 unterschiedlich gepolt sind, so dass diese ein andersartig ausgebildetes Magnetfeld erzeugen.Furthermore, a plate 15 is fixedly attached to the ends ending in the housing 2 lower portion of the joystick 3, projecting from the four pins 16. The housing 2 has four round recesses 10, in each of which a driver 11 is inserted. The carriers 11 are designed to be open in the direction of a printed circuit board 17 accommodated in the housing 2, and in each case a permanent magnet 8 or 9 is inserted in such a way that two adjacent permanent magnets 8 or 9 are poled differently, so that they produce a magnetic field of a different design.

An die Mitnehmer 11 ist jeweils ein als Zwischenglied 12 wirkender Steg 13 angeformt, der in Richtung des Steuerknüppels 3, also in das Zentrum des Gehäuses 2, zugekehrt ist. In den jeweiligen Steg 13 ist ein Langloch 14 eingearbeitet, in das die Stifte 16 des Tellers 15 eingreifen. Somit ist der Steuerknüppel 3 trieblich mit den vier Mitnehmern 11 und damit mit den Permanentmagneten 8 oder 9 verbunden. Die Rotationsachse der Permanentmagnete 8 und 9 verläuft senkrecht zu der von einer Leiterplatte 17 gebildeten horizontalen Ebene.At the driver 11 each acting as an intermediate member 12 web 13 is formed, which is in the direction of the joystick 3, ie in the center of the housing 2, facing. In the respective web 13, a slot 14 is incorporated, in which engage the pins 16 of the plate 15. Thus, the joystick 3 is drivingly connected to the four drivers 11 and thus to the permanent magnets 8 or 9. The axis of rotation of the permanent magnets 8 and 9 is perpendicular to the horizontal plane formed by a printed circuit board 17.

Auf der Leiterplatte 17 sind vier Magnetsensoren, die als sogenannte Hall-Sensoren 18 aufgebaut sind, angebracht. Die Position der jeweiligen Hall-Sensoren 18 ist dem jeweiligen Permanentmagnet 8 oder 9 zugeordnet, so dass die Permanentmagnete 8 oder 9 unmittelbar oberhalb und fluchtend zu den Hall-Sensoren 18 verlaufen.On the circuit board 17 are four magnetic sensors, which are constructed as so-called Hall sensors 18, mounted. The position of the respective Hall sensors 18 is associated with the respective permanent magnet 8 or 9, so that the permanent magnets 8 or 9 extend directly above and in alignment with the Hall sensors 18.

Den Figuren 2 bis 4 kann entnommen werden, dass bei einer Bewegung des Steuerknüppels 3 in einer Ebene, die Mitnehmer 11 über die Zwischenglieder 12 im Gehäuse 2 in ihrer Position verändert werden, denn die Mitnehmer 11 sind drehbar im Gehäuse 2 gelagert, so dass durch eine Kippbewegung und/oder eine Verdrehung des Steuerknüppels 3 eine Lageveränderung der jeweiligen Mitnehmer 11 erzeugt wird. Durch die Rotation und der damit verbundenen Winkelveränderung der Mitnehmer 11 gegenüber den Sensoren 18 wird jedoch auch das von den Permanentmagneten 8 oder 9 erzeugte Magnetfeld unmittelbar im Bereich der Hall-Sensoren 18 verändert. Die Hall-Sensoren 18 messen demnach die Magnetfeldänderungen und geben diese an eine elektrische Auswerteeinrichtung, die der Leiterplatte 17 zugeordnet ist, beispielsweise einem Mikroprozessor oder einer andersartig aufgebauten Recheneinheit, weiter. Durch diese Recheneinheiten können die magnetischen Signale der Hall-Sensoren 18 derart in elektrische Signale umgewandelt werden, dass mittels diesen eine Bewegung eines Pfeils auf einem Bildschirm erkennbar ist, oder dass bestimmte Eingabebefehle durch den Steuerknüppel 3 übertragen und weitergeleitet werden.It can be seen from FIGS. 2 to 4 that when the joystick 3 moves in one plane, the drivers 11 are changed in their position via the intermediate members 12 in the housing 2, since the drivers 11 are rotatably mounted in the housing 2, so that a tilting movement and / or a rotation of the control stick 3 a change in position of the respective driver 11 is generated. Due to the rotation and the associated change in angle of the driver 11 relative to the sensors 18, however, the magnetic field generated by the permanent magnets 8 or 9 is also changed directly in the region of the Hall sensors 18. The Hall sensors 18 thus measure the magnetic field changes and pass them on to an electrical evaluation device, which is assigned to the printed circuit board 17, for example a microprocessor or a differently constructed arithmetic unit. By means of these arithmetic units, the magnetic signals of the Hall sensors 18 can be converted into electrical signals in such a way that a movement of an arrow on a screen can be recognized by means of them, or that specific input commands are transmitted and forwarded by the control stick 3.

