WO1999038060A1 - Remote control device, in particular hydraulic manipulator - Google Patents

Remote control device, in particular hydraulic manipulator Download PDF

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Publication number
WO1999038060A1
WO1999038060A1 PCT/FR1999/000090 FR9900090W WO9938060A1 WO 1999038060 A1 WO1999038060 A1 WO 1999038060A1 FR 9900090 W FR9900090 W FR 9900090W WO 9938060 A1 WO9938060 A1 WO 9938060A1
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WO
WIPO (PCT)
Prior art keywords
cam
armature
magnetic member
remote control
control device
Prior art date
Application number
PCT/FR1999/000090
Other languages
French (fr)
Inventor
Jacky Astier
Original Assignee
Mannesmann Rexroth S.A.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mannesmann Rexroth S.A. filed Critical Mannesmann Rexroth S.A.
Priority to EP99900949A priority Critical patent/EP1047985A1/en
Priority to JP2000528904A priority patent/JP2002501246A/en
Publication of WO1999038060A1 publication Critical patent/WO1999038060A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/0422—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with manually-operated pilot valves, e.g. joysticks
    • 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
    • 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
    • G05G2009/04766—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 providing feel, e.g. indexing means, means to create counterforce
    • G05G2009/0477—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 providing feel, e.g. indexing means, means to create counterforce holding the member in a number of definite positions

Definitions

  • Remote control device in particular hydraulic manipulator.
  • the present invention relates to improvements made to remote control devices, and in particular to manually operated remote control devices such as those called hydraulic manipulators, comprising:
  • a body containing at least two movable members generating respective signals when they are moved, in particular linearly parallel to the axis of the body, between two extreme positions;
  • the two generating members being disposed respectively on two substantially orthogonal axes and the osiliant cam being disposed substantially at the intersection of said two axes;
  • blocking means capable of retaining the cam in its maximum tilting position in order to maintain a correspondent of the aforementioned generating members in its extreme position corresponding to its maximum axial depression, said blocking means comprising a magnetized member or respectively a supported armature fixed laterally by the body and a frame or respectively a magnetized member eccentrically integral with the cam so that, the cam being in the maximum tilting position along one axis of the aforesaid generating member, the frame or respectively the 'magnetized member which is integral with said cam cooperates with the magnetized member or respectively the armature supported by the body.
  • blocking means either mechanical or magnetic, allowing the cam to be retained in its maximum tilting position in correspondence with one of the signal generating members.
  • the object of the invention is essentially to remedy to the problems exposed, and to propose an improved arrangement of remote control device which ensures correct positioning and without mutual displacement of the armature and the magnetized member whatever the position of the cam, and even when the cam is simultaneously in the locked position of one of the signal generating members and in the control position 'another signal generating member located on a perpendicular axis.
  • a remote control device as mentioned in the preamble, being arranged in accordance with the invention, is characterized in that the armature or respectively the magnetic member is fixed to the cam so as to be able to rotate around a shaft, the axis of which is situated in a plane defined by the axis of the body and the axis on which the generating member considered is situated; guide means are provided on the body and on the cam to, by mutual cooperation, keep the facing faces of the armature and the magnetized member substantially parallel to one another when they are in the immediate vicinity one from the other and substantially coaxial when they are in the immediate vicinity or in contact with one another even when the oscillating cam is inclined in an intermediate direction suitable for simultaneously controlling the other generating member; and means for pivotally mounting said shaft of the armature or respectively of the magnetized member on the cam suitable for authorizing the inclination movement of the cam in an intermediate position while maintaining the axis of said shaft in the above-mentioned plane.
  • the guide means comprise at least one fixed guide piece integral with the body and extending in an arc centered on the pivoting center of the oscillating cam and a support piece carried by the armature or respectively the magnetized member and capable of cooperating functionally, with sliding, with said guide piece; advantageously then, the guide means comprise two guide parts in an arc of a circle, parallel to each other and spaced from one another, and the support part is a projecting termination of the frame or respectively of the magnetized member having two opposite and parallel planar faces, which is engaged between the two aforementioned guide parts and which is in sliding bearing on these by its two opposite planar faces.
  • the means for mounting the support shaft of the armature or respectively of the magnetized member on the cam comprise a ring coaxially surrounding the cam and supported for free rotation by the latter, and on which is mounted said shaft in the radial position.
  • the remote control device includes locking means capable of retaining the cam in its maximum tilting position which are associated respectively with the two signal generating members
  • the locking means associated with the second signal generating member are constituted as indicated above and that the support shaft of the armature or 1 'corresponding magnetic member is secured to a second ring coaxially surrounding the cam and supported by it with free rotation independent of that of the said first ring.
  • the magnetic member typically an electromagnet, is carried by the body and the armature is carried by the cam.
  • the guide means also comprise an elastically erasable member arranged so as to constitute a hard point when the cam reaches the end of its tilting stroke and the magnetized member and the armature cooperate with each other to lock the cam in its maximum tilting position.
  • FIG. 1 is a sectional view of a hydraulic remote control device arranged in accordance with the invention, shown in the neutral position
  • FIG. 2 is a sectional view of the device of Figure 1 shown in a locked stance maximum using the provisions of the invention;
  • - Figure 3 is a top view of the device of Figure 2;
  • - Figure 4 is a perspective view from above of the device of Figure 2;
  • - Figure 5 is a partial view illustrating, in perspective, an alternative embodiment of part of the device of Figure 4;
  • FIG. 6 is a partial top view, in section, illustrating a possible arrangement detail of the device in FIGS. 1 to 4.
  • FIGS. 1 and 2 illustrate more particularly a remote control device constituted in the form of a hydraulic manipulator, since it is an interesting application of the provisions of the invention, it being understood however that the invention can find application in d '' other areas of remote control (electric, pneumatic, electro-optical remote control) with an action other than manual (action with the foot for example, or by the knee or the elbow).
  • remote control electrical, pneumatic, electro-optical remote control
  • the device of the hydraulic manipulator type illustrated in FIG. 1 is arranged as a selective distributor of hydraulic fluid under pressure comprising several reducers of pressure which respectively constitute remote control signal generators (hydraulic in the case considered).
