Patent Publication Number: US-8967014-B2

Title: Multiple-axis manual control device

Description:
The invention relates to a manual control device which has an actuation member which is supported on a switching rod for pivoting about at least one actuation member pivot axis which extends perpendicularly to the longitudinal axis of the switching rod, the switching rod being movably supported relative to a base member of the manual control device about or along a plurality of switching rod movement axes, and there being provided restoring means, by means of which the actuation member which has been redirected out of a rest position about the actuation member pivot axis can be restored to the rest position. 
     Such manual control devices are used, for example, for controlling handling installations, cranes, vehicles, aircraft, etcetera. They are sometimes also referred to as composite drives and may be constructed as control sticks or joysticks. The actuation member of the manual control device, for example, an actuation cap, a handle, etc. is supported for movement about a plurality of movement axes relative to a base member of the manual control devices. An actuation of the actuation member about one of the movement axes brings about, for example, control of the object to be handled about an object-related movement axis which is associated with the actuated movement axis. In other applications, various control elements, for example, elevators or ailerons etc. of an aircraft may be associated with the individual movement axes. 
     A manual control device of the generic type is known from U.S. Pat. No. 4,555,960. The manual control device described therein is constructed as a 6-axis control stick for an aircraft. An actuation cap of the control stick can be moved relative to a base member about or along six different movement axes. In particular, the actuation member is supported at one end of a switching rod for pivoting about two actuation member pivot axes and the switching rod itself is supported on the base member for pivoting about two further switching rod pivot axes. Owing to the spatial separation of the bearing for the actuation member pivot axes and for the switching rod pivot axes, they can be readily actuated independently of each other by an operator. 
     In the case of the prior art according to U.S. Pat. No. 4,555,960, in particular the actuation member pivot axes are each provided with a restoring unit which in each case restores the actuation member which is redirected from a rest position into the rest position under the action of a spring. In detail, the restoring units are formed by a drive pin, two redirection arms which are rotatably arranged relative to each other and a resilient element which is tensioned between the redirection arms. The drive pin is securely connected to a pivot shaft of the associated actuation member pivot axis. A redirection of the pivot shaft from the rest position brings about via the drive pin a redirection of one of the redirection arms with the resilient element which is arranged therebetween being pulled apart. The resilient element tensioned in this manner brings about a restoring force for the actuation member. The restoring means of the control stick according to U.S. Pat. No. 4,555,960 are relatively costly and subject to malfunction. 
     Based on the prior art, an object of the invention is to provide a manual control device which has robust and, at the same time, compact restoring means for at least one actuation member pivot axis. 
     SUMMARY OF THE INVENTION 
     The object is achieved according to the invention by the restoring means having at least two resilient elements which are active counter to redirection of the actuation member from the rest position or idle position about the actuation member pivot axis and which are arranged radially opposite each other relative to the longitudinal axis of the switching rod. 
     Owing to the symmetrical arrangement of the resilient elements with respect to the longitudinal axis of the switching rod, there is a favourable or symmetrical introduction of force with respect to the longitudinal axis of the switching rod. Owing to the fact that two resilient elements are used, it is unnecessary to use a mechanism which is subject to malfunction and which allows a restoring force to be produced in the event of a redirection of the actuation member in both pivot directions from the rest position. 
     Advantageous further developments of the invention according to the independent claim will be appreciated from the dependent claims. 
     In the case of a particularly preferred embodiment of the invention, a resilient element serves to restore the actuation member in the event of a redirection of the actuation member about the associated actuation member pivot axis in one pivot direction and the other resilient element in the opposite pivot direction. In this manner, it is possible to use structurally simple resilient elements which must act in only one actuation direction. 
     A particularly play-free arrangement of the resilient elements is achieved with a preferred configuration of the invention in which the resilient elements have mutually compensating pretensioning at least in the rest position of the actuation member. 
