EP2924535A2 - Joystick with intrinsically secure force feedback - Google Patents

Abstract

The present invention relates to a control, in particular a joystick, comprising a housing, a pivotally mounted in the housing about a pivot point (2) operating lever (1) and a reset unit for providing a restoring torque for returning the operating lever (1) from a deflected state in a neutral state. In order to specify an operating element which provides a haptic force feedback which is intrinsically safe, the invention proposes that the operating element comprises an actuator unit (3) operatively connected to the reset unit, the actuator unit (3) for limited modulating of the restoring torque is formed, wherein at a lower modulation limit, the restoring torque in the deflected state is greater than zero.

Description

The present invention relates to an operating element, in particular a joystick, comprising a housing, an actuating lever pivotally mounted in the housing about a pivot point, and a reset unit for providing a restoring torque for returning the operating lever from a deflected state to a neutral state.

Such controls are used inter alia for the control of commercial vehicles, machinery, work functions of commercial vehicles or construction machinery and attachments. Control elements in the context of the invention are, for example, control levers, accelerator pedals and, in particular, joysticks. Such joysticks are among the electrical control systems. Unlike the prior mechanical control systems, such electrical control systems do not provide feedback from the mechanical system to the user. It is therefore known to provide the joysticks with a force feedback, which is usually achieved by coupling a torque of an electric motor via a transmission to the operating lever of the joystick. A disadvantage of such constructions, however, is that the joystick can be deflected out of its rest position even without user input, for example due to a malfunction of the control of the force feedback. Such a malfunction would cause a machine or a vehicle to automatically start moving, which is correspondingly dangerous. In the automotive sector, such force feedback solutions are already known for accelerators, in which it must also be absolutely certain that the accelerator pedal does not automatically accelerate the vehicle due to a fault. Unlike gas pedals, however, joysticks have at least two deflection directions from their rest position. The known solutions for Accelerators can not therefore be transferred to a joystick. Force feedback for a joystick must under no circumstances deflect it out of neutral position; in the event of a fault, the joystick must continue to automatically return to the neutral position when released by the user. In addition, it should remain usable even in the event of a fault in the force feedback system, so as not to jeopardize the availability of the vehicle or the machine.

For example, Force Feedback is distributed for functions of simulators of all kinds for mass selling prices, especially for joysticks for computer games. Structurally, the force feedback is usually implemented with motors that act directly on the axes and bring about the desired haptic feedback with a control technology. However, since this use does not directly cause a hazard to the user, errors in the system can easily be accepted, an exchange is easily possible. In the case of aircraft operating using so-called fly-by-wire systems, a backup control with mechanical transmission is generally additionally installed due to the high safety risk in the event of a malfunction of the force feedback system. In aviation technology, force feedback is also referred to as artificial feeling.

All these known devices have in common that they can not guarantee the exclusion of an independent movement of the joystick or very likely can only avoid a redundant monitoring of the electronic control of the force feedback system. However, a malfunction of the force feedback system can not be completely ruled out and would possibly manifest itself in a separate movement of the joystick.

Even if a separate movement of the joystick is prevented by a redundant monitoring of the electronics, it can lead to a loss of function of the joystick in case of failure of components. This, in turn, can cause the joystick to no longer automatically return to its neutral position when released by the user, which is the safe state in most applications. Even if this case could be detected by a monitoring electronics, but it would represent a significant limitation of the availability of the joystick and the system to be controlled and have a negative impact on the acceptance of the users.

It is therefore an object of the present invention to provide a control element of the type mentioned, which provides a haptic force feedback that is intrinsically safe.

This object is achieved in that the operating element comprises an actuator unit operatively connected to the reset unit, wherein the actuator unit is designed for limited modulating the restoring torque, wherein at a lower modulation limit, the restoring torque in the deflected state is greater than zero. The reset torque is positive in all deflected states that are to be transferred to the neutral state if necessary, so that the actuating lever automatically returns to the neutral state after release by the user and remains there. Since in a shared, deflected operating element always restoring torque and no deflection torque is applied, there is only a torque in the direction of the rest position of the actuating lever. With great advantage, this ensures that the operating element behaves analogously to a purely passive, spring-returning joystick. Will the invention Operating element is released, it automatically returns to the rest position. From this it can not move out automatically even with malfunction of the drives or the electronics.