Des Weiteren ist ersichtlich, dass in dem Gehäuse 2 eine Trennplatte 34 eingesetzt ist, durch die die Mitnehmer 11 in dem Gehäuse 2 abgestützt werden.Furthermore, it can be seen that in the housing 2, a partition plate 34 is inserted, by which the drivers 11 are supported in the housing 2.

In Figur 4 ist gezeigt, dass die vier Stifte 16 in dem jeweiligen Langloch 14 der Stege 13 bewegbar eingesetzt sind, so dass durch die Bewegung des Steuerknüppels 3 die jeweiligen Stifte 16 in den Langlöchern 14 verfahren werden und dadurch eine Drehbewegung der Mitnehmer 11 und demnach der Permanentmagnete 8 oder 9 entsteht. Es ist denkbar, lediglich zwei Permanentmagnete 8 oder 9 in jeweils zwei Mitnehmer 11 unterzubringen. Das zusätzliche Paar von Permanentmagneten 8 oder 9 dient entweder der Betriebssicherheit, wenn das erste Paar von Permanentmagneten 8 und 9 ausfällt oder zu zusätzlichen Messungen von Rotationsbewegungen. Durch die Drehung und/oder Kippung des Steuerknüppels 3 werden nämlich die von vier Mitnehmern 11 im gleichen Drehsinn bewegt; dies wird von der Rechen- und Auswerteeinheit erkannt und in entsprechende elektrische Signale umgewandelt.
Wird der Steuerknüppel 3 zusätzlich oder ausschließlich gekippt, bewegen sich jeweils die der Kippbewegung gegenüberliegende Mitnehmer 11 in entgegensetzter Drehrichtung zueinander.In Figure 4 it is shown that the four pins 16 are movably inserted in the respective slot 14 of the webs 13, so that the respective pins 16 are moved in the slots 14 by the movement of the joystick 3 and thereby a rotational movement of the driver 11 and accordingly the permanent magnets 8 or 9 is formed. It is conceivable to accommodate only two permanent magnets 8 or 9 in each case two drivers 11. The additional pair of permanent magnets 8 or 9 serve either operational safety when the first pair of permanent magnets 8 and 9 fail or for additional measurements of rotational movements. By the rotation and / or tilting of the joystick 3 namely that of four drivers 11 are moved in the same direction of rotation; this is detected by the computing and evaluation and converted into corresponding electrical signals.
If the joystick 3 additionally or exclusively tilted, each of the tilting movement opposite carriers 11 move in opposite direction of rotation to each other.

Den Figuren 5 bis 7 kann entnommen werden, dass an dem im Gehäuse 2 untergebrachten freien Ende des Steuerknüppels 3 der Teller 15' fest angebracht ist, in dem nunmehr vier Führungsnuten 33 eingearbeitet sind. An den jeweiligen Mitnehmern 11 sind Zapfen 31 angeformt, deren freien Ende dem Steuerknüppel 3 zugekehrt sind, also in das Zentrum des Gehäuses 2 ragen. Die freien Enden der Zapfen 31 sind als Kugelkopf 32 ausgebildet und in die jeweilige Führungsnut 33 eingesetzt. Die jeweiligen Kugelköpfe 32 können in der Führungsnut 33 längsverschieblich bewegt werden, so dass die mechanische Übertragung der Bewegungsrichtung des Steuerknüppels 3 auf die Mitnehmer 11 gewährleistet ist.It can be seen from FIGS. 5 to 7 that on the free end of the control stick 3 accommodated in the housing 2 the plate 15 'is fixed, in which now four guide grooves 33 are incorporated. At the respective drivers 11 pins 31 are formed, the free end of the control stick 3 are facing, so protrude into the center of the housing 2. The free ends of the pins 31 are as Ball head 32 formed and inserted into the respective guide groove 33. The respective ball heads 32 can be moved longitudinally displaceably in the guide groove 33, so that the mechanical transmission of the direction of movement of the control stick 3 to the drivers 11 is ensured.

