Self-resetting dual-degree-of-freedom motion mechanism

Abstract

The application discloses a self-resetting double-freedom-degree motion mechanism which can realize self-resetting rotary motions in X and Y axial directions, the rotary motions in the two axial directions do not interfere with each other, and the motion area is rectangular. The self-resetting double-freedom-degree joystick has a clever structure, is convenient to assemble, can convert rotary signals into electric signals, can be used for the control of various industrial equipment and military equipment and the design of joysticks on various simulation training platforms, and is suitable for various electric control joysticks and has wide applicability.

Description

Technical Field

[0001] This invention belongs to the field of joystick design, and in particular to a self-resetting two-degree-of-freedom motion mechanism. Background Technology

[0002] A joystick is an input device typically used for angle control in construction machinery or port machinery. Currently, joysticks on the market are mainly divided into two types: hydraulic and electric. While hydraulic joysticks are cheaper and simpler to assemble, they require a hydraulic system and have lower precision. Compared to hydraulic joysticks, electric joysticks offer higher precision and can be used for more precise angle control. However, electric joysticks generally have a more complex structure, are more difficult to assemble, and have some other issues. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a self-resetting dual-degree-of-freedom motion mechanism. This mechanism has an ingenious structure, is easy to assemble, and can convert rotary motion into analog signals, making it applicable to various joysticks.

[0004] The technical solution to achieve the purpose of this invention is: a self-resetting dual-degree-of-freedom motion mechanism, which can realize self-resetting rotational motion in two axes, X and Y, and the rotational motion in the two axes does not interfere with each other, and the motion area is rectangular.

[0005] Further, the self-resetting double-degree-of-freedom movement mechanism comprises a base, a first support, a second support, a rotating frame, a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a first auxiliary support, a second auxiliary support, a first stopper rod, a second stopper rod, a first torsion spring, a second torsion spring, a first magnetic sensor, a second magnetic sensor, a first bushing, a second bushing, a first bearing, a second bearing, a first stopper piece, a second stopper piece, and a connecting rod; the first support and the second support are fixed on the base and symmetrically arranged in parallel; the first torsion spring is sleeved on the first rotating shaft, and a protrusion on the first rotating shaft extends between two torsion arms of the first torsion spring; the first bushing is installed in a bushing hole of the first support, the first rotating shaft is inserted into the first bushing, and the first rotating shaft is rotatable relative to the first support; the first bearing is installed in a bearing hole of the second support, the second rotating shaft is inserted into the first bearing, and the second rotating shaft is rotatable relative to the second support; the first magnetic sensor is fixed on the second support by screws; the rotating frame has holes matched with diameters of the first rotating shaft and the second rotating shaft, the first rotating shaft and the second rotating shaft extend into the matched holes of the rotating frame and are locked by locking screws; the first stopper piece is sleeved on the second rotating shaft and located between the second support and the rotating frame; the first stopper rod is installed on the first support and located between the two torsion arms of the first torsion spring; the second torsion spring is sleeved on the third rotating shaft, and a protrusion on the third rotating shaft extends between two torsion arms of the second torsion spring; the rotating frame has a hole matched with a diameter of the third rotating shaft, the third rotating shaft extends into the hole of the rotating frame and is locked by a locking screw, and the third rotating shaft and the rotating frame are fixed to each other; the second bearing is installed in a bearing hole of the rotating frame, the fourth rotating shaft is inserted into the second bearing, and the fourth rotating shaft is rotatable relative to the rotating frame; the second bushing is installed in a bushing hole of the first auxiliary support, the third rotating shaft is inserted into the second bushing, and the first auxiliary support is rotatable relative to the third rotating shaft; the second auxiliary support has a hole matched with the fourth rotating shaft, the fourth rotating shaft extends into the hole of the second auxiliary support and is locked by a locking screw; the second magnetic sensor is fixed on the rotating frame by screws; the second stopper piece is sleeved on the fourth rotating shaft and located between the rotating frame and the second auxiliary support; the first stopper rod is installed on the first support and located between the two torsion arms of the first torsion spring; and the connecting rod is installed at two ends thereof on the first auxiliary support and the second auxiliary support by screws and is fixed to the first auxiliary support and the second auxiliary support.

[0006] Further, the first rotating shaft, the second rotating shaft, the third rotating shaft, and the fourth rotating shaft are uniformly distributed along the rotating frame in a cross structure, and the first rotating shaft and the second rotating shaft are coaxially arranged along an X-axis direction, and the third rotating shaft and the fourth rotating shaft are coaxially arranged along a Y-axis direction.

[0007] Further, the first rotation shaft, the second rotation shaft and the rotating frame are limited by the protrusions on the first support and the second support when rotating around the axes of the first rotation shaft and the second rotation shaft, thereby limiting the movement range of the self-resetting double-degree-of-freedom mechanism in the Y-axis direction.

[0008] Further, the connecting rod is limited by the rotating frame when rotating, thereby limiting the movement range of the self-resetting double-degree-of-freedom mechanism in the X-axis direction.