It proves to be particularly advantageous according to the invention that, at an upper modulation limit, the restoring torque is smaller than a deflection torque which can be applied by a user for deflecting the actuating lever. This ensures that the operating element can be deflected by the user even in the event of malfunction or failure of the drives or the electronics, so that the system which is to be controlled by means of the operating element remains usable. Advantageously, the restoring torque in the deflected state is 0.001 Nm to 10.0 Nm. In particular, the maximum return torque at a maximum deflection of the operating lever is 4.0 Nm or 6.0 Nm. The maximum return torque is set relatively small, so that a typical user of the control element, such as a construction worker or farmer, can easily overcome the maximum restoring torque when needed and thus at all times has control over a deflection operation of the operating lever. The user-dependent applied deflection torque can be readily determined by methods known to those skilled in the art. For example, a series of experiments could be performed wherein the maximum return torque is incrementally increased and the user of the control element at each step attempts to further deflect the operating lever against the currently applied return torque. As long as the user succeeds, the restoring torque applied at an upper modulation limit, which corresponds to the maximum restoring torque, is smaller than the deflection torque that can be applied by the relevant user.

The lower modulation limit or the upper modulation limit or both modulation limits are preferably realized mechanically by means of structural measures. An electronic, possibly even redundant vorzuhaltende, monitoring the force feedback system according to the invention is not required with great advantage.

Furthermore, it is provided according to the invention that the reset unit has a compliance element, the actuator unit being designed to modulate a return characteristic of the compliance element. The actuator unit thus influences the tendency of the reset unit to return the actuating lever to the neutral state, but only within the modulation limits, so as not to jeopardize the intrinsically safe return of the actuating lever. In the modulation frame defined above, the actuator unit allows a variety of haptic feedback to the user in the operating lever. For example, the control element according to the invention allows a personalization of characteristics, a switching between different characteristic shapes depending on the operating state and generally one of the haptic perception of the user making accessible system states. Such information does not need to be visually captured by the user, which typically relieves the user of stress and enables them to better focus on their primary task. Examples of system states are the degree of deflection of the operating lever, the reaching of the load limit of the system or an alarm called. The compliance element is preferably arranged between the actuating lever and the force feedback generating actuator. The reset unit may comprise one or more compliance elements.

According to the invention, the compliance element comprises a compression spring or a tension spring or a gas piston or a magnet. In particular, a compliance element is understood to mean the following: coil spring, leg spring, coil spring, leaf spring, torsion spring, air spring, gas spring, elastomer spring or magnetic repulsion. Between actuator and compliance element transmission elements may be arranged for transmitting a travel of the actuator. Of course, other compliance elements according to the invention are conceivable, if they are compatible with the other components of the control.

It proves to be very advantageous according to the invention that the restoring unit has a link and a scanning element scanning the link, wherein the actuator unit is designed to modulate a contact force of the feeler element against the link in terms of amount and / or direction. A link-feeler combination is generally well-known, widely used and proven in joysticks in particular. With this proven combination an actuator unit according to the invention is effectively connected to be able to feed additional feedback in the operating lever and to further improve the proven combination. The probe element has a ball or a roller or a cam.

Alternatively, it is provided according to the invention that the reset unit comprises two magnets, wherein the actuator unit is designed to modulate a magnetic force acting between the magnets in magnitude and / or direction to influence the return torque of the reset unit.

In a further alternative, it is provided according to the invention that the restoring unit has a linear chain whose one end adjoins the Housing and the other end are fixed to the actuating lever and which comprises the compliance element, wherein the actuator unit is designed to modulate a bias of the compliance element to influence the restoring torque of the return unit.

It proves to be particularly advantageous according to the invention that the actuator unit is designed to provide an intrinsically limited travel. Such constructive barriers to the actuation unit travel ensure that a torque acting on the actuation lever is always a restoring torque that moves between a safe minimum and a safe maximum under all circumstances, and the actuation lever returns automatically to the neutral position and not in its displacement is restricted. By no position of the actuator is an automatic movement of the actuating lever from the neutral state out possible.