  • the device comprises a body 1 (which may consist of the union of several parts, and in particular of a cover, to facilitate the positioning of the internal components) in which are arranged at least two fluid pressure reducers 2.
  • Each reducer comprises a plunger 3 able to move in a cavity 4 formed in the body 1, this cavity 4 comprising, on one side, an enlarged housing 5 in which is positioned a calibration spring 6 bearing between a shoulder 7 of the plunger and a cup 8 movable in the housing 5 in the vicinity of the free end of the plunger and, on the other side, a bore 9 in which an active part 10 of the plunger can be moved to perform the function of reducing the pressure of the fluid which is brought through an orifice inlet 11 which is connected to the bore 9 by a conduit 12 opening radially therein, while an outlet orifice 13 is located at the end of the bore 9.
  • the active part or piston 10 of the plunger has an axial recess (not visible) opening at the base of the piston 10 on the side of the outlet orifice
  • the plunger 3 further comprises a rod part 14, surmounting the active part 10 and extending appreciably in the cavity 5 while being surrounded coaxially by the calibration spring 6, which passes through the cup 8 and ends in a head enlarged 15 defining a shoulder 16 for retaining the cup.
  • a return spring 17, coaxial with the rod 14, is interposed between the cup 8 and a shoulder defined in the body 1, to push the cup upwards, that is to say towards its position defining a minimum setting.
  • the cup 8 is surmounted by a movable pusher 18 which can slide freely in a bore in the body (guide piece 19) and which projects partially out of the body so as to be in contact with a cam 20 capable of oscillating multidirectionally around a central point 21 under the action of an actuating member such as a handle 22.
  • a movable pusher 18 which can slide freely in a bore in the body (guide piece 19) and which projects partially out of the body so as to be in contact with a cam 20 capable of oscillating multidirectionally around a central point 21 under the action of an actuating member such as a handle 22.
  • the invention relates more particularly to devices which comprise at least two pressure reducers 2 which are arranged (see fig. 3) respectively on two axes 23 and 24 substantially perpendicular and which intersect on the axis 25 of the body on which the oscillating cam 20 is mounted coaxially
  • a device arranged according to the invention may include pressure reducers in number greater than two (the example illustrated in FIGS. 1 to 3 comprises three of which two are diametrically opposed as visible on the Figures 1 and 2, or else four arranged in two to two diametrically opposite directions).
  • the device also comprises means for 8 blocking 26 capable of retaining the cam in its maximum tilting position (position illustrated in FIG. 2) in order to maintain a correspondent of the above pressure reducers in its position of maximum insertion.
  • the two visible reducers 2 are each equipped with such blocking means, while in FIG. 3, a third visible reducer is also equipped with them.
  • These blocking means are of the magnetic type, and comprise a magnetic member 27, for example integral laterally with the body 1, and a frame 28, for example integral eccentrically with the cam 20, or vice versa.
  • the magnetized member 27 is preferably an electromagnet.
  • the magnetic member 27 is fixed in any desirable manner, for example by screwing, on the body 1, and it is of approximately circular shape.
  • the frame 28 may be of approximately discoidal shape and is supported, with free rotation, by a shaft 29 passing through it diametrically.
  • One end of the shaft 29 is supported by the cam 20 from which the shaft extends radially, with a more or less pronounced inclination relative to the horizontal depending on the general geometrical conformation of the device.
  • guide means provided on the body 1 and on the cam 20 to hold the facing faces, respectively 27a for the magnetized member and 28a for the armature, on the one hand, substantially parallel to each other. 'other when the armature is in the immediate vicinity of the magnetized member and, on the other hand, substantially coaxial when they are in the immediate vicinity or in contact with one another even when the cam is substantially inclined in one direction intermediate between axes 23 and 24.
  • the frame 28 is integral with a support piece 30 (either integral with the frame, or attached to that -ci) which is also freely rotating on the shaft 29.
  • the shape of the part 30 will be specified later.
  • the guide means comprise a guide piece 31, fixed, integral with the body 1 on which it can be attached and fixed near the magnetized member 27, said magnetized member 27 and said guide piece 31 being aligned on the aforementioned axis 23 (in the example of the pressure reducer located on the left in FIG. 1).
  • This guide piece 31 is elongated and extending in an arc centered on the pivot center 21 of the cam 20.
  • the guide piece is in the form of a U with parallel branches 31a between which is engaged the abovementioned support piece 30 which is fixed to the frame.
  • the support piece 30 has two opposite faces 30a which are planar and which cooperate slidingly with the inner edges, turned towards one another, of the branches 31a of the guide piece 31. This thus gives maintaining the armature 28 in a predetermined position (in this case perpendicular to the plane determined by the axis 23 and the axis of the shaft 29) whatever the inclination position of the cam 20.
  • the guidance of the support piece 30 can be improved if the inner edges facing the branches 31a are produced in the form of parallel flat faces 31b as illustrated in FIGS. 1 to 4.
  • the guide piece 31 could be constituted by two branches 31a independent of one another, fixed separately on the body 1.
  • Figure 5 is shown an alternative embodiment of the guide means.
  • the guide piece 31 here comprises a single branch 31a curved in an arc of a circle which is shown with opposite parallel planar faces 31b.
  • the support piece 30 integral with the frame 28 is in the form of a U-shaped fork and encloses the branch 31a with free sliding by the flat inner faces 30a of its 10 two branches.
  • the cam 20 can be inclined transversely to actuate one of the pressure reducers located on the axis 24 while being inclined in the locking position shown in FIG. 2, it is provided that the shaft 29 is not mounted directly on the body of the cam 20, but is fixed to a ring 32 supported by said cam body coaxially with the axis 25 and free to rotate.
  • the shaft 29 is not mounted directly on the body of the cam 20, but is fixed to a ring 32 supported by said cam body coaxially with the axis 25 and free to rotate.
  • means forming a hard point for example in the form of a ball 33 (or two balls facing each other as illustrated in FIG. 6) elastically erasable in a socket 34 fixed (for example screwed) on a branch 31a and suitable for cooperating with the support piece 30.
  • FIGS. 1 to 4 only one guide assembly for the armature has been shown in a complete and detailed manner, so as not to overload the drawings and to facilitate their reading. However, it should be understood that such assemblies must be provided in association with each of the locking means making it possible to retain the cam in a position of maximum inclination.
  • a guide piece 31 similar to that illustrated on the left must be added. The two reducers 2 shown in Figures 1 and
  • the shaft supporting the corresponding frame must be mounted on a ring 35 similar to the ring 32, but independent of the latter from the point of view of its free rotation on the cam body 20.
  • the two rings 32 11 and 35 can advantageously have nested geometric conformations so as not to increase the height of the cam thoughtlessly.