     The restoring means are preferably constructed in such a manner that a first resilient element can be deformed by redirection of the actuation member about the actuation pivot axis in one pivot direction, the second resilient element being prevented from becoming deformed by means of an end stop. Furthermore, the second resilient element can be deformed by redirection of the actuation member about the actuation member pivot axis in the opposite pivot direction, the first resilient element being prevented from becoming deformed by means of an end stop. Owing to the end stops for the resilient elements which are active when leaving the rest position, the actuation member can be pretensioned in a play-free manner in the rest position by means of the resilient elements but the restoring forces may be produced in each case by only one resilient element, without the other resilient element bringing about a partially compensating resilient force. There are produced restoring means which are highly effective even with the smallest redirections of the actuation member. 
     A configuration of the resilient elements as axial resilient elements, in particular as compression and/or as resilient elements has been found to be advantageous in practice. A variant of the invention in which the resilient elements are constructed as helical compression springs is distinguished as particularly simple and cost effective. 
     Particularly favourable conditions are produced when the clamping axes or resilient axes of the resilient elements extend parallel with the longitudinal axis of the switching rod and consequently perpendicularly relative to the actuation member pivot axis associated therewith. In this instance, it should be taken into consideration that a redirection of the actuation member about the actuation member pivot axis starting from the rest position through an angle of up to 20° is sufficient to carry out conventional control measures. In this angular range, a redirection of the actuation member about the actuation member pivot axis which extends perpendicularly relative to the longitudinal axis of the switching rod primarily brings about a displacement of the abutment faces for the resilient elements along the longitudinal axis of the switching rod. It is therefore particularly advantageous when the clamping axes of the resilient elements extend parallel with the longitudinal axis of the switching rod and the resilient elements can thereby absorb a main component of the displacement of the abutment faces for the resilient elements along their clamping axes. 
     The advantages of the restoring means constructed according to the invention set out above and described below are obtained in particular when two actuation member pivot axes are provided and there are associated with both actuation member pivot axes two resilient elements which are each arranged in pairs radially opposite each other relative to the longitudinal axis of the switching rod. A symmetrical and robust arrangement of the restoring means is produced on the whole. 
     In the case of a particularly preferred embodiment of the invention, all the actuation member movement axes and switching rod movement axes are each provided with separate restoring means. The restoring forces which can be produced by the restoring means are preferably adapted to each other in such a manner that the risk of unintentionally actuating one movement axis when actuating another is reduced. To this end, the restoring forces which can be felt by the operator on the actuation member are at least partially of different magnitudes, for example, the restoring forces for the actuation member pivot axes are noticeably smaller than those for the switching rod pivot axes. In particular, the restoring forces which are produced when an actuation member is pivoted about an actuation member pivot axis are significantly smaller than the restoring forces which are produced when the actuation member is redirected about a switching rod pivot axis which is parallel at least in the rest position of the actuation member. 
     A particularly symmetrical introduction of forces, and consequently a particularly robust construction distinguishes one embodiment of the invention in which the resilient elements which are associated with the actuation member pivot axes are supported at one end on one and the same component. In a particularly preferred configuration, this component is formed by a bearing ring, at whose opposing end faces a pair of the resilient elements is in abutment in each case. 
     The switching rod is preferably supported on the base member for rotation about a switching rod rotation axis which coincides with the longitudinal axis of the switching rod. The switching rod rotation axis is advantageously provided with restoring means, which are active counter to redirection about the switching rod rotation axis from a rest position. A particularly compact construction of the manual control device is achieved by the restoring means, which are associated with the rotation axis, and the resilient elements, which are associated with one of the actuation member pivot axes, at least partially overlapping with each other along the longitudinal axis of the switching rod. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       An embodiment of the invention is explained below with reference to schematic drawings illustrated in the Figures, in which: 
         FIG. 1  is a sectioned illustration of a manual control device along a plane of section which extends parallel with the longitudinal axis of the switching rod, 
         FIG. 2  is a second sectioned illustration of the manual control device along a plane of section which is rotated through 90° with respect to the plane of section according to  FIG. 1 , 
         FIG. 3  is an exploded view of the manual control device, and 
         FIG. 4  is an exploded view of the manual control device from a different perspective to that in  FIG. 3 . 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  is a sectioned illustration of a manual control device  1 . The manual control device  1 , also referred to as a composite drive, serves to control, for example, handling installations, cranes, vehicles, aircraft, etcetera. The manual control device  1  is provided with an actuation member  2  which is constructed as an actuation cap. The actuation member  2  is placed on a fixing plate  3  and secured at that location by means of a screw which is not illustrated. The fixing plate  3  is itself securely connected to an actuation member articulation piece  5  by means of screws  4 . The actuation member articulation piece  5  is surrounded by a bearing ring  6 , which itself is arranged in an actuation member receiving sleeve  7 . 