Alternatively, or in addition to an intrinsically limited travel, the control element has stops for limiting a travel of the actuator unit. By this constellation, a type of actuator unit can be used to be installed in respect of the permitted travel different controls. This allows the use of structurally simpler or generalized actuator units, which is reflected in reduced production costs for the control element according to the invention.

It is inventively provided that the actuator unit comprises an actuator, wherein the actuator is designed as an electric motor or an electrodynamic linear drive or a piezoelectric drive or an electromagnet or a pneumatic drive or a hydraulic drive. According to the invention, the piezoelectric drive comprises at least one of the following piezoelectric elements: Stack, bending beam and traveling wave motor. Of course, other actuators are inventively conceivable, if they are compatible with the other components of the control.

According to preferred combinations of actuator and compliance element are: electric motor and compression spring or tension spring or gas piston or magnet or coil spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; electrodynamic linear drive and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; piezoelectric drive and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; Electromagnet and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; pneumatic drive and compression spring or tension spring or gas piston or magnet or spiral spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring; and hydraulic drive and compression spring or tension spring or gas piston or magnet or coil spring or leg spring or coil spring or leaf spring or torsion spring or air spring or gas spring or elastomer spring.

In a simplified embodiment of the present invention, the actuator unit has an actuator, wherein the actuator is arranged outside the operating element. The outsourced actuator is connected by means of an operative connection with another part of the actuator unit, the acts to modulate limited the restoring torque on the return unit. Thus, the control requires no internal actuator, which simplifies the structure of the control and reduces the cost of manufacturing the control. Particularly preferably, the external actuator is an actuator, which is already present in the machine or the vehicle, or which has the operating element. For example, the external actuator is a hydraulic cylinder of an excavator arm of an excavator, wherein the excavator arm is connected by means of a linkage to the control element for controlling the excavator and the linkage is coupled to the reset unit to modulate the restoring torque in response to the position of the excavator arm and thus to influence the characteristic of the operating element.

In a further simplified embodiment of the present invention, the actuator unit has an actuator instead of an actuator. Compared to an actuator, an actuator is a technically less complex component that regularly requires no power supply. The actuator is preferably a mechanical actuator, for example a lever or an adjusting screw, which acts on the restoring unit for limited modulating the return torque and thus changes the characteristic of the operating element. The use of an actuator instead of an actuator is particularly useful when the characteristic of the control element is relatively rare to change, for example, when the characteristic is once adapted to the needs of the user and subsequently no further situation-dependent modulation of the characteristic is desired.

In a more general variant of the present invention, the actuator unit has an actuator and an actuator. The combination of actuator and actuator, in particular mechanical actuator, allows the Provision of a universally configurable operating element by double modulation of the characteristic. This control element offers the function of intrinsically safe force feedback, while the control element is individually configurable. The individual configuration of the characteristic according to the needs of the user forms a basic setup for the control element, which is superimposed on the force feedback.

Depending on the intended use of the operating element, it proves to be advantageous according to the invention that the pivot point is designed as an actuating axis or as two actuation axes oriented orthogonally to one another or as three actuation axes which are orthogonal to one another. A trained as an actuating axis pivot allows pivoting of the control element in only one plane. Hereby, for example, a storage technically simple and robust joystick can be constructed, with which only a single function is implemented in the minimum case. An axis of rotation designed as two orthogonally oriented actuation axes or as three mutually orthogonal actuation axes permits a varied design of a swivel pattern for the operating element, so that a multiplicity of functions can be implemented. In particular, in the latter alternative, the requirements for the storage of the actuating lever in the housing are high, but can be fulfilled by means of a gimbal example storage.

In addition, the operating element comprises a control unit which interrogates the state of the operating element, in particular the deflection of the actuating lever. From the system, the control unit receives information about a mode of operation and possibly a size to be displayed as force feedback on the control element. From this, the control unit calculates the momentarily required modulation of the return torque and controls the actuator unit accordingly. It is also conceivable that the operating element in addition to the restoring unit has a locking device to leave the operating lever fixed at a predefined deflection. In the implementation of the solution according to the invention angle inaccuracies, vibrations and the like are to be considered more. In the electronics of the control unit, which is independent of the control itself, appropriate characteristics or characteristics are deposited.