Abstract

The invention concerns a remote control device, in particular a hydraulic manipulator, comprising magnetic means -armature (28), magnetised member (27)- for retaining the cam (20) controlling the thrusters (18) in a maximum tilting position. The armature (28) or magnetised member (27) is mounted rotating on a support shaft (29) fixed on mounting means (32) pivoting on the cam (20) and projecting radially relative thereto; guide means (30, 31) are provided on the body (1) and the cam for retaining the shaft (29) and maintaining the co-operating surfaces (27a, 28a) parallel and coaxial when the cam is inclined in any particular direction.

Description

Dispositif de télécommande, notamment manipulateur hydraulique. Remote control device, in particular hydraulic manipulator.
La présente invention concerne des perfectionnements apportés aux dispositifs de télécommande, et notamment aux dispositifs de télécommande à actionnement manuel tels que ceux dit manipulateurs hydrauliques, comportant :The present invention relates to improvements made to remote control devices, and in particular to manually operated remote control devices such as those called hydraulic manipulators, comprising:
- un corps renfermant au moins deux organes mobiles générateurs de signaux respectifs lorsqu'ils sont déplacés, notamment linéairement parallèlement à l'axe du corps, entre deux positions extrêmes ;a body containing at least two movable members generating respective signals when they are moved, in particular linearly parallel to the axis of the body, between two extreme positions;
- au moins deux poussoirs associés respectivement auxdits organes générateurs et saillant sur le dessus du corps, ces poussoirs étant guidés pour être mobiles sensiblement axialement ; - une came oscillante fixée sur le dessus du corps et apte à coopérer avec l'extrémité saillante des poussoirs pour commander sélectivement le déplacement de ceux-ci ;- At least two pushers associated respectively with said generating members and projecting from the top of the body, these pushers being guided to be movable substantially axially; - an oscillating cam fixed on the top of the body and able to cooperate with the projecting end of the pushers to selectively control the movement of these;
- les deux organes générateurs étant disposés respectivement sur deux axes sensiblement orthogonaux et la came osil- lante étant disposée sensiblement à 1 ' intersection desdits deux axes ;the two generating members being disposed respectively on two substantially orthogonal axes and the osiliant cam being disposed substantially at the intersection of said two axes;
- des moyens de blocage propres à retenir la came dans sa position de basculement maximum pour maintenir 1 ' un correspondant des susdits organes générateurs dans sa position extrême correspondant à son enfoncement axial maximum, lesdits moyens de blocage comprenant un organe aimanté ou respectivement une armature supporté de façon fixe latéralement par le corps et une armature ou respectivement un organe aimanté solidaire de façon excentrée de la came de manière telle que, la came étant en position de basculement maximum selon 1 ' axe du susdit organe générateur, l'armature ou respectivement l'organe aimanté qui est solidaire de ladite came coopère avec 1 ' organe aimanté ou respectivement 1 ' armature supporté par le corps . On connaît de nombreux exemples de réalisation de moyens de blocage, soit mécaniques, soit magnétiques, permettant de retenir la came dans sa position de basculement maximum en correspondance avec un des organes générateurs de signal. Toutefois, des difficultés se présentent avec des moyens magnétiques de blocage qui comprennent un organe aimanté et une armature amenés au contact 1 ' un de l'autre pour bloquer la came, car il est nécessaire que, tout en étant bloquée en position de basculement maximum en correspondance avec un des organes générateurs de signal, la came puisse simultanément être actionnée pour assurer la commande, notamment proportionnelle, de l'autre ou d'un autre organe générateur de signal. Or, il est possible qu'en actionnant la came pour assurer cette double commande simultanée, d'une part, les faces coopérantes de l'armature et de 1 ' organe aimanté ne soient pas présentées parallèle- ment l'une à l'autre, ce qui risque de ne pas ou de mal réaliser le verrouillage magnétique et/ou de faire frotter les deux pièces l'une sur l'autre avant qu'elles ne s'appliquent l'une contre l'autre et, d'autre part, l'armature et l'organe aimanté étant appliqués l'un contre l'autre, la manoeuvre de la came pour la commande de 1 ' autre organe générateur de signal risque de provoquer de faibles déplacements 1 ' un par rapport à 1 ' autre de 1 ' armature et de l'organe aimanté appliqués l'un sur l'autre. Dans tous les cas, le contact frottant de l'armature et de l'organe aimanté engendre une usure des surfaces coopérantes et génère un débris poudreux qui risque de pénétrer, par les guides des poussoirs, à l'intérieur du dispositif de télécommande et de perturber son fonctionnement correct (encrassement des guides de poussoirs, encrassement des conduits hydrauliques, ...). En outre, ce phénomène d'usure (couramment dénommé "fretting" dans la technique) provoque la formation d ' une couche mince de matière sur les surfaces coopérantes de l'armature et/ou de l'organe aimanté, lesquelles couches constituent un entrefer perturbant le fonctionnement correct.blocking means capable of retaining the cam in its maximum tilting position in order to maintain a correspondent of the aforementioned generating members in its extreme position corresponding to its maximum axial depression, said blocking means comprising a magnetized member or respectively a supported armature fixed laterally by the body and a frame or respectively a magnetized member eccentrically integral with the cam so that, the cam being in the maximum tilting position along one axis of the aforesaid generating member, the frame or respectively the 'magnetized member which is integral with said cam cooperates with the magnetized member or respectively the armature supported by the body. We know many examples of blocking means, either mechanical or magnetic, allowing the cam to be retained in its maximum tilting position in correspondence with one of the signal generating members. However, difficulties arise with magnetic blocking means which include a magnetic member and a frame brought into contact with one another to block the cam, because it is necessary that, while being locked in the maximum tilting position in correspondence with one of the signal generating members, the cam can simultaneously be actuated to ensure the control, in particular proportional, of the other or of another signal generating member. However, it is possible that by actuating the cam to ensure this double simultaneous control, on the one hand, the cooperating faces of the armature and of the magnetized member are not presented parallel to one another , which risks not or improperly carrying out the magnetic locking and / or causing the two parts to rub one on the other before they are applied against each other and, on the other hand, the armature and the magnetic member being applied one against the other, the operation of the cam for controlling the other signal generating member risks causing small displacements 1 'relative to 1' another of the armature and the magnetic member applied one on the other. In all cases, the rubbing contact of the armature and the magnetic member generates wear on the cooperating surfaces and generates a powdery debris which risks penetrating, through the guides of the pushers, inside the remote control device and disturb its correct functioning (fouling of the push rod guides, fouling of the hydraulic conduits, ...). In addition, this wear phenomenon (commonly referred to as "fretting" in the art) causes the formation of a thin layer of material on the cooperating surfaces of the armature and / or the magnetized member, which layers constitute an air gap. disrupting correct operation.
L'invention a essentiellement pour but de remédier aux problèmes exposés, et de proposer un agencement perfectionné de dispositif de télécommande qui assure un positionnement correct et sans déplacement mutuel de 1 ' armature et de l'organe aimanté quelle que soit la position de la came, et y compris lorsque la came est simultanément en situation de verrouillage d'un des organes générateurs de signal et en position de commande ' un autre organe générateur de signal situé sur un axe perpendiculaire.The object of the invention is essentially to remedy to the problems exposed, and to propose an improved arrangement of remote control device which ensures correct positioning and without mutual displacement of the armature and the magnetized member whatever the position of the cam, and even when the cam is simultaneously in the locked position of one of the signal generating members and in the control position 'another signal generating member located on a perpendicular axis.