Die Breite der Führungsnuten 33 entspricht dem Durchmesser der darin eingesetzten Kugelköpfe 32.The width of the guide grooves 33 corresponds to the diameter of the ball heads 32 inserted therein.

Des Weiteren sind die Mitnehmer 11 nunmehr durch Drehpotentiometer 37 ersetzt. Durch die Rotation der Drehpotentiometer 37 wird ein Widerstands-Feld von unterschiedlicher Stärke erzeugt.Furthermore, the drivers 11 are now replaced by rotary potentiometer 37. By the rotation of the rotary potentiometer 37, a resistance field of different thickness is generated.

Zusätzlich sind im Inneren des Steuerknüppels 3 mehrere elektrische Leitungen 36 vorgesehen, die mit einem am freien nach außen abstehenden Ende des Steuerknüppels 3 angebrachten Drehknopf oder Taster verbunden sind. Die durch die Drehung des Drehknopfes oder durch die Betätigung des Tasters erzeugten elektrischen Signale werden an die Leiterplatte 17 durch die Leitungen 36 übertragen und von einer auf der Leiterplatte 17 angebrachten elektrischen Recheneinheit verwertet und in elektrische Signale umgewandelt. Der Austritt der elektrischen Leitungen 36 aus dem Steuerknüppel 3 erfolgt unmittelbar im Inneren des Gehäuses 2 und in geringem Abstand zu der Kippebene 35 des Steuerknüppels 3, so dass die elektrischen Leitungen 36 vorteilhafterweise keinen großen Auslenkbewegungen ausgesetzt sind und daher wenig mechanisch belastet werden.In addition, a plurality of electrical lines 36 are provided in the interior of the joystick 3, which are connected to a mounted on the free outwardly projecting end of the joystick control knob 3 or button. The electrical signals generated by the rotation of the knob or by the operation of the button are transmitted to the circuit board 17 through the lines 36 and utilized by a mounted on the circuit board 17 electrical processing unit and converted into electrical signals. The exit of the electrical lines 36 from the joystick 3 takes place directly in the interior of the housing 2 and at a small distance to the tilting plane 35 of the joystick 3, so that the electrical lines 36 are advantageously exposed to no large deflecting movements and therefore little mechanical load.

Ferner können über die Leitungen 36 im Steuerknüppel 3 befindlichen Leuchtdioden angesteuert werden.Furthermore, light-emitting diodes located in the control stick 3 can be actuated via the lines 36.

Die Rückstellung des Steuerknüppels 3 in eine Ausgangslage erfolgt durch eine am Abschlussgehäuse 24 aufgesetzte Feder 22, die zwischen dem Abschlussgehäuse 24 und ein am Steuerknüppel 3 angebrachter Anschlag 23 eingesetzt ist. Sobald der Steuerknüppel 3 daher in eine bestimmte Winkellage gekippt oder gedreht wird, entsteht eine Kraft, die auf die Feder 22 einwirkt und die durch diese zusammengepresst wird. Sobald der Steuerknüppel 3 daher wieder keiner Auslenkkraft unterworfen wird, schnappt die Feder 22 in ihre Ursprungslage zurück und richtet den Steuerknüppel 3 senkrecht zu dem Gehäuse 2 verlaufend aus. Dies entspricht der Ausgangslage des Steuerknüppels 3 in Bezug auf das Gehäuse 2.The provision of the joystick 3 in a starting position is effected by a patch on the end housing 24 spring 22, which is inserted between the end housing 24 and attached to the control stick 3 stop 23. As soon as the joystick 3 is tilted or rotated in a certain angular position, arises a force which acts on the spring 22 and which is compressed by this. As soon as the joystick 3 is therefore again subjected to no deflecting force, the spring 22 snaps back into its original position and aligns the joystick 3 perpendicular to the housing 2. This corresponds to the starting position of the joystick 3 with respect to the housing 2.