In the following, the invention will be described by way of example in FIG. 14 embodiments with reference to the drawings, wherein further advantageous details can be taken from the figures of the drawings.

• Fig. 1 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer ersten Ausführungsform;
• Fig. 2 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer zweiten Ausführungsform;
• Fig. 3 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer dritten Ausführungsform;
• Fig. 4 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer vierten Ausführungsform;
• Fig. 5 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer fünften Ausführungsform;
• Fig. 6 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer sechsten Ausführungsform;
• Fig. 7 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer siebten Ausführungsform;
• Fig. 8 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer achten Ausführungsform;
• Fig. 9 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer neunten Ausführungsform;
• Fig. 10 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer zehnten Ausführungsform;
• Fig. 11 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer elften Ausführungsform;
• Fig. 12 eine schematische Ansicht eines Nachgiebigkeitselements eines erfindungsgemäßen Bedienelements gemäß einer zwölften Ausführungsform;
• Fig. 13 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer dreizehnten Ausführungsform; und
• Fig. 14 eine schematische Ansicht eines erfindungsgemäßen Bedienelements gemäß einer vierzehnten Ausführungsform.

The figures of the drawings show in detail:

• Fig. 1 a schematic view of an operating element according to the invention according to a first embodiment;
• Fig. 2 a schematic view of an operating element according to the invention according to a second embodiment;
• Fig. 3 a schematic view of an operating element according to the invention according to a third embodiment;
• Fig. 4 a schematic view of an operating element according to the invention according to a fourth embodiment;
• Fig. 5 a schematic view of an operating element according to the invention according to a fifth embodiment;
• Fig. 6 a schematic view of an operating element according to the invention according to a sixth embodiment;
• Fig. 7 a schematic view of an operating element according to the invention according to a seventh embodiment;
• Fig. 8 a schematic view of an operating element according to the invention according to an eighth embodiment;
• Fig. 9 a schematic view of an operating element according to the invention according to a ninth embodiment;
• Fig. 10 a schematic view of an operating element according to the invention according to a tenth embodiment;
• Fig. 11 a schematic view of an operating element according to the invention according to an eleventh embodiment;
• Fig. 12 a schematic view of a compliance element of a control element according to the invention according to a twelfth embodiment;
• Fig. 13 a schematic view of an operating element according to the invention according to a thirteenth embodiment; and
• Fig. 14 a schematic view of an operating element according to the invention according to a fourteenth embodiment.

The Fig. 1 shows a schematic view of an operating element according to the invention according to a first embodiment. The operating element is designed as a joystick. In the figure to the left part of the joystick is in a neutral state with retracted actuator unit 3 and right in a deflected state with retracted actuator 3. The joystick comprises an operating lever 1 with handle and handle bar, which is pivotally mounted in a housing, not shown about a pivot point 2 and a reset unit for providing a return torque M _R for returning the operation lever 1 from a deflected state to a neutral state. Farther The joystick includes in operative connection with the reset unit actuator 3, wherein the actuator unit 3 is formed for limited modulating the return torque M _R, wherein the restoring torque M _R is greater at a lower modulation limit in the deflected state of zero, and wherein in an upper modulation limit the Return torque M _{R is} less than a user applicable deflecting torque for deflecting the operating lever 1. The reset unit has a compliance element 4 in the form of a helical spring, wherein the actuator unit 3 is designed to modulate a return characteristic of the helical spring. The actuator unit 3 performs a linear movement for providing a travel. The compliance element 4 is connected at one end to the actuator unit 3 and at the other end to a feeler element, which is guided on a link 5 and scans it. If the operating element is acted upon by a user with a user force F _B , then a deflection of the actuating lever 1 occurs. This results in that the compliance element 4 is compressed by the backdrop 5. As a result, a spring force F _F is created between the compliance element 4 and the link 5. With a suitable shaping of the gate 5 and the probe element of the compliance element 4, an angle between spring force F _F and surface normal of the slide 5 results, which leads to a restoring force F _R. In contrast to the prior art is now provided according to the invention that the actuator unit 3 additionally generates a variable bias in the coil spring. This bias causes different spring forces F _F and thus different restoring forces F _R can be generated at a constant angular position.