A cette fin, un dispositif de télécommande tel que mentionné au préambule, étant agencé conformément à l'invention, se caractérise en ce que l'armature ou respectivement l'organe aimanté est fixé à la came de façon à pouvoir tourner autour d ' un arbre dont 1 ' axe est situé dans un plan défini par 1 ' axe du corps et 1 ' axe sur lequel est situé l'organe générateur considéré ; des moyens de guidage sont prévus sur le corps et sur la came pour, par coopération mutuelle, maintenir les faces en regard de l'armature et de 1 ' organe aimanté sensiblement parallèles 1 ' une à 1 ' autre lorsqu'elles sont au voisinage immédiat l'une de l'autre et sensiblement coaxiales quand elles sont au voisinage immédiat ou au contact 1 ' une de 1 ' autre même lorsque la came oscillante est inclinée dans une direction intermédiaire propre à commander simultanément l'autre organe générateur; et des moyens de montage pivotant dudit arbre de 1 ' armature ou respectivement de l'organe aimanté sur la came propres à autoriser le mouvement d'inclinaison de la came dans une position intermédiaire tout en maintenant 1 ' axe dudit arbre dans le susdit plan.To this end, a remote control device as mentioned in the preamble, being arranged in accordance with the invention, is characterized in that the armature or respectively the magnetic member is fixed to the cam so as to be able to rotate around a shaft, the axis of which is situated in a plane defined by the axis of the body and the axis on which the generating member considered is situated; guide means are provided on the body and on the cam to, by mutual cooperation, keep the facing faces of the armature and the magnetized member substantially parallel to one another when they are in the immediate vicinity one from the other and substantially coaxial when they are in the immediate vicinity or in contact with one another even when the oscillating cam is inclined in an intermediate direction suitable for simultaneously controlling the other generating member; and means for pivotally mounting said shaft of the armature or respectively of the magnetized member on the cam suitable for authorizing the inclination movement of the cam in an intermediate position while maintaining the axis of said shaft in the above-mentioned plane.
Grâce aux dispositions qui viennent d'être indi- quées, on est assuré que l'armature et l'organe aimanté sont présentés l'un à l'autre avec leurs faces en regard sensiblement parallèles et sensiblement coaxiales l'une à l'autre: l'effort magnétique de retenue est ainsi optimum et il n'y a aucun frottement des faces l'une contre l'autre au moment de la venue en contact.Thanks to the arrangements which have just been indicated, it is ensured that the armature and the magnetized member are presented to each other with their opposite faces substantially parallel and substantially coaxial with each other. : the magnetic retention force is thus optimum and there is no friction of the faces against each other at the time of coming into contact.
En outre, une fois la came verrouillée en position de déviation maximale sur un des organes générateurs de signal de commande hydraulique, il est possible de continuer à commander de façon proportionnelle un autre organe générateur situé sur un axe perpendiculaire au précédent sans qu'il en résulte un quelconque déplacement relatif de l'armature et de l'organe aimanté magnétiquement accolés, grâce à la fixation de l'un de ceux-ci sur la came par l'intermédiaire d'une bague tournante folle. On élimine ainsi la production de poudre métallique résultant de l'usure de pièces frottantes et l'on s'affranchit d'une cause possible de fonctionnement défectueux du dispositif de télécommande .In addition, once the cam is locked in position maximum deviation on one of the hydraulic control signal generating members, it is possible to continue to proportionally control another generating member located on an axis perpendicular to the previous one without any relative displacement of the armature resulting therefrom and of the magnetically attached magnetic member, thanks to the fixing of one of these on the cam by means of a crazy rotating ring. This eliminates the production of metallic powder resulting from the wear of rubbing parts and eliminates a possible cause of faulty operation of the remote control device.
Dans un mode de réalisation préféré, de mise en oeuvre simple et peu onéreuse, les moyens de guidage comprennent au moins une pièce de guidage fixe solidaire du corps et s ' étendant selon un arc de cercle centré sur le centre de pivotement de la came oscillante et une pièce d ' appui portée par 1 ' armature ou respectivement 1 ' organe aimanté et propre à coopérer fonctionnellement, à glisse- ment, avec ladite pièce de guidage ; avantageusement alors, les moyens de guidage comprennent deux pièces de guidage en arc de cercle, parallèles l'une à l'autre et écartées l'une de l'autre, et la pièce d'appui est une terminaison saillante de 1 ' armature ou respectivement de 1 ' organe aimanté présentant deux faces planes opposées et parallèles, qui est engagée entre les deux susdites pièces de guidage et qui est en appui glissant sur celles-ci par ses deux faces planes opposées .In a preferred embodiment, of simple and inexpensive implementation, the guide means comprise at least one fixed guide piece integral with the body and extending in an arc centered on the pivoting center of the oscillating cam and a support piece carried by the armature or respectively the magnetized member and capable of cooperating functionally, with sliding, with said guide piece; advantageously then, the guide means comprise two guide parts in an arc of a circle, parallel to each other and spaced from one another, and the support part is a projecting termination of the frame or respectively of the magnetized member having two opposite and parallel planar faces, which is engaged between the two aforementioned guide parts and which is in sliding bearing on these by its two opposite planar faces.
Dans un mode de réalisation particulier, les moyens de montage de l'arbre de support de l'armature ou respectivement de l'organe aimanté sur la came comprennent une bague entourant coaxialement la came et supportée à libre rotation par celle-ci, et sur laquelle est monté ledit arbre en position radiale. Dans le cas où le dispositif de télécommande comporte des moyens de blocage propres à retenir la came dans sa position de basculement maximum qui sont associés respectivement aux deux organes générateurs de signaux, on prévoit que les moyens de blocage associés au second organe générateur de signal sont constitués comme indiqué ci-dessus et que 1 ' arbre de support de 1 ' armature ou de 1 ' organe aimanté correspondant soit solidaire d'une seconde bague entourant coaxialement la came et supportée par celle-ci à libre rotation indépendante de celle de la susdite première bague. Dans un exemple pratique de réalisation, l'organe aimanté, de façon typique un électro-aimant, est porté par le corps et l'armature est portée par la came.In a particular embodiment, the means for mounting the support shaft of the armature or respectively of the magnetized member on the cam comprise a ring coaxially surrounding the cam and supported for free rotation by the latter, and on which is mounted said shaft in the radial position. In the case where the remote control device includes locking means capable of retaining the cam in its maximum tilting position which are associated respectively with the two signal generating members, it is provided that the locking means associated with the second signal generating member are constituted as indicated above and that the support shaft of the armature or 1 'corresponding magnetic member is secured to a second ring coaxially surrounding the cam and supported by it with free rotation independent of that of the said first ring. In a practical embodiment, the magnetic member, typically an electromagnet, is carried by the body and the armature is carried by the cam.
De préférence, pour faciliter l'utilisation du dispositif de télécommande de l'invention et procurer à l'utilisateur la sensation tactile de venue en position verrouillée, les moyens de guidage comprennent en outre un organe élastiquement effaçable disposé de manière à constituer un point dur lorsque la came parvient en fin de sa course de basculement et que 1 ' organe aimanté et 1 ' armature coopèrent mutuellement pour bloquer la came dans sa position de basculement maximum.Preferably, to facilitate the use of the remote control device of the invention and to provide the user with the tactile sensation of coming into the locked position, the guide means also comprise an elastically erasable member arranged so as to constitute a hard point when the cam reaches the end of its tilting stroke and the magnetized member and the armature cooperate with each other to lock the cam in its maximum tilting position.
L'invention sera mieux comprise à la lecture de la description détaillée qui suit de certains modes de réalisation donnés uniquement à titre d'exemples non limitatifs. Dans cette description, on se réfère aux dessins annexés sur lesquels :The invention will be better understood on reading the following detailed description of certain embodiments given solely by way of nonlimiting examples. In this description, reference is made to the appended drawings in which:
- la figure 1 est une vue en coupe d'un dispositif de télécommande hydraulique agencé conformément à 1 ' invention, montré en position neutre, - la figure 2 est une vue en coupe du dispositif de la figure 1 montré dans une position bloquée en déviation maximum faisant recours aux dispositions de l'invention ;- Figure 1 is a sectional view of a hydraulic remote control device arranged in accordance with the invention, shown in the neutral position, - Figure 2 is a sectional view of the device of Figure 1 shown in a locked stance maximum using the provisions of the invention;