     The actuation member receiving sleeve  7  is fitted at one end of a switching rod  10  in a rotationally secure and axially non-displaceable manner. A grub screw  8  ( FIG. 2 ) serves to secure the actuation member receiving sleeve  7  to the switching rod  10 . A centering sleeve  11  (not illustrated in  FIG. 2 ) surrounds a lower, thinner portion of the actuation member receiving sleeve  7 . The actuation member receiving sleeve  7  is followed along the longitudinal axis  12  of the switching rod  10  by a switching rod sliding piece  13 , which partially surrounds the switching rod  10 . 
     Furthermore, the manual control device  1  has a base member  14  and a switching rod bearing device  15  which is accommodated in the base member  14 . The base member  14  is provided at the upper side thereof and at the side facing the actuation member  2  with an attachment flange  16 . The switching rod bearing device  15  has a switching rod curved pivot member  17 , an annular switching rod articulation piece  18  and a switching rod articulation sleeve  19 . 
     The movement axes of the actuation member  2  with respect to the base member  14  are explained in detail below. The actuation member articulation piece  5  which is securely connected to the actuation member  2  by means of the fixing plate  3  is supported by means of two pivot bearing pins  21  which are arranged at one end in cylindrical recesses  22  on the actuation member articulation piece  5  and at the other end in cylindrical recesses  23  on the bearing ring  6  for pivoting about a first actuation member pivot axis  24  ( FIG. 1 ). Grub screws  25  serve to fix the pivot bearing pins  21  in the cylindrical recesses  22  on the actuation member articulation piece  5 . The first actuation member pivot axis  24  extends perpendicularly relative to the longitudinal axis  12  of the switching rod  10  and in the plane of projection of  FIG. 1 . 
     From  FIG. 2 , which is a sectioned illustration of the manual control device  1  along a plane of section which is rotated through 90° with respect to the plane of section according to  FIG. 1 , it can be seen that the bearing ring  6  is supported on the actuation member receiving sleeve  7  by means of two pivot bearing pins  28  for pivoting about a second actuation member pivot axis  29 . The pivot bearing pins  28  are arranged in cylindrical recesses  30  on the bearing ring  6  and in cylindrical recesses  31  on the actuation member receiving sleeve  7 . Grub screws  32  serve to fix the pivot bearing pins  28  in the cylindrical recesses  31  on the actuation member receiving sleeve  7 . The second actuation member pivot axis  29  also extends perpendicularly relative to the longitudinal axis  12  of the switching rod  10  and in the plane of projection of  FIG. 2 . The second actuation member pivot axis  29  is perpendicular relative to the first actuation member pivot axis  24 . 
     The actuation member  2  can be pivoted in both pivot directions about an angle of up to a maximum of approximately 20° about the actuation member pivot axes  24 ,  29 , starting from a rest position or idle position illustrated in  FIGS. 1 and 2 . 
     The actuation member  2  is further supported together with the switching rod  10  for movement about or along four different switching rod movement axes relative to the base member  14 . The switching rod  10  is supported on the switching rod sliding piece  13  and on the switching rod articulation sleeve  19  for rotation about a switching rod rotation axis  34  which coincides with the longitudinal axis  12  of the switching rod  10 . Furthermore, the switching rod  10  together with the actuation member  2  which is connected to the switching rod  10  by means of the actuation member receiving sleeve  7  in a rotationally secure and axially non-displaceable manner, is displaceably guided along the longitudinal axis  12  of the switching rod  10  on the switching rod sliding piece  13  and on the switching rod articulation sleeve  19  (switching rod translation axis  35 ). 