The Fig. 2 shows a schematic view of an operating element according to the invention according to a second embodiment in a deflected state. The operating element is designed as a joystick. In the second embodiment, the actuator unit 3-compliance element 4-sequence of the first embodiment is replaced by an adjustable compliance element 6, wherein the actuator unit 3 is integrated in the compliance element 4, such as with gas springs or air springs with variable internal pressure. In these springs, a gas pressure p can be varied, whereby a corresponding spring force F _{F is} generated.

The Fig. 3 shows a schematic view of an operating element according to the invention according to a third embodiment. The operating element is designed as a joystick. In the figure part on the left, the joystick is in a neutral state with the actuator unit 3 retracted and on the right in a neutral state with the actuator unit 3 extended. In the third embodiment, the actuator unit 3 does not act directly on the compliance element 4, but indirectly, acting on the slide 5 adjusted with respect to the compliance element 4. That is, the link 5 is designed to be movable relative to the housing, not shown. Also by this kinematically inverse arrangement results in a variable bias of the coil spring formed as a compliance element 4 and thus a variable restoring force F _R. The change in distance between pivot point 2 and 5, the characteristic curve or characteristic of the coil spring is affected, so that corresponding forces arise. At the same time results in the same deflection angle changed angle between the gate and compliance element 4. This causes the characteristic (restoring torque M _R applied on deflection angle) of the control element also changes in shape. In particular, in this embodiment, the compliance element and the actuator unit can be realized with various of the technical implementations mentioned above.

The Fig. 4 shows a schematic view of an operating element according to the invention according to a fourth embodiment. The operating element is designed as a joystick. In the figure to the left part of the joystick is in a neutral state with retracted actuator unit 3 and right in a deflected state with retracted actuator 3. In the fourth embodiment, the operating lever 1 is rotatably mounted in the pivot point 2, but it is not the compliance element 4 and the actuator unit 3, but a relative to the housing, not shown movable gate 8 attached. In this scenery 8, a plunger, which has the compliance element 4 and the actuator unit 3, in particular consists of the compliance element 4 and the actuator unit 3, wherein also here the plunger is replaceable by an adjustable compliance element 6. If the actuating lever 1 is deflected together with the link 8, the result is a restoring force F _R , which is directly proportional to the spring force F _{F of} the compliance element 4. Compared to the first embodiment, the actuator unit 3 is fixed in the fourth embodiment, fixed to the housing, not shown. This has immediate advantages in terms of design and connection of control lines and supply lines of the joystick.

The Fig. 5 shows a schematic view of an operating element according to the invention according to a fifth embodiment. The operating element is designed as a joystick. In the figure part at the top left of the joystick is in a neutral state with retracted actuator units 3, top right in a deflected state with retracted actuator units 3, bottom left in a neutral state with extended actuator units 3 and bottom right, the joystick comprises two adjustable compliance elements. 6 In the fifth embodiment, the gate 5 is formed by a cuboid with rounded corners, which is arranged in the pivot point 2. The feeler elements the reset unit are provided by the flat contact surfaces, which clamp the cuboid on two sides. The exact outer shape of the gate 5 is not necessarily cuboid. Other shapes are not excluded according to the invention and depend on the desired characteristic of the compliance element 4 to be generated. The gate 5 is acted on both sides via a compliance element 4, the bias voltage can be varied in each case with an actuator unit 3, with a force. When deflecting the actuating lever 1 deflects the link 5 about the pivot point 2. As a result, the force application points between the gate 5 and the compliance element 4 change. At the same time, the elongation of the compliance element 4 changes, as a result of which the spring force F _{F is} varied. In this embodiment, a restoring torque M _R results from spring force F _F and distance of the force application point 9 in relation to the axis of rotation 2. It is particularly advantageous that no bearing forces occur at the axis of rotation 2 in a symmetrical design of the arrangement. As already mentioned, here also actuator unit 3 and compliance element 4 can be replaced by an adjustable compliance element 6. It is also possible according to the invention to omit one of the two actuator units 3 and to influence both compliance elements 4 via a single actuator unit 3 and a suitable gear in their bias voltage. For the purposes of the invention, the plan contact surfaces can be referred to as a backdrop and the cuboid as a probe element. Consequently, the backdrop would be flat and the probe element formed as a two-sided acting cam.