- la figure 3 est une vue de dessus du dispositif de la figure 2 ; - la figure 4 est une vue en perspective de dessus du dispositif de la figure 2 ; - la figure 5 est une vue partielle illustrant, en perspective, une variante de réalisation d'une partie du dispositif de la figure 4 ; et- Figure 3 is a top view of the device of Figure 2; - Figure 4 is a perspective view from above of the device of Figure 2; - Figure 5 is a partial view illustrating, in perspective, an alternative embodiment of part of the device of Figure 4; and
- la figure 6 est une vue partielle de dessus, en coupe, illustrant un détail d'agencement possible du dispositif des figures 1 à 4.FIG. 6 is a partial top view, in section, illustrating a possible arrangement detail of the device in FIGS. 1 to 4.
Les figures 1 et 2 illustrent plus particulièrement un dispositif de télécommande constitué sous forme d'un manipulateur hydraulique, car il s'agit d'une application intéressante des dispositions de l'invention, étant entendu toutefois que 1 ' invention peut trouver application dans d'autres domaines de télécommande (télécommande électrique, pneumatique, électro-optique) avec une action autre que manuelle (action au pied par exemple, ou par le genou ou le coude ) .FIGS. 1 and 2 illustrate more particularly a remote control device constituted in the form of a hydraulic manipulator, since it is an interesting application of the provisions of the invention, it being understood however that the invention can find application in d '' other areas of remote control (electric, pneumatic, electro-optical remote control) with an action other than manual (action with the foot for example, or by the knee or the elbow).
D ' une façon en soi connue ( voir par exemple FR 2 507 732, FR 2 749 911), le dispositif du type manipulateur hydraulique illustré à la figure 1, est agencé en tant que distributeur sélectif de liquide hydraulique sous pression comprenant plusieurs réducteurs de pression qui constituent respectivement des générateurs de signal de télécommande (hydraulique dans le cas considéré).In a manner known per se (see for example FR 2 507 732, FR 2 749 911), the device of the hydraulic manipulator type illustrated in FIG. 1, is arranged as a selective distributor of hydraulic fluid under pressure comprising several reducers of pressure which respectively constitute remote control signal generators (hydraulic in the case considered).
Le dispositif comporte un corps 1 (pouvant être constitué par la réunion de plusieurs parties, et notamment d'un couvercle, pour faciliter la mise en place des composants internes ) dans lequel sont aménagés au moins deux réducteurs de pression de fluide 2. Chaque réducteur comprend un plongeur 3 apte à se déplacer dans une cavité 4 ménagée dans le corps 1, cette cavité 4 comprenant, d'un côté, un logement élargi 5 dans lequel est disposé un ressort de tarage 6 prenant appui entre un épaulement 7 du plongeur et une coupelle 8 mobile dans le logement 5 au voisinage de l'extrémité libre du plongeur et, de l'autre côté, un alésage 9 dans lequel une partie active 10 du plongeur peut être déplacée pour assurer la fonction de réduction de pression du fluide qui est amené par un orifice d'entrée 11 qui est raccordé à l'alésage 9 par un conduit 12 débouchant radialement dans celui-ci, tandis qu'un orifice de sortie 13 est situé à l'extrémité de l'alésage 9. La partie active ou piston 10 du plongeur présente un évidement axial (non visible) débouchant à la base du piston 10 du côté de l'orifice de sortie 13, et un perçage radial 23 communiquant avec 1 ' évidement axial .The device comprises a body 1 (which may consist of the union of several parts, and in particular of a cover, to facilitate the positioning of the internal components) in which are arranged at least two fluid pressure reducers 2. Each reducer comprises a plunger 3 able to move in a cavity 4 formed in the body 1, this cavity 4 comprising, on one side, an enlarged housing 5 in which is positioned a calibration spring 6 bearing between a shoulder 7 of the plunger and a cup 8 movable in the housing 5 in the vicinity of the free end of the plunger and, on the other side, a bore 9 in which an active part 10 of the plunger can be moved to perform the function of reducing the pressure of the fluid which is brought through an orifice inlet 11 which is connected to the bore 9 by a conduit 12 opening radially therein, while an outlet orifice 13 is located at the end of the bore 9. The active part or piston 10 of the plunger has an axial recess (not visible) opening at the base of the piston 10 on the side of the outlet orifice 13, and a radial bore 23 communicating with one axial recess.
Le plongeur 3 comporte en outre une partie de tige 14, surmontant la partie active 10 et s 'étendant sensible- ment dans la cavité 5 en étant entourée coaxialement par le ressort de tarage 6, qui traverse la coupelle 8 et se termine par une tête élargie 15 définissant un épaulement 16 de retenue de la coupelle.The plunger 3 further comprises a rod part 14, surmounting the active part 10 and extending appreciably in the cavity 5 while being surrounded coaxially by the calibration spring 6, which passes through the cup 8 and ends in a head enlarged 15 defining a shoulder 16 for retaining the cup.
Un ressort de rappel 17, coaxial à la tige 14, est interposé entre la coupelle 8 et un épaulement défini dans le corps 1, pour repousser la coupelle vers le haut, c'est- à-dire vers sa position définissant un tarage minimum.A return spring 17, coaxial with the rod 14, is interposed between the cup 8 and a shoulder defined in the body 1, to push the cup upwards, that is to say towards its position defining a minimum setting.
La coupelle 8 est surmontée d'un poussoir 18 mobile à libre coulissement dans un alésage du corps (pièce de guidage 19) et faisant saillie partiellement hors du corps pour être au contact d'une came 20 apte à osciller multidi- rectionnellement autour d'un point central 21 sous l'action d'un organe d ' actionnement tel qu'une poignée 22.The cup 8 is surmounted by a movable pusher 18 which can slide freely in a bore in the body (guide piece 19) and which projects partially out of the body so as to be in contact with a cam 20 capable of oscillating multidirectionally around a central point 21 under the action of an actuating member such as a handle 22.
L ' invention porte plus particulièrement sur les dispositifs qui comportent au moins deux réducteurs de pression 2 qui sont disposés (voir fig. 3) respectivement sur deux axes 23 et 24 sensiblement perpendiculaire et qui s ' intersectent sur l'axe 25 du corps sur lequel est montée coaxialement la came oscillante 20. Bien entendu, un dispositif agencé selon 1 ' invention peut comporter des réducteurs de pression en nombre supérieur à deux ( 1 ' exemple illustré aux figures 1 à 3 en comporte trois dont deux diamétralement opposés comme visible sur les figures 1 et 2, ou bien quatre disposés de façon deux à deux diamétralement opposée).The invention relates more particularly to devices which comprise at least two pressure reducers 2 which are arranged (see fig. 3) respectively on two axes 23 and 24 substantially perpendicular and which intersect on the axis 25 of the body on which the oscillating cam 20 is mounted coaxially Of course, a device arranged according to the invention may include pressure reducers in number greater than two (the example illustrated in FIGS. 1 to 3 comprises three of which two are diametrically opposed as visible on the Figures 1 and 2, or else four arranged in two to two diametrically opposite directions).
Le dispositif comporte en outre des moyens de 8 blocage 26 propres à retenir la came dans sa position de basculement maximum (position illustrée à la figure 2) pour maintenir 1 ' un correspondant des susdits réducteurs de pression dans sa position d'enfoncement maximum. Sur les figures 1 et 2, les deux réducteurs 2 visibles sont équipés chacun de tels moyens de blocage, tandis que sur la figure 3, un troisième réducteur visible en est également équipé. Ces moyens de blocage sont du type magnétique, et comprennent un organe aimanté 27, par exemple solidaire latéralement du corps 1, et une armature 28, par exemple solidaire de façon excentrée de la came 20, ou inversement. L'organe aimanté 27 est de préférence un électro-aimant.The device also comprises means for 8 blocking 26 capable of retaining the cam in its maximum tilting position (position illustrated in FIG. 2) in order to maintain a correspondent of the above pressure reducers in its position of maximum insertion. In FIGS. 1 and 2, the two visible reducers 2 are each equipped with such blocking means, while in FIG. 3, a third visible reducer is also equipped with them. These blocking means are of the magnetic type, and comprise a magnetic member 27, for example integral laterally with the body 1, and a frame 28, for example integral eccentrically with the cam 20, or vice versa. The magnetized member 27 is preferably an electromagnet.
L'organe aimanté 27 est fixé de toute façon souhaitable, par exemple par vissage, sur le corps 1, et il est de forme approximativement circulaire.The magnetic member 27 is fixed in any desirable manner, for example by screwing, on the body 1, and it is of approximately circular shape.
L'armature 28 peut être de forme approximativement discoïdale et est supportée, à libre rotation, par un arbre 29 la traversant diamétralement. Une extrémité de l'arbre 29 est supportée par la came 20 à partir de laquelle 1 ' arbre s'étend radialement, avec une inclinaison plus ou moins prononcée par rapport à l'horizontale en fonction de la conformation géométrique générale du dispositif.The frame 28 may be of approximately discoidal shape and is supported, with free rotation, by a shaft 29 passing through it diametrically. One end of the shaft 29 is supported by the cam 20 from which the shaft extends radially, with a more or less pronounced inclination relative to the horizontal depending on the general geometrical conformation of the device.