     Furthermore, the switching rod  10  including the switching rod articulation sleeve  19  is supported on the base member  14  by means of the switching rod articulation piece  18  for pivoting about a first switching rod pivot axis  36 . The first switching rod pivot axis  36  extends in the plane of projection of  FIG. 1 . The switching rod articulation piece  18  is supported on the base member  14  by means of two screw-in pivot bearing pins (not illustrated) for pivoting about the first switching rod pivot axis  36 . 
     In the rest position or idle position of the manual control device  1 , the first switching rod pivot axis  36  extends perpendicularly relative to the longitudinal axis  12  of the switching rod  10 . In this rest position, it also extends parallel with the first actuation member pivot axis  24 . 
     Finally, the switching rod  10  is supported on the switching rod articulation piece  18  about a second switching rod pivot axis  37  which extends in the plane of projection of  FIG. 2  and perpendicularly relative to the first switching rod pivot axis  36 . In the rest position of the manual control device  1 , it is further orientated parallel with the second actuation member pivot axis  29 . 
     The pivot bearing which defines the second switching rod pivot axis  37  is formed by two pivot bearing pins (not illustrated) which can be screwed into corresponding recesses on the switching rod articulation piece  18  and on bearing extensions of the switching rod articulation sleeve  19  ( FIG. 2 ). 
     When the switching rod  10  is pivoted about the second switching rod pivot axis  37 , the switching rod curved pivot member  17  is carried. To this end, the switching rod curved pivot member  17  is supported on the base member for pivoting about the second switching rod pivot axis  37  by means of screw-in pivot bearing pins which are not illustrated. 
     Apertures  39  (merely indicated in  FIG. 1 ) in the switching rod articulation piece  18  ensure undisturbed pivoting of the switching rod  10  including the pivot rod articulation sleeve  19  relative to the switching rod articulation piece  18  about the second switching rod pivot axis  37 . 
     In total, the actuation member  2  can consequently be moved with respect to the base member  14  about the first and second actuation member pivot axis  24 ,  29 , the switching rod rotation axis  34 , the first and second switching rod pivot axes  36 ,  37  and along the switching rod translation axis  35 . A 6-axis manual control device is consequently obtained overall. 
     The actuation member pivot axes  24 ,  29  and the switching rod rotation axis  34  intersect at a central engagement point  38  of the actuation member  2 . From  FIGS. 1 and 2 , it can be seen that the components associated with the actuation member pivot axes  24 ,  29  are accommodated in a compact manner in the actuation member  2  which is constructed as an actuation cap. 
     In contrast, the first and second switching rod pivot axis  36 ,  37  intersect the switching rod  10  with a substantially larger spacing with respect to the central engagement point  38  of the actuation member  2  so that the actuation member  2  moves during a pivot movement about one of the switching rod pivot axes  36 ,  37  on a circular path with a relatively large radius. Although the spacing or pivot lever is different depending on the position of the actuation member  2  along the switching or translation axis  35 , in all positions of the actuation member  2  along the switching rod translation axis  35  the spacing or pivot lever is significantly larger than that of the actuation member pivot axes  24 ,  29 . 
     Consequently, the actuation member pivot axes  24 ,  29  and the switching rod pivot axes  36 ,  37  can be actuated independently of each other. Furthermore, the restoring forces of the restoring means described below are adapted to each other in such a manner that actuation, in particular of the actuation member pivot axes and the switching rod pivot axes  24 ,  29 ,  36 ,  37  independently of each other is readily possible by the restoring forces which are produced when the actuation member  2  is redirected about one of the actuation member pivot axes  24 ,  29  being noticeably smaller for the operator than those restoring forces which are produced when the actuation member  2  is redirected about one of the switching rod pivot axes  36 ,  37 . 