The Fig. 6 shows a schematic view of an operating element according to the invention according to a sixth embodiment. The operating element is designed as a joystick. In the figure part on the left, the joystick is in a neutral state with retracted actuator units 3a, 3b, in the middle in a deflected state retracted actuator unit 3a, 3b and right in a neutral state with extended actuator units 3a, 3b. In the sixth embodiment, two compliance elements 4a, 4b act directly on the actuating lever 2. In the housing, not shown, stops 10 ensure that upon deflection of the actuating lever 1, only one compliant element 4 acts on the actuating lever 1. The actuator units 3a, 3b allow a bias voltage of the compliance elements 4a, 4b, at the same time a parallel displacement of the characteristic along the torque axis is achieved over this. With great advantage, the actuator units 3a, 3b can be controlled differently in this embodiment and thus affect the characteristic branches left and right of the neutral position of the actuating lever 1 separated from each other. Again, embodiments are conceivable in which actuator unit 3 and compliance element 4 are replaced by an adjustable compliance element 6. Also, a single actuator unit 3 via a suitable transmission both or all of the compliance elements 4 simultaneously influence.

The Fig. 7 shows a schematic view of an operating element according to the invention according to a seventh embodiment. The operating element is designed as a joystick. In the figure part 1 from the left, the joystick is in a neutral state with retracted actuator unit 3, 2 from the left in a deflected state with retracted actuator unit 3, 3 from the left in a neutral state with extended actuator unit 3, 4 from the left in a neutral state with retracted actuator unit 3 and 5 from the left in a deflected state with retracted actuator unit 3. In the seventh embodiment, as already described, the operating lever 1 is rotatably mounted about the pivot point 2. About a fixed to the housing, not shown joint 11 of the actuating lever 1 with the Actuator 3 and this connected to the compliance element 4. The compliance element 4 is in turn rotatably mounted in a hinge 12 which is fixed to the housing, not shown. By deflection of the actuating lever 1, the distance between the joint 11 and joint 12 increases, whereby the spring force F _F generated by the compliance element 4 is increased. A lateral offset of the joint 11 with respect to the pivot point 2 leads to a restoring torque M _R. By the actuator unit 3, the bias of the compliance element 4 and thus the characteristic of the joystick can be varied. It is also possible to specify an alternative of this embodiment with a stationary actuator unit 3 '.

The Fig. 8 shows a schematic view of an operating element according to the invention according to an eighth embodiment. The operating element is designed as a joystick. In the figure part on the left is shown a front view of the eighth embodiment and right side view. In the eighth embodiment, the compliance element 4 is supported on a link 5 by means of the feeler element. Upon deflection of the actuating lever 1, a restoring torque M _R arises as a function of spring force F _F and angle between the guide 5 and the actuating lever 1. The slide 5 is formed in this embodiment so that it has different slide sections in the z direction. This is achieved by a link block 13, wherein the link block 13 is adjustable in the z direction by the actuator unit 3. Depending on the position of the gate block 13 different characteristics are displayed. The transitions between the individual characteristics can be designed steplessly, alternatively, a discrete number of characteristics can be realized on the gate block 13.

The Fig. 9 shows a schematic view of an operating element according to the invention according to a ninth embodiment. The operating element is designed as a joystick. In the figure part on the left is a front view of the ninth embodiment shown and right side view. In the ninth embodiment, the various scenes are not linear, but arranged on the circumference of a crank roller 14. By rotation of the crank roller 14 about its longitudinal axis by means of the actuator unit 3 different scenes 5 can be retrieved. The scenes 5 can merge into one another continuously or it can be arranged as a discrete number of scenes 5 as a flat sub-segments on the mantle of the crank roller 14. The generation of the restoring torque M _R is analogous to the first or eighth embodiment. The actuator unit 3 comprises an actuator, which is designed as a rotary motion as Stellweg providing electric motor.