En outre, des moyens de guidage prévus sur le corps 1 et sur la came 20 pour maintenir les faces en regard, respectivement 27a pour l'organe aimanté et 28a pour l'armature, d'une part, sensiblement parallèles l'une à 1 ' autre lorsque 1 ' armature est au voisinage immédiat de l'organe aimanté et, d'autre part, sensiblement coaxiales quand elles sont au voisinage immédiat ou au contact l'une de 1 ' autre même lorsque la came est sensiblement inclinée dans une direction intermédiaire comprise entre les axes 23 et 24.In addition, guide means provided on the body 1 and on the cam 20 to hold the facing faces, respectively 27a for the magnetized member and 28a for the armature, on the one hand, substantially parallel to each other. 'other when the armature is in the immediate vicinity of the magnetized member and, on the other hand, substantially coaxial when they are in the immediate vicinity or in contact with one another even when the cam is substantially inclined in one direction intermediate between axes 23 and 24.
Pour constituer ces moyens de guidage, on prévoit que, du côté de l'extrémité libre de l'arbre 29, l'armature 28 est solidaire d'une pièce d'appui 30 (soit monobloc avec l'armature, soit rapportée sur celle-ci) qui est elle aussi librement tournante sur 1 ' arbre 29. La forme de la pièce 30 sera précisée plus loin.To constitute these guide means, it is provided that, on the side of the free end of the shaft 29, the frame 28 is integral with a support piece 30 (either integral with the frame, or attached to that -ci) which is also freely rotating on the shaft 29. The shape of the part 30 will be specified later.
De plus, les moyens de guidage comprennent une pièce de guidage 31, fixe, solidaire du corps 1 sur lequel elle peut être rapportée et fixée à proximité de 1 ' organe aimanté 27, ledit organe aimanté 27 et ladite pièce de guidage 31 étant alignés sur l'axe 23 précité (dans l'exemple du réducteur de pression situé à gauche sur la figure 1 ) . Cette pièce de guidage 31 est allongée et s 'étendant selon un arc de cercle centré sur le centre de pivotement 21 de la came 20.In addition, the guide means comprise a guide piece 31, fixed, integral with the body 1 on which it can be attached and fixed near the magnetized member 27, said magnetized member 27 and said guide piece 31 being aligned on the aforementioned axis 23 (in the example of the pressure reducer located on the left in FIG. 1). This guide piece 31 is elongated and extending in an arc centered on the pivot center 21 of the cam 20.
Dans l'exemple illustré aux figures 1 à 3, la pièce de guidage est en forme en U à branches parallèles 31a entre lesquelles est engagée la pièce d'appui 30 précitée soli- daire de l'armature. Dans cette configuration, la pièce d'appui 30 présente deux faces opposées 30a qui sont planes et qui coopèrent à glissement avec les bords intérieurs, tournés l'un vers l'autre, des branches 31a de la pièce de guidage 31. On obtient ainsi un maintien de l'armature 28 dans une position prédéterminée (en l'occurence perpendiculaire au plan déterminé par 1 ' axe 23 et 1 ' axe de 1 ' arbre 29 ) quelle que soit la position d'inclinaison de la came 20.In the example illustrated in FIGS. 1 to 3, the guide piece is in the form of a U with parallel branches 31a between which is engaged the abovementioned support piece 30 which is fixed to the frame. In this configuration, the support piece 30 has two opposite faces 30a which are planar and which cooperate slidingly with the inner edges, turned towards one another, of the branches 31a of the guide piece 31. This thus gives maintaining the armature 28 in a predetermined position (in this case perpendicular to the plane determined by the axis 23 and the axis of the shaft 29) whatever the inclination position of the cam 20.
Le guidage de la pièce d ' appui 30 peut être améliorée si les bords intérieurs en vis-à-vis des branches 31a sont réalisés sous forme de face planes parallèles 31b comme illustré sur les figures 1 à 4.The guidance of the support piece 30 can be improved if the inner edges facing the branches 31a are produced in the form of parallel flat faces 31b as illustrated in FIGS. 1 to 4.
Bien entendu la pièce de guidage 31 pourrait être constituée par deux branches 31a indépendantes l'une de l'autre, fixées séparément sur le corps 1. A la figure 5 est représentée une variante de réalisation des moyens de guidage. La pièce de guidage 31 comporte ici une branche unique 31a incurvée en arc de cercle qui est représentée avec des faces opposées planes parallèles 31b. La pièce d'appui 30 solidaire de l'armature 28 est en forme de fourche en U et enserre la branche 31a à libre glissement par les faces intérieures planes 30a de ses 10 deux branches.Of course the guide piece 31 could be constituted by two branches 31a independent of one another, fixed separately on the body 1. In Figure 5 is shown an alternative embodiment of the guide means. The guide piece 31 here comprises a single branch 31a curved in an arc of a circle which is shown with opposite parallel planar faces 31b. The support piece 30 integral with the frame 28 is in the form of a U-shaped fork and encloses the branch 31a with free sliding by the flat inner faces 30a of its 10 two branches.
Enfin, pour que la came 20 puisse être inclinée transversalement pour actionner un des réducteurs de pression situés sur 1 ' axe 24 tout en étant inclinée dans la position de blocage représentée à la figure 2, on prévoit que l'arbre 29 n'est pas monté directement sur le corps de la came 20, mais est fixé sur une bague 32 supportée par ledit corps de came de façon coaxiale à l'axe 25 et à libre rotation. Pour que l'utilisateur éprouve la sensation tactile de venue en fin de course de la came et de venue en butée de l'armature 28 contre l'organe aimanté 27, on peut prévoir des moyens formant point dur, par exemple sous forme d'une bille 33 (ou deux billes face à face comme illustré à la figure 6) effaçable élastiquement dans une douille 34 fixée (par exemple vissée) sur une branche 31a et propre à coopérer avec la pièce d ' appui 30.Finally, so that the cam 20 can be inclined transversely to actuate one of the pressure reducers located on the axis 24 while being inclined in the locking position shown in FIG. 2, it is provided that the shaft 29 is not mounted directly on the body of the cam 20, but is fixed to a ring 32 supported by said cam body coaxially with the axis 25 and free to rotate. In order for the user to experience the tactile sensation of the end of the cam travel and the abutment 28 coming into abutment against the magnetic member 27, it is possible to provide means forming a hard point, for example in the form of a ball 33 (or two balls facing each other as illustrated in FIG. 6) elastically erasable in a socket 34 fixed (for example screwed) on a branch 31a and suitable for cooperating with the support piece 30.
Sur les figures 1 à 4, seul un ensemble de guidage de l'armature a été représenté de façon complète et détail- lée, afin de ne pas surcharger les dessins et d'en faciliter la lecture. Mais il doit être compris que de tels ensembles doivent être prévus en association avec chacun des moyens de blocage permettant de retenir la came dans une position d'inclinaison maximale. En particulier, sur les figures 1 et 2, au réducteur de pression 2 situé à droite auquel sont associés une armature 28 et un organe aimanté 27, il faut adjoindre une pièce de guidage 31 analogue à celle illustrée à gauche. Les deux réducteurs 2 montrés sur les figures 1 etIn FIGS. 1 to 4, only one guide assembly for the armature has been shown in a complete and detailed manner, so as not to overload the drawings and to facilitate their reading. However, it should be understood that such assemblies must be provided in association with each of the locking means making it possible to retain the cam in a position of maximum inclination. In particular, in FIGS. 1 and 2, to the pressure reducer 2 located on the right with which there is associated a frame 28 and a magnetic member 27, a guide piece 31 similar to that illustrated on the left must be added. The two reducers 2 shown in Figures 1 and
2, étant situés sur le même axe 23 et diamétralement opposés, sont supportés par la même bague 32.2, being located on the same axis 23 and diametrically opposite, are supported by the same ring 32.
Par contre, pour le troisième réducteur de pression 2 disposé sur l'axe 24 perpendiculaire au précédent (voir figures 3 et 4 ) , 1 ' arbre supportant 1 ' armature correspondante doit être monté sur une bague 35 analogue à la bague 32, mais indépendante de celle-ci du point de vue de sa rotation libre sur le corps de came 20. Les deux bagues 32 11 et 35 peuvent avantageusement posséder des conformations géométriques imbriquées de manière à ne pas accroître inconsidérément la hauteur de la came. On the other hand, for the third pressure reducer 2 arranged on the axis 24 perpendicular to the previous one (see Figures 3 and 4), the shaft supporting the corresponding frame must be mounted on a ring 35 similar to the ring 32, but independent of the latter from the point of view of its free rotation on the cam body 20. The two rings 32 11 and 35 can advantageously have nested geometric conformations so as not to increase the height of the cam thoughtlessly.

