U.S. patent number 3,707,093 [Application Number 05/071,072] was granted by the patent office on 1972-12-26 for multi-power control system with single control stick.
This patent grant is currently assigned to Marotta Scientific Controls, Inc.. Invention is credited to Donald A. Worden.
United States Patent |
3,707,093 |
Worden |
December 26, 1972 |
MULTI-POWER CONTROL SYSTEM WITH SINGLE CONTROL STICK
Abstract
This multi-power control system has a group of three controllers
for determining the supply of energy to different motor means, and
all of the controllers are operated from a single center stick
which has different motions for actuating different controllers;
for example: sliding motion, rotary motion and rocking motion. Each
motion operates a different potentiometer and does not affect the
other potentiometers. A spring system restores the control stick to
a neutral position. Movement from the neutral position in different
directions reverses the effect of the control, and the intensity of
the power supply is proportional to the force applied to the
stick.
Inventors: |
Worden; Donald A. (Pompton
Plains, NJ) |
Assignee: |
Marotta Scientific Controls,
Inc. (Boonton, NJ)
|
Family
ID: |
22099068 |
Appl.
No.: |
05/071,072 |
Filed: |
September 10, 1970 |
Current U.S.
Class: |
74/471XY;
200/6A |
Current CPC
Class: |
E02F
9/2004 (20130101); G05G 9/04 (20130101); Y10T
74/20201 (20150115) |
Current International
Class: |
E02F
9/20 (20060101); G05G 9/00 (20060101); G05G
9/04 (20060101); G05g 009/04 () |
Field of
Search: |
;74/471XY,471 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Kaufman; Milton
Claims
What is claimed is:
1. A multi-power control system comprising a plurality of different
controllers, including a first controller and a second controller,
each of which controls a supply of energy and each of which has
displaceable means for changing the energy supply in proportion to
the degree of displacement of said means, a single control stick, a
connecting element at one end movable longitudinally with the
stick, a bearing element through which the control stick extends
and in which said control stick has selective longitudinal and
angular movements, the bearing element being angularly movable
about an axis transverse of the axis of the stick to provide the
rocking movement of the stick, one of the controllers being carried
by one of the movable elements, a fixed element spaced from the
bearing element, one of the controllers being carried by one of
these spaced elements, a first link connecting one of the movable
elements and the first controller, said first link extending in the
same general direction as the longitudinal movement of the control
stick, whereby said first link operates the first controller in
response to longitudinal movement of the stick in said bearing
element and is unresponsive to said angular movement of the stick,
a second link connecting one of said spaced elements and the second
controller, said second link extending transverse of the
longitudinal movement of the stick and in the same general
direction in which the stick moves when it rocks with said bearing
element whereby said second link operates the second controller in
response to said angular movement of the stick and not to the
longitudinal movement.
2. The multi-power control system described in claim 1
characterized by the bearing element having a surface on which the
stick has sliding the control system for said other controller and
link, one of which is connected to said connecting element and the
other of which is connected to structure that is longitudinally
fixed with respect to the bearing element, the link extending
generally parallel to the longitudinal axis of the stick and
holding said connecting element against rotation with the stick,
but said link projecting at such an angle to a displaceable portion
of said other controller so as to operate such other controller in
response to the axial movement of the stick.
3. The multi-power control system described in claim 1
characterized by one of the controllers having a neutral position
and being movable selectively to either side of its neutral
position, and said controller having the neutral position being
effective to reverse its control effect when moved to different
sides of its neutral position.
4. The multi-power control system described in claim 1
characterized by each of the controllers being a potentiometer in
an electric circuit of a motor which it controls.
5. The multi-power control system described in claim 4
characterized by momentary contact switch means having a manually
operated actuator at an end of the stick which is gripped by an
operator of the stick.
6. The multi-power control system described in claim 1
characterized by a housing for said bearing, and a boot connected
at one end of the stick above the bearing and to the housing on the
lower end of the boot, said boot having circumferentially extending
folds therein and being flexible so that it can change in length to
accommodate longitudinal sliding movement of the stick.