The Fig. 10 shows a schematic view of an operating element according to the invention according to a tenth embodiment. The operating element is designed as a joystick. In the figure part left, the joystick is in a neutral state with retracted actuator unit 3 and right in a deflected state with retracted actuator unit 3. In the tenth embodiment, the compliance element 4 between the actuator unit 3, which is attached to the housing, not shown, and the backdrop 5 arranged. The actuator unit affects the bias of the compliance element 4. The probe element is directly connected to the backdrop 5 facing the end of the actuating lever 1 and slides in the deflection of the actuating lever 1 on the backdrop 5. The scenery 5 in turn is movable in the housing, not shown, in particular sliding , stored and is pressed by a compliance element 4 with the spring force F _F against the actuating lever 1. Analogous to the first embodiment results in deflection of the actuating lever 1, a restoring torque M _R. The two bearings 15 indicate that the gate 5 is designed to be mainly vertically displaceable.

The Fig. 11 shows a schematic view of an operating element according to the invention according to an eleventh embodiment, wherein the control element designed as a joystick is in a neutral state with retracted actuator units 3. The eleventh embodiment is a magnetic embodiment. At the remote from the user end of the actuating lever 1, a magnet 16 is attached. Left and right of this magnet 16 are further magnets 17, 18 arranged oriented so that they repel the magnet 16 respectively. In this way, the joystick is centered in the neutral position or in the neutral state. In a deflection of the actuating lever 1, for example, a first air gap between the magnet 16 and the magnet 18 decreases and a second air gap between the magnet 16 and the magnet 17 increases. The repulsion increases in the smaller first air gap, it decreases in the larger second air gap. As a result, the behavior of a compliance element 4 is achieved and a restoring torque M _{R is} generated. About the actuator units 3, the first and second air gaps could be changed and thus the characteristics. It is particularly advantageous to simultaneously adjust both magnets 17, 18 via only one actuator unit 3 and a corresponding gear. The magnets 17, 18 are permanent magnets, but according to the invention could also be replaced by electromagnets. This embodiment requires further circuit protection measures for shielding the magnets from magnetic interference fields to ensure that the operating lever 1 learns by the reset unit exclusively reset torques M _R , which act in the direction of its neutral position.

The Fig. 12 shows a schematic view of a compliance element of a control element according to the invention according to a twelfth embodiment. In the figure part left, the actuator unit 3 in an extended state and right in a retracted state. In the twelfth embodiment, it is provided to firmly clamp a torsion spring 22 with a rectangular cross-section in a bearing block 20. A second bearing block 21 can be moved by an actuator unit 3 along the longitudinal axis of the torsion spring 22, wherein the second bearing block 21 receives all torsional moments. The free end of the torsion spring 22 is arranged in the pivot point 2 of the actuating lever 1. By moving the movable bearing block 21 along the longitudinal axis of the torsion spring 22 whose characteristics and thus the characteristic of the control element is adjustable. By means of suitable stops, it is also possible here to ensure that the operating element remains fully functional in the event of a malfunction of the actuator unit. As an alternative to the torsion spring 22, according to the invention, a leaf spring clamped on one side is provided as a bending spring.

The Fig. 13 shows a schematic view of an operating element according to the invention according to a thirteenth embodiment. The operating element is designed as a joystick. In the figure part left is the joystick in a neutral state with retracted actuator unit 3 and right in a deflected state with retracted actuator unit 3. In the thirteenth embodiment slides a plunger 23 on the backdrop 5. It is particularly advantageous that the entire invention relevant to mechanics a user facing the handle bar 24 of the actuating lever 1 is located on either side or above the pivot point 2. The actuator unit 3 is fixedly connected to the actuating lever 1 in order to modulate the bias of the compliance element 4. The compliance element 4 is preferably formed as a helical spring, the Operating lever 1 engages and is slidably mounted on it. This results in a particularly compact arrangement. When the actuating lever 1 is deflected, the plunger 23 deviates due to the backdrop 5 against the spring force F _{F of} the compliance element 4. In this way, a restoring torque M _{R is} generated.