Claims

12REVENDICATIONS 12 CLAIMS
1. Dispositif de télécommande, notamment manipulateur hydraulique, comportant :1. Remote control device, in particular hydraulic manipulator, comprising:
- un corps ( 1 ) renfermant au moins deux organes mobiles ( 2 ) générateurs de signaux respectifs lorsqu'ils sont déplacés, notamment linéairement parallèlement à l'axe du corps, entre deux positions extrêmes ;- a body (1) containing at least two mobile members (2) generating respective signals when they are moved, in particular linearly parallel to the axis of the body, between two extreme positions;
- au moins deux poussoirs (18) associés respectivement auxdits organes générateurs ( 2 ) et saillant sur le dessus du corps, ces poussoirs étant guidés pour être mobiles sensiblement axialement ;- At least two pushers (18) associated respectively with said generator members (2) and projecting from the top of the body, these pushers being guided to be movable substantially axially;
- une came oscillante (25) fixée sur le dessus du corps et apte à coopérer avec l'extrémité saillante des poussoirs (18) pour commander sélectivement le déplacement de ceux- ci ;- an oscillating cam (25) fixed on the top of the body and able to cooperate with the projecting end of the pushers (18) to selectively control the movement of these;
- les deux organes générateurs (2) étant disposés respectivement sur deux axes sensiblement orthogonaux (23, 24) et la came osillante (26) étant disposée sensiblement à l'intersection (25) desdits deux axes (23, 24) ; - des moyens de blocage (26) propres à retenir la came dans sa position de basculement maximum pour maintenir 1 ' un correspondant des susdits organes générateurs ( 2 ) dans sa position extrême correspondant à son enfoncement axial maximum, lesdits moyens de blocage (26) comprenant un organe aimanté (27) ou respectivement une armature (28) supporté de façon fixe latéralement par le corps ( 1 ) et une armature ( 28 ) ou respectivement un organe aimanté ( 27 ) solidaire de façon excentrée de la came ( 20 ) de manière telle que, la came étant en position de basculement maximum selon l'axe du susdit organe générateur, l'armature ou respectivement l'organe aimanté qui est solidaire de ladite came coopère avec l'organe aimanté ou respectivement 1 ' armature supporté par le corps ; caractérisé en outre en ce que : l'armature (28) ou respectivement l'organe aimanté (27) est fixé à la came ( 20 ) de façon à pouvoir tourner autour d ' un 13 arbre (29) dont l'axe est situé dans un plan défini par l'axe (25) du corps ( 1 ) et l'axe (23) sur lequel est disposé 1 ' organe générateur considéré ; des moyens de guidage (30, 31) sont prévus sur le corps (1) et sur la came (20) pour, par coopération mutuelle, maintenir les faces (28a, 27a) en regard de l'armature (28) et de l'organe aimanté (27) sensiblement parallèles l'une à l'autre lorsqu'elles sont au voisinage immédiat l'une de 1 ' autre et sensiblement coaxiales quand elles sont au voisinage immédiat ou au contact 1 ' une de 1 ' autre même lorsque la came oscillante (20) est inclinée dans une direction intermédiaire propre à commander simultanément 1 ' autre organe générateur ; et des moyens (32) de montage pivotant dudit arbre (29) de l'armature (28) ou respectivement de l'organe aimanté (27) sur la came (20) propres à autoriser le mouvement d'inclinaison de la came dans une position intermédiaire tout en maintenant l'axe dudit arbre (29) dans le susdit plan.- the two generating members (2) being disposed respectively on two substantially orthogonal axes (23, 24) and the wobbling cam (26) being disposed substantially at the intersection (25) of said two axes (23, 24); - Locking means (26) capable of retaining the cam in its maximum tilting position to maintain a correspondent of the above generative members (2) in its extreme position corresponding to its maximum axial depression, said locking means (26) comprising a magnetic member (27) or respectively a frame (28) fixedly supported laterally by the body (1) and a frame (28) or respectively a magnetic member (27) integral eccentrically with the cam (20) in such a way that, the cam being in the maximum tilting position along the axis of the aforesaid generating member, the armature or respectively the magnetic member which is integral with said cam cooperates with the magnetic member or respectively the armature supported by the body ; further characterized in that: the armature (28) or the magnetic member (27), respectively, is attached to the cam (20) so that it can rotate about a 13 shaft (29) whose axis is located in a plane defined by the axis (25) of the body (1) and the axis (23) on which is disposed the generator considered; guide means (30, 31) are provided on the body (1) and on the cam (20) to, by mutual cooperation, hold the faces (28a, 27a) facing the frame (28) and the magnetized member (27) substantially parallel to one another when they are in the immediate vicinity of one another and substantially coaxial when they are in the immediate vicinity or in contact with one another even when the oscillating cam (20) is inclined in an intermediate direction capable of simultaneously controlling the other generating member; and means (32) for pivotally mounting said shaft (29) of the armature (28) or respectively of the magnetic member (27) on the cam (20) suitable for authorizing the inclination movement of the cam in a intermediate position while maintaining the axis of said shaft (29) in the above plane.
2. Dispositif de télécommande selon la revendication 1, caractérisé en ce que les moyens de guidage comprennent au moins une pièce de guidage fixe (31) solidaire du corps ( 1 ) et s ' étendant selon un arc de cercle centré sur le centre ( 21 ) de pivotement de la came oscillante ( 20 ) et une pièce d'appui (30) portée par l'armature (28) ou respective- ment l'organe aimanté (27) et propre à coopérer fonctionnel- lement, à glissement, avec ladite pièce de guidage (31).2. Remote control device according to claim 1, characterized in that the guide means comprise at least one fixed guide piece (31) integral with the body (1) and extending in an arc centered on the center (21 ) pivoting of the oscillating cam (20) and a support piece (30) carried by the armature (28) or respectively the magnetic member (27) and suitable for cooperating functionally, with sliding, with said guide piece (31).
3. Dispositif de télécommande selon la revendication 2, caractérisé en ce que les moyens de guidage comprennent deux pièces de guidage (31) en arc de cercle, parallèles l'une à l'autre et écartées l'une de l'autre, et en ce que la pièce d'appui (30) est une terminaison saillante de l'armature (28) ou respectivement de l'organe aimanté (27) présentant deux faces planes (30a) opposées et parallèles, qui est engagée entre les deux susdites pièces de guidage (31) et qui est en appui glissant sur celles-ci par ses deux faces planes opposées (30a). 143. Remote control device according to claim 2, characterized in that the guide means comprise two guide parts (31) in an arc, parallel to one another and spaced from one another, and in that the support piece (30) is a projecting termination of the armature (28) or respectively of the magnetic member (27) having two planar faces (30a) opposite and parallel, which is engaged between the above two guide parts (31) and which is slidingly supported thereon by its two opposite flat faces (30a). 14
4. Dispositif de télécommande selon l'une quelconque des revendications précédentes, caractérisé en ce que les moyens (32) de montage de l'arbre (29) de support de l'armature (28) ou respectivement de l'organe aimanté (27) sur la came (20) comprennent une bague (32) entourant coaxialement la came ( 20 ) et supportée à libre rotation par celle-ci, et sur laquelle est monté ledit arbre (29) en position radiale.4. Remote control device according to any one of the preceding claims, characterized in that the means (32) for mounting the shaft (29) supporting the armature (28) or respectively of the magnetized member (27 ) on the cam (20) comprise a ring (32) coaxially surrounding the cam (20) and supported for free rotation by the latter, and on which said shaft (29) is mounted in the radial position.
5. Dispositif de télécommande selon la revendication 4, dans lequel des moyens de blocage propres à retenir la came dans sa position de basculement maximum sont associés respectivement aux deux organes générateurs de signaux ( 2 ) , caractérisé en ce que les moyens de blocage associés au second organe générateur de signal sont constitués selon l'une quelconque des revendications 1 à 4 et en ce que l'arbre (29) de support de l'armature (28) ou respectivement de l'organe aimanté (27) correspondant est solidaire d'une seconde bague (35) entourant coaxialement la came (20) et supportée par celle-ci à libre rotation indépendante de celle de la susdite première bague (32).5. Remote control device according to claim 4, in which blocking means capable of retaining the cam in its maximum tilting position are associated respectively with the two signal generating members (2), characterized in that the blocking means associated with the second signal generating member are constituted according to any one of claims 1 to 4 and in that the shaft (29) for supporting the armature (28) or respectively of the corresponding magnetic member (27) is integral with 'A second ring (35) coaxially surrounding the cam (20) and supported by it with free rotation independent of that of the said first ring (32).
6. Dispositif de télécommande selon l'une quelconque des revendications précédentes, caractérisé en ce que 1 ' armature ( 28 ) ou respectivement 1 ' organe aimanté ( 27 ) porté par la came ( 20 ) est une pièce de forme générale discoïdale par rapport à laquelle 1 ' axe de son arbre ( 29 ) de support s'étend sensiblement diamétralement.6. Remote control device according to any one of the preceding claims, characterized in that the armature (28) or respectively the magnetic member (27) carried by the cam (20) is a part of general discoid shape with respect to which one axis of its support shaft (29) extends substantially diametrically.
7. Dispositif de télécommande selon l'une quelconque des revendications précédentes, caractérisé en ce que l'organe aimanté (27) comprend au moins un électro-aimant. 7. Remote control device according to any one of the preceding claims, characterized in that the magnetic member (27) comprises at least one electromagnet.
8. Dispositif de télécommande selon l'une quelconque des revendications précédentes, caractérisé en ce que 1 ' organe aimanté ( 27 ) est porté par le corps ( 1 ) et 1 ' armature (28) est portée par la came (20).8. Remote control device according to any one of the preceding claims, characterized in that the magnetic member (27) is carried by the body (1) and the frame (28) is carried by the cam (20).
9. Dispositif de télécommande selon l'une quelconque des revendications précédentes, caractérisé en ce que les moyens de guidage comprennent en outre un organe ( 33 ) 15 elastiquement effaçable disposé de manière à constituer un point dur lorsque la came ( 20 ) parvient en fin de sa course de basculement et que l'organe aimanté (27) et l'armature ( 28 ) coopèrent mutuellement pour bloquer la came ( 20 ) dans sa position de basculement maximum. 9. Remote control device according to any one of the preceding claims, characterized in that the guide means further comprise a member (33) 15 elastically erasable arranged so as to constitute a hard point when the cam (20) reaches the end of its tilting stroke and the magnetic member (27) and the armature (28) cooperate mutually to block the cam (20) in its maximum tilt position.
PCT/FR1999/000090 1998-01-22 1999-01-19 Remote control device, in particular hydraulic manipulator WO1999038060A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP99900949A EP1047985A1 (en) 1998-01-22 1999-01-19 Remote control device, in particular hydraulic manipulator
JP2000528904A JP2002501246A (en) 1998-01-22 1999-01-19 Remote controls, especially hydraulic manipulators