7. The multi-power control system described in claim 1
characterized by the stick having rotary movement about its
longitudinal axis, a third controller carried by said connecting
element and operated in response to said rotary movement of the
stick, the connecting element being movable with the stick during
the longitudinal and tilting movements of the stick so that there
is no relative movement of the third controller and the stick
during said longitudinal and tilting movements of the stick.
8. A multi-power control system comprising a plurality of different
controllers, each of which controls a supply of energy and each of
which has displaceable means for changing the energy supply in
proportion to the degree of displacement of said means, a single
control stick, a bearing through which the control stick extends
and in which said control stick has selective longitudinal and
angular movements, connections between the displaceable means of
each controller and the single control stick, the connection to one
controller being responsive to longitudinal movement of the stick
in said bearing and not responsive to said angular movement of the
stick, and the connection of another controller being responsive to
said angular movement of the stick and not to the longitudinal
movement, and characterized by there being three controllers, each
of which has its displaceable means angularly movable about an
axis, the connections including one connection through which
angular movement of the stick about its longitudinal axis operates
a first controller through an angle proportional to the angular
movement of the stick about its longitudinal axis, a second bearing
on which the first bearing is angularly movable about an axis
extending transversely of the longitudinal axis of the stick and
about which the stick rocks, a connection through which the rocking
of the stick operates a second controller through an angle
proportional to the angle of rocking of the stick, the connections
including also another connection through which the sliding
movement of the stick operates a third controller through angular
movement proportional to the degree of sliding movement of the
stick, all of said connections between the stick and the
controllers being connected to the stick and controllers at the
same time, but the connection to each of the controllers being
oriented and connected so as to be inoperative to displace its
controller in response to the movement of the stick that operates
one of the other controllers, and further characterized by the
connection operated by rotary angular movement of the stick being
in alignment with the longitudinal axis of the stick, the
connection operated by rocking movement of the stick including a
link extending transverse of the longitudinal axis of the stick and
a crank at an angle to the link, and the connection operated by
sliding movement of the stick including a second crank having
operating means which are movable as a unit with the stick, and a
link connected at one end of the second crank and at the other end
to an anchor fixed with respect to the longitudinal axis of the
stick.
9. A multi-power control system comprising a plurality of different
controllers, including two controllers, each of which controls a
supply of energy and each of which has displaceable means for
changing the energy supply in proportion to the degree of
displacement of said means, a single control stick, a connecting
element at one end movable longitudinally with the stick, a bearing
element through which the control stick extends and in which said
control stick has selective longitudinal and angular movements,
means holding the bearing element against movement lengthwise of
the stick and against rotation about the longitudinal axis of the
stick, one of the controllers being carried by said connecting
element and connected with the stick for operation by rotation of
the stick about its longitudinal axis, a link for operating the
other controller, space within the control system for said other
controller and link, one of which is connected to said connecting
element and the other of which is connected to structure that is
longitudinally fixed with respect to the bearing element, the link
extending generally parallel to the longitudinal axis of the stick
and holding said connecting element against rotation with the
stick, but said link projecting at such an angle to a displaceable
portion of said other controller so as to operate such other
controller in response to the axial movement of the stick.
10. The multi-power control system described in claim 9
characterized by the stick being rotatable in the bearing element
about the longitudinal axis of the stick, and a bearing surface
about which the bearing element has rocking movement about an axis
extending transversely of said longitudinal axis.
11. The multi-power control system described in claim 9
characterized by a third controller and connections by which the
third controller is operated in response to rocking movement of the
stick about an axis extending transversely of the direction of the
sliding movement of the stick.
12. The multi-power control system described in claim 11
characterized by spring means that converge in three dimensions and
from opposite directions and connected with the stick and with
fixed anchors for returning the stick to its original position
after any displacement or combination of displacements of the stick
from said neutral position.
13. The multi-power control system described in claim 12
characterized by there being eight springs connected with portions
of the stick at one end, a housing enclosing the springs, each of
the springs being connected at its other end with the housing and
the connection with the housing comprising the fixed anchor for
each spring.
14. The multi-power control system described in claim 9
characterized by all of the controllers having neutral positions
and being movable selectively to either side of their neutral
positions, and all of the controllers being effective to reverse
their control effects when moved to different sides of their
neutral positions.