The Fig. 14 shows a schematic view of an operating element according to the invention according to a fourteenth embodiment. The operating element is designed as a joystick. In the figure to the left, the joystick is in a neutral state with the actuator unit 3 extended and on the right in a neutral state with the actuator unit 3 retracted. In the fourteenth embodiment, the gate 25 is designed not to be displaceable in parallel by the actuator unit 3 but to be flexible and loose stored between four bearings 26. The actuator unit 3 modulates the shape of the gate 25. In this embodiment, the bias of the compliance element 4 and the distance of a support point 27 of the probe element on the backdrop to the pivot point 2 are changed simultaneously. Instead of a single actuator unit 3 and a plurality of actuator units 3 can attack at different locations on the flexible link 25 and change the shape. This results in several degrees of freedom in the modulation of the characteristic. In order for the operating lever 1 to return to its neutral position under all circumstances, the travel paths of the actuator units 3 are to be limited by means of intrinsic travel limit stops or stops such that the actuator units 3 of the flexible link 25 can not give shape, the local extrema in the course of the potential energy of the probe element contains.

LIST OF REFERENCE NUMBERS

1

actuating lever

2

pivot point

3

actuator

3a

actuator

3b

actuator

3 '

actuator

4

compliant element

4a

compliant element

4b

compliant element

5

scenery

6

Adjustable compliance element

7

gas pressure

8th

scenery

9

Force application point

10

attack

11

joint

12

joint

13

backdrop block

14

cam roller

15

camp

16

magnet

17

magnet

18

magnet

20

bearing block

21

bearing block

22

torsion spring

23

tappet

24

Grab bars

25

scenery

26

camp

27

support point

F _B

users force

F _F

spring force

F _R

Restoring force

p

gas pressure

M _R

Restoring torque

Claims (15)

Control element, comprising a housing, a in the housing about a pivot point (2) is pivotally mounted actuating lever (1) and a restoring unit for providing a restoring torque (M _R) for returning the operating lever (1) from a deflected state to a neutral state, characterized characterized in that the operating element comprises an actuator unit (3) operatively connected to the reset unit, wherein the actuator unit (3) is designed to modulate the restoring torque (M _R ) in a limited manner, wherein at a lower modulation limit the restoring torque (M _R ) in the deflected State is greater than zero. Control element according to claim 1, characterized in that at an upper limit of modulation, the restoring torque (M _R ) is smaller than a user applicable deflecting torque for deflecting the actuating lever (1). Operating element according to claim 1 or 2, characterized in that the restoring unit comprises a compliance element (4), wherein the actuator unit (3) has a restoring characteristic of the compliance element (4) modulating. Control element according to claim 3, characterized in that the compliance element (4) comprises a compression spring or a tension spring or a gas piston or a magnet. Operating element according to Claim 3 or 4, characterized in that the reset unit has a link (5) and a feeler element which scans the link (5), the actuator unit (3) having a Contact force of the probe element against the slide (5) is designed to modulate the amount and / or direction. Operating element according to claim 5, characterized in that the probe element comprises a ball or a roller or a cam. Control element according to claim 3 or 4, characterized in that the restoring unit comprises two magnets (16, 17), wherein the actuator unit (3) between the magnet (16, 17) acting magnetic force modulating in magnitude and / or direction is formed. Operating element according to claim 3 or 4, characterized in that the return unit comprises a linear chain whose one end is fixed to the housing and the other end to the actuating lever (1) and which comprises the compliance element (4), wherein the actuator unit (3 ) is formed modulating a bias of the compliance element (4). Operating element according to one of the preceding claims, characterized in that the actuator unit (3) is designed to provide an intrinsically limited travel. Operating element according to one of the preceding claims, characterized in that the operating element has stops for limiting a travel of the actuator unit (3). Operating element according to one of the preceding claims, characterized in that the actuator unit (3) has an actuator, wherein the actuator as an electric motor or an electrodynamic linear drive or a piezoelectric drive or an electromagnet or a pneumatic drive or a hydraulic drive is formed. Operating element according to one of the preceding claims, characterized in that the actuator unit (3) has an actuator, wherein the actuator is arranged outside of the operating element. Operating element according to one of the preceding claims, characterized in that the actuator unit (3) has an actuator instead of an actuator. Operating element according to one of the preceding claims, characterized in that the pivot point (2) is designed as an actuating axis or as two mutually orthogonally oriented actuating axes or as three mutually orthogonal actuating axes. Operating element according to one of the preceding claims, characterized in that the restoring torque in the deflected state is 0.001 Nm to 10.0 Nm.

Images