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR98/00657 1998-01-22
FR9800657A FR2773863B1 (en) 1998-01-22 1998-01-22 REMOTE CONTROL DEVICE, ESPECIALLY HYDRAULIC MANIPULATOR

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WO1999038060A1 true WO1999038060A1 (en) 1999-07-29

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JP (1) JP2002501246A (en)
FR (1) FR2773863B1 (en)
WO (1) WO1999038060A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITPR20030051A1 (en) * 2003-07-09 2005-01-10 Walvoil Spa MANIPULATOR WITH ELECTROMAGNETIC HOLDER FOR
JP2017009082A (en) * 2015-06-25 2017-01-12 ヤンマー株式会社 Hydraulic operation device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2507732A1 (en) 1981-06-12 1982-12-17 Rexroth Sigma Pressure reducer for remotely controlled hydraulic actuator - has piston with peripheral grooves around active area to reduce pressure hysteresis at output
US4827982A (en) * 1986-12-22 1989-05-09 Kayaba Industry Co., Ltd. Detent mechanism for pressure control valve
GB2293642A (en) * 1994-09-29 1996-04-03 Dana Corp Pre-detent tactile feedback assembly for a fluid control valve
WO1996030652A1 (en) * 1995-03-30 1996-10-03 David Brown Hydraulics Limited A joystick arrangement
FR2749911A1 (en) 1996-06-18 1997-12-19 Rexroth Sigma Pressure reducing plunger for hydraulic telemetric control circuit
US5809841A (en) * 1996-10-17 1998-09-22 Caterpillar Inc. Variable position detent mechanism for a control lever

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2507732A1 (en) 1981-06-12 1982-12-17 Rexroth Sigma Pressure reducer for remotely controlled hydraulic actuator - has piston with peripheral grooves around active area to reduce pressure hysteresis at output
US4827982A (en) * 1986-12-22 1989-05-09 Kayaba Industry Co., Ltd. Detent mechanism for pressure control valve
GB2293642A (en) * 1994-09-29 1996-04-03 Dana Corp Pre-detent tactile feedback assembly for a fluid control valve
WO1996030652A1 (en) * 1995-03-30 1996-10-03 David Brown Hydraulics Limited A joystick arrangement
FR2749911A1 (en) 1996-06-18 1997-12-19 Rexroth Sigma Pressure reducing plunger for hydraulic telemetric control circuit
US5809841A (en) * 1996-10-17 1998-09-22 Caterpillar Inc. Variable position detent mechanism for a control lever

Also Published As

Publication number Publication date
EP1047985A1 (en) 2000-11-02
JP2002501246A (en) 2002-01-15
FR2773863B1 (en) 2000-03-24
FR2773863A1 (en) 1999-07-23

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