In dem Gehäuse 2 können auch mehrere Steuerknüppel 3 vorgesehen sein. Die Hall-Sensoren 18 oder Empfangssensoren sind dann auf der einen Leiterplatte 17 angeordnet, so dass eine solche Ausbildung weniger Platz benötigt und einfach herzustellen ist.In the housing 2, a plurality of control sticks 3 may be provided. The Hall sensors 18 or receiving sensors are then arranged on the one circuit board 17, so that such a configuration requires less space and is easy to manufacture.

Des weiteren können die Zwischenglieder (12) derart zusammenwirken, dass eine Über-oder Untersetzung der Bewegung des Steuerknüppels erfolgt.Furthermore, the intermediate links (12) can cooperate in such a way that an over or under reduction of the movement of the joystick takes place.

Claims (16)

Vorrichtung (1) zur Umwandlung mechanischer Bewegungen in elektrische Signale, die zur Prozesssteuerung dienen, - mit einem Gehäuse (2), in dem ein Steuerknüppel (3) zur Aufnahme und Übertragung der Bewegungen in einer Ebene kippbar angeordnet ist, - mit mindestens zwei dem Steuerknüppel (3) zugeordneten Signalgeber (8, 9, 37), durch die ein Feld oder ein Signal in der Bewegungs-Ebene des Steuerknüppels (3) erzeugbar ist, - und mit mindestens zwei mit den Signalgeber (8, 9, 37) jeweils zusammen wirkenden Empfangssensoren (18), durch die die Änderung des Feldes messbar ist, dadurch gekennzeichnet,
dass jeder der Signalgeber (8, 9, 37) drehbar in dem Gehäuse (2) gelagert ist, dass die Empfangssensoren (18) unmittelbar im Bereich der Signalgeber (8, 9, 37) in dem Gehäuse (2) untergebracht sind und dass die Signalgeber (8, 9, 37) mittels Zwischenglieder (12) trieblich mit dem Steuerknüppel (3) verbunden sind.Device (1) for converting mechanical movements into electrical signals used for process control - With a housing (2) in which a control stick (3) for receiving and transmitting the movements is arranged tiltably in a plane, - With at least two the joystick (3) associated signal generator (8, 9, 37) through which a field or a signal in the plane of movement of the joystick (3) can be generated, - And with at least two with the signal generator (8, 9, 37) respectively cooperating receiving sensors (18) through which the change of the field is measurable, characterized,
in that each of the signal transmitters (8, 9, 37) is rotatably mounted in the housing (2), that the receiving sensors (18) are accommodated directly in the area of the signal transmitters (8, 9, 37) in the housing (2) and that the Signal transmitter (8, 9, 37) by means of intermediate links (12) are drivingly connected to the control stick (3). Vorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass mindestens eines der Zwischenglieder (12) als Über- oder Untersetzungsglied ausgebildet ist, durch das die Bewegungen des Steuerknüppels (3) erhöht bzw. verringert sind.Device according to claim 1,
characterized,
in that at least one of the intermediate links (12) is designed as a transmission or reduction element, by means of which the movements of the control stick (3) are increased or reduced. Vorrichtung nach Anspruch 1 oder 2,
dadurch gekennzeichnet,
dass mittels der trieblichen Wirkverbindung zwischen dem Steuerknüppel (3) und den Signalgebern (8, 9, 37) eine Drehbewegung und/oder eine Kippbewegung des Steuerknüppels (3) in eine Rotationsbewegung der Signalgeber (8, 9, 37) zu deren Positionsveränderung gegenüber den Empfangssensoren (18) übertragbar ist.Apparatus according to claim 1 or 2,
characterized,
that by means of the operative connection between the control stick (3) and the signal transmitters (8, 9, 37) a rotational movement and / or a tilting movement of the control stick (3) into a rotational movement of the signal generator (8, 9, 37) to their position change relative to the Receiving sensors (18) is transferable. Vorrichtung nach einem oder mehreren der
vorgenannten Ansprüche