Description
BACKGROUND AND SUMMARY OF THE INVENTION
This invention is a multi-power control system with a center
control stick that regulates power supply to three different motors
and that also controls the speed of each motor and its direction of
operation. The different motors are controlled by different motions
of the stick, such as sliding motion, rotation, and rocking of the
stick. Each motion can be used without affecting the control which
is subject to a different motion of the stick; and it is a
preferred feature that the different controls can be operated
simultaneously with selective movement of each in any desired
combinations including all controls operated at the same time in
the same direction or in different combinations of directions and
different combinations of displacement.
The invention is intended for use with bucket trucks where one
motor raises and lowers the boom on which is bucket is carried,
another motor extends the boom, and a third motor rotates the
support by which the boom is carried. This invention can be used
for controlling power shovels, graders and other equipment where
different motors are used to impart different motions to the
apparatus.
There is a spring system that restores the stick to a neutral
position from any direction. The amount of any displacement can be
felt by an operator who displaces the stick because of the
increasing tension of the spring system as displacement increases.
The energy supplied by each displacement of the stick is
proportional to the amount of the displacement. In the preferred
construction each displacement of the stick by a different motion
supplies energy proportional to the amount of the displacement and
therefore proportional to the force applied manually to the control
stick.
In the preferred embodiment of the invention, the control stick
operates potentiometers to supply signals for different valves
which control the flow of energy to motors. The direction of the
signal and the intensity depend upon the direction of movement of
the potentiometer and the extent of the movement, respectively. By
thus supplying signals to the actuators of valves which have their
flow proportional to the intensity of the signal, the desired
direction and speed of operation of the motor is effected.
Other objects, features and advantages of the invention will appear
or be pointed out as the description proceeds.
BRIEF DESCRIPTION OF DRAWING
In the drawing, forming a part hereof, in which like reference
characters indicate corresponding parts in all the views:
FIG. 1 is a sectional view through a multi-power control apparatus
for controlling electric signals to the control system of this
invention;
FIG. 2 is an enlarged end view of the apparatus shown in FIG. 1,
the view being taken from the lower end of FIG. 1;
FIG. 3 is a greatly enlarged sectional view taken on the line 3--3
of FIG. 1; and
FIG. 4 is a wiring diagram for the apparatus shown in FIG. 1.
DESCRIPTION OF PREFERRED EMBODIMENTS
FIG. 1 shows a control system made in accordance with this
invention. A stationary housing 10 is in the form of a bushing with
external threads 12 for receiving nuts 14 and 16. These nuts clamp
to opposite sides of a bulkhead 18 to hold the housing 10 in a
fixed relation to the bulkhead 18. There is a swivel bearing
element comprising a block 20 with a generally spherical upper end
portion which is held in the housing 10 by a pin 22. For purposes
of better illustration, the pin 22 is shown displaced 90.degree.
from its actual position. In practice, it extends rearwardly from
the plane of the paper along an axis 24. The bearing block 20 is
angularly movable on the pin 22 about the axis 24; and the motion
is limited by shoulders 26 which strike against the bottom and face
of the housing 10 when the block 20 is moved angularly in either
direction about the axis 24. A single control stick 30 includes a
tube 32 with a handle 34 at its upper end. The handle 34 is shaped
for convenient gripping with one hand by an operator and the handle
has a trigger 36 in position to be actuated by squeezing the
handle. The trigger 36 operates a switch 38 located inside of the
handle 34, the purpose of which will be described in connection
with FIG. 4.
The tube 32 of the control stick extends into a bushing 40 to which
it is rigidly secured by a pin 42. The bushing 40 is attached to
the handle 34 by a bolt 44. Wires 46 extend from the switch 38 down
through the handle 34 and tube 32 to a wiring panel which is not
shown in FIG. 1.
The tube 32 of the control stick 30 extends through bearings 48 in
the bearing block 20; and the tube 32 is free to rotate and to
slide longitudinally in the bearings 48. The longitudinal sliding
movement of the tube 32 is limited by pins 50 which extend through
the walls of the tube 32 and for some distance beyond the outside
circumference of the tube. These pins 50 are fixed in the tube 32
and one of the pins 50 is located above the bearings 48 and the
other pin 50 is below the bearings 48. The control stick can move
up and down with a longitudinal sliding movement until the upper
pin 50 strikes against the upper end of the upper bearing 48, or
the lower pin 50 strikes against the lower end of the lower bearing
48.
