Joystick type control device with displacement feel

Claim 2

In a control device comprising a lever that is manually swingable from a defined normal position about either or both of two fixed axes that are perpendicular to one another and the lever, and by manipulation of which lever an operator can simultaneously but independently regulate two variable inputs to a machine to be controlled, said control device further comprising means for regulating one of said inputs in correspondence with displacement of the lever from its normal position about one of said axes and means for regulating the other of said inputs in correspondence with displacement of the lever from its normal position about the other of said axes, means by which the lever is supported for its swinging motion, is biased towards its normal position, and is provided with a feel that enables a person manipulating it to detect the amount and direction of its displacement from its normal position about each of said axes, the last mentioned means comprising: A. carrier means rigidly secured to the lever; B. a fixed base; C. gimbal means connected between the fixed base and the carrier means to support the latter for swinging motion, said gimbal means having pivot means that respectively define said two axes; D. four reaction receiving surfaces on the carrier means disposed in a plane normal to the lever and equispaced from the lever, said surfaces being located to opposite sides of the lever along each of said axes; and E. four biasing members, one for each of said reaction receiving surfaces on the carrier means, each reacting between the fixed base and its surfaces, said biasing members all having like biasing characteristics and exerting equal biasing forces upon the carrier means when the lever is in its normal position, and all exerting their biasing forces in one direction normal to said plane.

Claim 3

The control device of claim 1, further characterized by: A. each of said reaction receiving surfaces on the carrier means defining a concave socket that opens toward the base; B. said base having four wells therein, each opening toward the carrier means and located to have its axis concentric with one of said sockets when the lever is in its normal position; and C. each of said biasing members comprising

Claim 4

a rigid thrust transmitting member having one end engaged in one of said sockets and having its other end engaging the end of its spring that is proximal to the carrier means so as to transmit biasing forces between the spring and the carrier means.

Claim 5

a rigid thrust transmitting member having one end engaged in one of said sockets and having its other end engaging the end of its spring that is proximal to the carrier means so as to transmit biasing forces between the spring and the carrier means.

Claim 6

A control device comprising a lever that is manually swingable to and from a defined normal position about either or both of two fixed axes that are perpendicular to one another and the lever, and by manipulation of which lever an operator can simultaneously but independently regulate two variable inputs to a machine to be controlled, said control device comprising: A. means providing a fixed base; B. a gimbal ring; C. pivot means connected between the base and the gimbal ring to mount the gimbal ring for swiveling motion relative to the base about one of said axes; D. a carrier to which the lever is rigidly secured and which has surface portions disposed generally in a plane normal to the lever; E. other pivot means connected between the gimbal ring anD the carrier to mount the latter for swiveling motion relative to the gimbal ring about the other of said axes as well as for swiveling with the gimbal ring about said one axis; F. first variable output means connected between the base and the gimbal ring for producing a first output that depends upon the angular position of the gimbal ring relative to the base; G. second variable output means connected between the carrier and the gimbal ring for producing a second output that depends upon the angular position of the carrier relative to the gimbal ring; H. said surface portions on the carrier, comprising two pairs of reaction receiving surfaces, one pair for each axis, the pair of surfaces for each axis being centered therealong at opposite sides of the lever and equidistant therefrom and both being on the same surface portion of the carrier; I. two pairs of biasing members, one of said biasing members being connected with each of said reaction receiving surfaces and each comprising a spring which also reacts against the base, the biasing members of each pair having substantially identical biasing characteristics and both imposing upon the carrier forces which are in the same direction generally parallel to the lever and which are in balance when the lever is in its normal position.

Claim 7

A control device comprising a lever that is manually swingable to and from a defined normal position about either or both of two fixed axes that are perpendicular to one another and the lever, and by manipulation of which lever an operator can simultaneously but independently regulate two variable inputs to a machine to be controlled, said control device comprising: A. means providing a fixed base; B. a gimbal ring; C. pivot means connected between the base and the gimbal ring to mount the gimbal ring for swiveling motion relative to the base about one of said axes; D. a carrier to which the lever is rigidly secured and which has surface portions disposed generally in a plane normal to the lever; E. other pivot means connected between the gimbal ring anD the carrier to mount the latter for swiveling motion relative to the gimbal ring about the other of said axes as well as for swiveling with the gimbal ring about said one axis; F. first variable output means connected between the base and the gimbal ring for producing a first output that depends upon the angular position of the gimbal ring relative to the base; G. second variable output means connected between the carrier and the gimbal ring for producing a second output that depends upon the angular position of the carrier relative to the gimbal ring; H. said surface portions on the carrier, comprising two pairs of reaction receiving surfaces, one pair for each axis, the pair of surfaces for each axis being centered therealong at opposite sides of the lever and equidistant therefrom and both being on the same surface portion of the carrier; I. two pairs of biasing members, one of said biasing members being connected with each of said reaction receiving surfaces and each comprising a spring which also reacts against the base, the biasing members of each pair having substantially identical biasing characteristics and both imposing upon the carrier forces which are in the same direction generally parallel to the lever and which are in balance when the lever is in its normal position.