dadurch gekennzeichnet,
dass die Rotationsachsen der Signalgeber (8, 9, 37) senkrecht zu einer, vorzugsweise horizontalen, Ebene verlaufen,Device according to one or more of
aforementioned claims
characterized,
that the axes of rotation of the signal transmitter (8, 9, 37) extend perpendicularly to a, preferably horizontal, plane, Vorrichtung nach einem oder mehreren der vorgenannten Ansprüche,
dadurch gekennzeichnet,
dass die Signalgeber (8, 9) jeweils mit einem Mitnehmer (11) fest verbunden sind und dass jedem der Mitnehmer (11) in kraftschlüssiger Wirkverbindung mitz dem Steuerknüppel (3) steht.Device according to one or more of the preceding claims,
characterized,
in that the signal transmitters (8, 9) are each firmly connected to a driver (11) and that each of the dogs (11) is in frictional engagement with the control stick (3). Vorrichtung nach Anspruch 5,
dadurch gekennzeichnet,
dass an jedem Mitnehmer (11) jeweils eines der in Richtung des Steuerknüppels (3) weisendes und als Steg (13) ausgebildetes Zwischenglied (12) angeformt ist, dass in jedem Steg (13) des Zwischengliedes (12) ein schlitzartiges Langloch oder Führungsöffnung (14) eingearbeitet ist und dass in jedes Langloch (14) ein mit dem Steuerknüppel (3) fest verbundener Stift (16) eingesetzt ist, durch den die Dreh- und Kippbewegung des Steuerknüppels (3) an die Mitnehmer (11) übertragbar ist.Device according to claim 5,
characterized,
in that one of the intermediate members (12), which points in the direction of the control stick (3) and is configured as a web (13), is formed in each web (13) of the intermediate member (12) by a slot-like slot or guide opening (12). 14) is incorporated and that in each slot (14) with the control stick (3) fixedly connected pin (16) is inserted through which the rotation and tilting movement of the joystick (3) to the driver (11) is transferable. Vorrichtung nach Anspruch 6,
dadurch gekennzeichnet,
dass an dem Steuerknüppel (3) ein Teller (15) angebracht ist, an dessen in Richtung der Halbschale (11) weisende Oberfläche die Stifte (16) angeformt sind.Device according to claim 6,
characterized,
that on the control stick (3) a plate (15) is mounted, on whose in the direction of the half-shell (11) facing surface, the pins (16) are integrally formed. Vorrichtung nach Anspruch 6 oder 7,
dadurch gekennzeichnet,
dass jeweils zwei gegenüberliegende Stege (13) in einer gemeinsamen Ebene angeordnet sind und dass die beiden von jeweils zwei Stegen (13) gebildete Ebene in unterschiedlichen Höhenniveaus verlaufen.Apparatus according to claim 6 or 7,
characterized,
in that in each case two opposing webs (13) are arranged in a common plane and that the two planes formed by two webs (13) run at different height levels. Vorrichtung nach Anspruch 4 oder 5,
dadurch gekennzeichnet,
dass die Zwischenglieder (12) als Zapfen (31) ausgebildet sind, die an jeweils einem Mitnehmer (11) angeformt sind und die in Richtung des Steuerknüppels (3) weisen, dass die freien Enden der Zapfen (31) jeweils in einer Führungsnut (33) eingesetzt sind, die jeweils in einen mit dem Steuerknüppel (3) fest verbundenen Teller (15) eingearbeitet sind.Device according to claim 4 or 5,
characterized,
in that the intermediate links (12) are designed as pins (31), which are integrally formed on a respective driver (11) and which point in the direction of the control stick (3) that the free ends of the pins (31) each in a guide groove (33 ) are inserted, which are each incorporated in a firmly connected to the control stick (3) plate (15). Vorrichtung nach Anspruch 9,
dadurch gekennzeichnet,
dass die in den Führungsnuten (33) angeordneten freien Enden der Zapfen (31) als Kugelkopf (32) ausgebildet sind und dass die Breite der jeweiligen Führungsnut (33) mit dem Durchmesser des jeweiligen Kugelkopfes (32) korrespondiert.Device according to claim 9,
characterized,