There is a flexible plastic boot 54 which fits closely around the
tube 32 at the upper end of the boot immediately below the handle
34. The lower end of the boot 54 surrounds the upper end of the
housing 10 and is secured to the housing 10 by a snap ring 56 which
clamps the lower end of the boot into a circumferential groove in
the top of the housing 56. The boot 54 has circumferential
corrugations which permit it to lengthen and shorten in response to
up and down sliding movement of the control stick 30 with respect
to the housing 10.
The housing 10 has a shell 58 extending downward below the bearing
block 20. The tube 32 extends downward through a substantial part
of the interior of the shell 58 and there are helical tension
springs 60 anchored at their outer ends to the shell 58. The inner
ends of these springs 60 are connected with an extending portion 62
of the lower pin 50, and with an extending portion 64 which is
secured to the pin 50 by a cross pin 65. These extending portions
62 and 64 are, in effect, unitary parts of the control stick
assembly and the springs 60 hold the tube 32 of the control stick
in the position shown in FIG. 3 unless a torque is applied to the
tube 32 to shift it clockwise or counter-clockwise about its
longitudinal axis 68.
The tube 32 and the extending portions 62 and 64 can be rocked
clockwise about the axis 68 until the extending portion 62 contacts
with a stop 70 at one side of an extension 72 of the bearing block
20. Likewise, the tube 32 and the extending portions 62 and 64 can
be rocked counter-clockwise until the extending portion 64 strikes
against a stop 74 on the other side of the extension 72. Whenever
the twisting torque applied to the tube 32 is released, the springs
60 pull the parts back into the neutral position shown in FIG.
3.
Referring again to FIG. 1, the springs 60 are located in angular
relation to the longitudinal axis of the control stick. Four of the
springs 60 tend to pull the control stick upward and the other four
tend to pull it downward. When the control stick is free and the
tension in all of the springs 60 equalized, the control stick is
held in the neutral position shown in FIG. 1.
When the control stick is pushed downwardly to slide its tube 32 in
the bearings 48, the upper springs 60 are stretched and the lower
springs 60 contract. Removal of the downward pressure permits the
springs 60 again to come to equal tension by pulling the control
stick back to its neutral position. Similarly, upward movement of
the control stick stretches the lower springs 60 so that they will
pull the control stick back to its neutral position whenever the
force producing the upward movement is released.
The control stick 30 operates three different controllers. In the
preferred construction each of these controllers is a
potentiometer. There is a potentiometer 78 carried by a connecting
element comprising housing 80; and this potentiometer has a
connection to the control stick tube 32. In the illustrated
construction this connection comprises a shaft 82 of the
potentiometer extending into the lower end of the tube 32 and
secured to the tube 32 by a set screw 84 which causes the
potentiometer shaft to rotate as a unit with the tube 32. Thus
rotation of the control stick 30 in the bearings 48 operates the
potentiometer 78 about the longitudinal axis of the tube 32 in one
direction or the other, depending upon which way the handle is
rotated.
The housing 80 is supported by the connection of the shaft 82 to
the lower end of the tube 32 of the control stick. Since the shaft
82 can rotate with respect to its potentiometer 78, and since the
potentiometer 78 is connected to the housing 80, the shaft 82 can
rotate with respect to the housing 80 also. However, the housing 80
is held against rotation by connections of another controller,
comprising a potentiometer 88 with its operating connections. This
second potentiometer 88 is secured to the fixed housing 80 and has
a shaft 90 which extends into a crank arm 92 and which is secured
to the crank arm 92 by a set screw 94 so that the crank 92 and the
potentiometer shaft 90 move angularly as a unit about the axis of
the shaft 90. This axis extends at right angles to a plane through
the axis of rotation of the control stick. The potentiometer 88 is
connected with the extension 72 of the bearing block 20 by a link
96 which connects with the crank 92 at the end of the crank remote
from the potentiometer shaft 90. The link 96, by its connection to
the extension 72 of the bearing block 20, prevents rotation of the
housing 80 about the axis of the tube 32 of the control stick.