     Restoring means  40  are associated with each of the movement axes  24 ,  29 ,  34  to  37 . Using the restoring means  40 , the actuation member  42  which has been redirected from a rest position with respect to the associated movement axes  24 ,  29 ,  34  to  37  can be restored to the rest position. 
     The restoring means  40  for the first actuation member pivot axis  24  have two resilient elements which are arranged radially opposite each other relative to the longitudinal axis  12  of the switching rod  10  and which are in the form of helical compression springs  41  ( FIG. 2 ). The two helical compression springs  41  are radially spaced from the longitudinal axis  12  of the switching rod  10  by the same amount. Their clamping axes  42  or resilient axes extend parallel with the longitudinal axis  12  of the switching rod  10 . At one end, the helical compression springs  41  are supported on the actuation member  2  and, at the other end, the helical compression springs  41  are supported on the upper end face of the bearing ring  6  by means of abutment actuators  43 . 
     The abutment actuators  43  are displaceably guided in cylindrical actuator receiving members  45  on the fixing plate  3 . If the actuation member  2  is arranged around the first actuating member pivot axis  24  in the rest position according to  FIG. 2 , radial projections  46  of the abutment actuators  43  abut abutment faces  47  in the actuator receiving members  45 . At the same time, pressure heads  48  of the abutment actuators  43  act on the upper end face of the bearing ring  6  with a biasing force of the helical compression springs  41 , whereby the actuation member  2  is held in the rest position without any play. 
     If the actuation member  2  moves in the clockwise direction, for example, in the event of a pivot movement brought about by an operator about the first actuation member pivot axis  24  in  FIG. 2 , the helical compression spring  41  on the right in  FIG. 2  becomes compressed. However, the left-hand helical compression spring  41  remains unchanged because the abutment actuator  43  of the left-hand helical compression spring  41  abuts the abutment faces  47  of the actuator receiving member  45  with the radial projection  46  thereof. Movement of the abutment actuator  43  directed downwards in  FIG. 2  is prevented. Consequently, the actuator receiving member  45  forms an end stop for the abutment actuator  43  or for the left-hand helical compression spring  41 , on which the abutment actuator  43  is arranged if the actuation member  42  is arranged in the rest position and which prevents decompression of the left-hand compression spring  41  from the rest position. 
     Owing to the end stop, the upper end face of the bearing ring  6  and the pressure head  48  of the left-hand abutment actuator  43  move away from each other during the pivot movement of the actuation member  2 . As soon as the actuation member  2  consequently leaves the rest position, only the increasing resilient force of the right-hand helical compression spring  41  acts on the bearing ring  6  as a restoring force which is not reduced by an opposing resilient force of the left-hand helical compression spring  41  owing to the end stop for the left-hand helical compression spring  41 . 
     The restoring force which increases owing to the compression of the right-hand helical compression spring  41  acts counter to the redirecting movement of the actuation member  2  and brings about, when the operator releases the actuation member  2 , a restoring movement of the actuation member  2  into the rest position shown in  FIG. 2 . Similar conditions are produced in the case of pivot movement in a counter-clockwise direction in  FIG. 2 , in this instance only the left-hand helical compression spring  41  being active. 
     The restoring means  40  which are associated with the second actuation member pivot axis  29  are of similar construction to the above-described restoring means  40  of the first actuation member pivot axis  24 . They also comprise two resilient elements in the form of helical compression springs  50  ( FIG. 1 ). The helical compression springs  50  are also arranged radially opposite each other relative to the longitudinal axis  12  of the switching rod  10  and have the same radial spacing relative to the longitudinal axis  12  of the switching rod  10 . The clamping axes  51  of the helical compression springs  50  extend perpendicularly relative to the second actuation member pivot axis  29  and parallel with the longitudinal axis  12  of the switching rod  10 . The helical compression springs  50  are supported at one end on a curved member  55  and, at the other end, by means of abutment actuators  52  on the lower front end of the bearing ring  6 . 