in that the free ends of the pins (31) arranged in the guide grooves (33) are in the form of a ball head (32) and that the width of the respective guide groove (33) corresponds to the diameter of the respective ball head (32). Vorrichtung nach einem oder mehreren der vorgenannten Ansprüche,
dadurch gekennzeichnet,
dass der Steuerknüppel (3) im Gehäuse (2) drehbar gelagert ist und dass die Drehbewegungen des Steuerknüppels (3) durch die Zwischenglieder (12) auf die Mitnehmer (11) übertragbar sind.Device according to one or more of the preceding claims,
characterized,
in that the control stick (3) is rotatably mounted in the housing (2) and that the rotational movements of the control stick (3) can be transmitted to the drivers (11) through the intermediate links (12). Vorrichtung nach einem oder mehreren der vorgenannten Ansprüche,
dadurch gekennzeichnet,
dass in dem Gehäuse (2) eine Leiterplatte (17) benachbart zu den Signalgeber (8, 9, 37) angeordnet ist, auf der die Empfangssensoren (18) vorgesehen sind und durch die die Änderungen des Feldes in elektrische Signale zur Prozesssteuerung umwandelbar sind.Device according to one or more of the preceding claims,
characterized,
in that a circuit board (17) is arranged in the housing (2) adjacent to the signal transmitters (8, 9, 37) on which the reception sensors (18) are provided and by which the changes in the field can be converted into electrical signals for process control. Vorrichtung nach einem oder mehreren der vorgenannten Ansprüche,
dadurch gekennzeichnet,
dass in das Gehäuse (2) eine Trennplatte (34) eingesetzt ist, in der die Signalgeber (8, 9, 37) abgestützt gehalten sind.Device according to one or more of the preceding claims,
characterized,
that in the housing (2) a partition plate (34) is inserted, in which the signal transmitter (8, 9, 37) are supported supported. Vorrichtung nach einem oder mehreren der vorgenannten Ansprüche,
dadurch gekennzeichnet,
dass die Signalgeber (8, 9, 37) als Permanentmagnete (8, 9) oder als Drehpotentiometer (37) ausgebildet sind, durch die ein Magnet-Feld bzw. ein elektrischer Widerstand erzeugbar ist.Device according to one or more of the preceding claims,
characterized,
in that the signal transmitters (8, 9, 37) are designed as permanent magnets (8, 9) or as rotary potentiometers (37), by means of which a magnetic field or an electrical resistance can be generated. Vorrichtung nach einem oder mehreren der vorgenannten Ansprüche 1 bis 12,
dadurch gekennzeichnet,
dass die Signalgeber als optische Sender als Lichtleiter, oder als Reflektor ausgebildet sind, durch die ein Licht-Feld oder Licht-Strahl erzeugbar ist, das oder der durch die Empfangssensoren (18) messbar ist.Device according to one or more of the preceding claims 1 to 12,
characterized,
in that the signal transmitters are designed as optical transmitters as light guides or as reflectors, by means of which a light field or light beam can be generated which can be measured by the reception sensors (18). Vorrichtung nach Anspruch 15,
dadurch gekennzeichnet,
dass durch die Lichtleiter oder Reflektoren der von dem optischen Sender ausgesandte Licht-Strahl an einen Empfangssensor leitbar ist und dass der Lichtleiter, bzw. Reflektor und der Empfangssensor auf der Leiterplatte (17) angeordnet sind.Device according to claim 15,
characterized,
in that the light beam emitted by the optical transmitter can be conducted to a reception sensor by the light guides or reflectors, and that the light guide or reflector and the reception sensor are arranged on the printed circuit board (17).
EP07011747.8A 2006-06-30 2007-06-15 Device for transforming mechanical movement into electrical signals Active EP1903418B1 (en)

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CN110475468A (en) * 2018-03-28 2019-11-19 南京德朔实业有限公司 Straddle riding type grass trimmer and its operating device

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