The third controller is a potentiometer 98, secured to shell 58 by
a bracket 100. This potentiometer has a shaft 102 secured to a
crank 104 by a set screw 106. The end of the crank 104 remote from
the shaft 102 is connected with the extension 72 of the bearing
block by a link 108.
The axis of rotation of the shaft 102 of the potentiometer 98 is
preferably parallel to the direction of rotation of the shaft 90 of
the potentiometer 88 but the links 96 and 108 extend substantially
at right angles to one another so that rocking movement of the
bearing block 20 about the axis 24 moves the link 108 lengthwise.
Up-and-down movement of the tube 32 of the control stick does not
impart any movement to the link 108 but as the housing 80 moves up
and down with the control stick, the connection of the crank 96 to
the extension 72 causes the link 96 to rock the crank 92 clockwise
when the housing 80 moves upward and to rock the crank 92
counter-clockwise when the housing 80 moves downward with the tube
32.
Thus the potentiometer 78 only is operated in response to turning
movement of the control stick about its longitudinal axis.
Operation of the potentiometer 88 only results from sliding
movement of the control stick in the direction of its longitudinal
axis; and operation of the potentiometer 98 only is obtained by
rocking the control stick about its axis 24.
It will be apparent, however, that any two or three of the
potentiometers can be operated simultaneously in the same or in
opposite directions of rotation by imparting combinations of
sliding, rotary and rocking movement to the control stick.
FIG. 4 shows a wiring diagram for the potentiometers 78, 88 and 98.
The potentiometer 78 has a brush 110 which moves angularly about a
center axis over resistance elements 112 of the potentiometer. A
center terminal 114 of the potentiometer connects with the brush
110 and the ends of the resistance elements 112 which are remote
from one another are connected with other terminals 116 and 118 of
the potentiometer. When the potentiometer brush 110 is in a center
position, no power is supplied to either of the terminals 116 or
118. As the brush 110 is moved clockwise, it contacts with the
resistance element 112 of the terminal 116 and supplies power to
that terminal in increasing amounts as the brush approaches the end
of the resistance element. Conversely, counter-clockwise movement
of the brush 110 supplies increasing amounts of power to the
terminal 118 of the potentiometer 78.
Power for all of the potentiometers is supplied through a conductor
120 from a panel board 122. This conductor 120 leads to the trigger
switch 38 located in the handle of the control stick and the other
side of the switch 38 is connected to the panel board 122 by
another conductor 124 which connects with the center terminals of
all of the potentiometers 78, 88 and 98.
The parts of the potentiometer 88 are indicated by the same
reference characters as the corresponding parts of the
potentiometer 78 but with a letter a appended; and similarly, the
corresponding parts of the potentiometer 98 are indicated by the
same reference characters with a letter b appended.
The terminals 116 and 118 are connected with contacts 134 and 138,
respectively, on the control panel 122. The terminals 116a and 118a
are connected with contacts 134a and 138a, respectively; and the
terminals 116b and 118b are connected with terminals 134b and 138b,
respectively.
From the description it will be apparent that the amount of power
supplied by the potentiometer to the terminals of the control panel
122 depends upon the displacement of the potentiometers and this,
in turn, depends upon the displacement of the control stick in the
various directions of its selective movement. These variable power
supplies are used to operate actuators for proportional flow valves
that control the working fluid to the motors which the control
stick is designed to regulate.
On a bucket truck, the up and down sliding movement of the control
stick can be used to raise and lower the boom by displacing the
potentiometer 88 one way or the other. Rotation of the structure
that carries the boom so as to swing the boom about a vertical
axis, can be controlled by rotating the control stick to displace
the potentiometer 78 one way or the other, depending upon the
desired direction of rotation. Extension of the boom to move the
bucket closer to or further from the work can be accomplished by
rocking the control stick in the direction of its longitudinal
length to displace the potentiometer 98 in the direction to obtain
the desired movement of the bucket.
The preferred embodiment of the invention has been illustrated and
described, but changes and modifications can be made and some
features can be used in different combinations without departing
from the invention as defined in the claims.
* * * * *