     The curved member  55  is guided through approximately 190° around the lower portion of the actuation member receiving sleeve  7 . The curved member  55  is securely connected to the upper portion of the actuation member receiving sleeve  7 , which has a larger diameter than the lower portion, by means of two fixing rods  59  ( FIGS. 3 and 4 ). The lower ends of the helical compression springs  50  are fixed to the curved member  55  by means of bolt rivets  64 . 
     The abutment actuators  52  of the helical compression springs  50  are displaceably guided in actuator receiving members  54  on the actuation member receiving sleeve  7 . Similarly to the actuator receiving members  45  on the fixing plate  3 , the actuator receiving members  54  form end stops for the abutment actuators  52 , which the abutment actuators  52  abut in the rest position of the actuation member  2 . 
     The helical compression spring  50  on the left in  FIG. 1  acts counter to redirection of the actuation member  2  about the second actuation member pivot axis  29  in a counter-clockwise direction according to  FIG. 1 . The helical compression spring  50  on the right in  FIG. 1  acts counter to redirection of the actuation member in the clockwise direction according to  FIG. 1 . Under the conditions shown in  FIG. 1 , that is to say, in the rest position of the actuation member, the helical compression springs  50  are also provided with pretensioning. As soon as the actuation member  2  has left the rest position in relation to the second actuation member pivot axis  29 , only one of the helical compression springs  50  is active owing to the end stops. 
     Since the helical compression springs  41  which are associated with the first actuation member pivot axis  24  are supported on the upper front end of the bearing ring  6  and the helical compression springs  50  which are associated with the second actuation member pivot axis  29  are supported on the lower front end of the bearing ring  6 , the forces introduced owing to the pretensioning of the helical compression springs  41 ,  50  along the longitudinal axis  12  of the switching rod  10  advantageously cancel each other out. 
     The restoring means  40  associated with the switching rod rotation axis  34  have a leg spring  56  which surrounds the switching rod  10  and the lower (narrower) portion of the actuation member receiving sleeve  7  ( FIG. 2 ). An upper sliding sleeve  65  and a lower sliding sleeve  66  are arranged between the leg spring  56  and the lower portion of the actuation member receiving sleeve  7 . 
     It can be seen from  FIG. 2  that the lower sliding sleeve  66  is provided with a radially projecting abutment lug  67 . The upper sliding sleeve has a corresponding abutment lug (not shown). Two carrier pins  68  and  69  are further provided ( FIGS. 2 and 4 ). The carrier pin  68  is securely connected to the actuation member receiving sleeve  7  and the carrier pin  69  is securely connected to the switching rod sliding piece  13 . 
     The lower end of the leg spring  56  abuts the carrier pin  68  in a peripheral direction of the switching rod rotation axis  34  by means of the abutment lug  67  of the lower sliding sleeve  66  ( FIG. 2 ), the upper end of the leg spring  56  abutting the carrier pin  69  in the opposite peripheral direction by means of the abutment lug (not shown) of the upper sliding sleeve  67 . 
     When the actuation member  2  is redirected about the switching rod rotation axis  34  from the rest position shown, in accordance with the direction of rotation either the carrier pin  68  or the carrier pin  69  carries the associated end of the leg spring  56  in a direction of rotation, whereby the leg spring  56  becomes deformed and consequently a restoring force is produced. Compact and robust restoring means are produced for the switching rod rotation axis  34 . 
     Furthermore, the maximum redirecting angle of rotation of the switching rod rotation axis  34  in both directions of rotation is limited by rotary stop means to approximately 5°. The heads  80  ( FIG. 4 ) of the fixing screws for the fixing rods  59  act as rotary stop means. The heads  80  project into lateral notches on the switching rod sliding piece  13 . They limit the rotation movement of the actuation member  32  about the switching rod rotation axis  34  in that they move into abutment with the switching rod sliding piece  13  at the maximum rotary position of the actuation member  2 . 
     According to  FIG. 1 , the helical compression springs  50  which are associated with the second actuation member pivot axis  29  and the leg spring  56  overlap at least partially along the longitudinal axis  12  of the switching rod  10  so that a particularly compact manual control device  1  is produced. 
     The restoring means  40  of the switching rod translation axis  35  are formed by two helical compression springs  60  which are supported on the switching rod  10  and which are arranged at opposite sides of the switching rod articulation sleeve  19 . A helical compression spring  60  is supported between the switching rod sliding piece  19  and an abutment sleeve  61  which abuts a radial projection of the switching rod  10 . The other helical compression spring  60  is supported between an abutment ring  62  which is fixed to the switching rod  10  and an abutment sleeve  63  which abuts the switching rod articulation sleeve  19 . The two helical compression springs are biased counter to each other in the rest position of the actuation member  2  or the switching rod  10  shown in  FIGS. 1 and 2 . 
     The restoring means of the first and second switching rod pivot axis  36 ,  37  are also constructed with resilient elements which are not shown and which are arranged between the switching rod articulation piece  18  and the base member  14  for the first switching rod pivot axis  36  and which are arranged between the switching rod curved pivot member  17  and the base member  14  for the second switching rod pivot axis  37 . 
       FIGS. 3 and 4  are exploded illustrations of the manual control device  1  from two different viewing directions. From top to bottom,  FIGS. 3 and 4  show the actuation member  2 , the helical compression sprigs  41  including the abutment actuator  43 , the actuation member articulation piece  5 , the bearing ring  6 , the actuation member receiving sleeve  7 , the helical compression springs  50  including the abutment actuator  52  and the centering sleeve  11 . 
     Furthermore,  FIGS. 3 and 4  show the leg spring  56 , the switching rod sliding piece  13 , the attachment flange  16 , the switching rod articulation sleeve  19 , the base member  14  and the switching rod curved articulation member  17 . 
     In order to detect the position of the actuation member  2  relative to the actuation member pivot axes  24 ,  29 , a sensor unit  70  which is based on the Hall effect is provided. The sensor unit  70  has a permanent magnet  71  which is fixed to the lower side of the actuation member articulation piece  6  ( FIG. 1 ). A 2D Hall sensor  72  is fixed to the actuation member receiving sleeve  7  opposite the permanent magnet  71 . In the event of a pivot movement of the actuation member  2  about one of the actuation member pivot axes  24 ,  29 , the permanent magnet  71  changes its position relative to the 2D Hall sensor  72  which subsequently produces a corresponding measurement signal. The 2D Hall sensor  72  is connected to an evaluation unit (not shown) via signal lines (not shown) which extend through an axial through-hole  73  of the switching rod  10 . A particularly compact sensor unit  70  is produced for the actuation member pivot axes  24 ,  29 . 
     In order to detect the rotary position of the actuation member  2  about the switching rod rotation axis  34 , a sensor unit  74  based on the Hall effect is also provided. A permanent magnet  75  ( FIG. 4 ) is provided on a fixing bar  76  which extends along the longitudinal axis  12  of the switching rod  10  and which is securely screwed to the switching rod sliding piece  13 . A Hall effect sensor (not shown) which generates measurement signals in accordance with the relative position of the permanent magnet  75  and the Hall effect sensor is arranged at the lower side of the actuation member receiving sleeve  7  opposite the permanent magnet  75 , which signals are supplied to an evaluation unit via signal lines which are not shown and which also extend through the axial through-hole  73  of the switching rod  10 . 
     In order to detect the position of the actuation member  2  in relation to the remaining movement axes  35 ,  36 ,  37 , sensor units based on the Hall effect, conventional electronic rotary sensors or the like are also provided. 
     It will be understood that the actuation member  2  may also have different forms. For example, the actuation member  2  may be constructed so as to be hemispherical. Furthermore, the manual control device may optionally be provided with a protective sleeve which surrounds in particular the switching rod  10 , etc., in a protective manner between the actuation member  2  and the base member  14 .