[0009] Further, the first magnetic sensor is used to obtain the rotation angle of the second rotation shaft by magnetic effect and convert it into analog data; the second magnetic sensor is used to obtain the rotation angle of the fourth rotation shaft by magnetic effect and convert it into analog data; the first magnetic sensor comprises a first sensor, a first magnet and a first sensor buckle; the second magnetic sensor comprises a second sensor, a second magnet and a second sensor buckle; the first sensor, the first magnet and the second rotation shaft are concentrically installed, wherein the first magnet is embedded in the second rotation shaft, and the first sensor is pressed on the second support by the first sensor buckle; the second sensor, the second magnet and the fourth rotation shaft are concentrically installed, wherein the second magnet is embedded in the fourth rotation shaft, and the second sensor is pressed on the rotating frame by the second sensor buckle.

[0010] Further, the second rotation shaft and the fourth rotation shaft are each provided with an adjusting device for adjusting the initial angle of the second rotation shaft and the fourth rotation shaft, thereby adjusting the first magnetic sensor and the second magnetic sensor.

[0011] Further, the first stop rod and the second stop rod are each provided with an adjusting device for adjusting the angle of the first stop rod and the second stop rod, so as to eliminate the virtual position between the stop rod and the two torsion arms of the torsion spring.

[0012] Further, the connecting rod is spherical at the top, and the spherical center is located on the axes of the X rotation direction and the Y rotation direction of the self-resetting double-degree-of-freedom mechanism, so as to ensure that the spherical surface does not change.

[0013] Further, the connecting rod is provided with a countersunk screw mounting hole, which can be used to install other components and expand the function of the self-resetting double-degree-of-freedom mechanism.

[0014] Further, the base is provided with a positioning pin for ensuring the installation accuracy of the first support and the second support.

[0015] Further, the first bushing, the second bushing, the first stop piece and the second stop piece are made of non-metallic materials.

[0016] Compared with the prior art, the self-resetting double-degree-of-freedom motion mechanism has the advantages of ingenious structure, convenient assembly, conversion of rotary signals into electric signals, wide applicability in the control of various industrial equipment and military equipment and the design of joysticks on various simulation training platforms, and wide applicability in various electrically-controlled joysticks.

[0017] The application will be described in further detail below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Fig. 1 is a schematic diagram of the overall structure of the self-resetting double-degree-of-freedom motion mechanism in an embodiment.

[0019] Figure 2 Fig. 2 is a Y-axis sectional view of the overall structure in an embodiment.

[0020] Figure 3 Fig. 3 is an X-axis sectional view of the overall structure in an embodiment.

[0021] Figure 4 Fig. 4 is a side view of the overall structure in an embodiment. Figure 1

[0022] Figure 5 Fig. 5 is a side view of the overall structure in an embodiment. Figure 2 .

[0023] Figure 6 Fig. 6 is a schematic diagram of the magnetic sensor in an embodiment.

[0024] Explanation of reference signs in the drawings:

[0025] 01 - base, 02 - first support, 03 - second support, 04 - rotating frame, 05 - first rotating shaft, 06 - second rotating shaft, 07 - third rotating shaft, 08 - fourth rotating shaft, 09 - first auxiliary support, 10 - second auxiliary support, 11 - first stop lever, 12 - second stop lever, 13 - first torsional spring, 14 - second torsional spring, 15 - first magnetic sensor, 16 - second magnetic sensor, 17 - first bushing, 18 - second bushing, 19 - first bearing, 20 - second bearing, 21 - first stop piece, 22 - second stop piece, 23 - connecting rod, 061 - second rotating shaft slot, 081 - fourth rotating shaft slot, 111 - first stop lever slot, 121 - first stop lever slot, 151 - first sensor, 152 - first magnet, 153 - first sensor buckle, 161 - second sensor, 162 - second magnet, 163 - second sensor buckle. DETAILED DESCRIPTION

[0026] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0027] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0028] In addition, if the embodiments of the present application involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of the various embodiments can be combined with each other, but must be based on the realization of a person skilled in the art, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0029] In one embodiment, in combination Figures 1 to 6 , a self-resetting double-degree-of-freedom movement mechanism is provided, which can realize self-resetting rotary movement in X and Y axial directions, and the rotary movement in the two axial directions does not interfere with each other, and the movement area is rectangular.

[0030] The self-resetting double-degree-of-freedom movement mechanism comprises a base 01, a first support 02, a second support 03, a rotating frame 04, a first rotating shaft 05, a second rotating shaft 06, a third rotating shaft 07, a fourth rotating shaft 08, a first auxiliary support 09, a second auxiliary support 10, a first stop rod 11, a second stop rod 12, a first torsional spring 13, a second torsional spring 14, a first magnetic sensor 15, a second magnetic sensor 16, a first bushing 17, a second bushing 18, a first bearing 19, a second bearing 20, a first stop piece 21, a second stop piece 22, and a connecting rod 23. The first support 02 and the second support 03 are fixed on the base 01 by screws, are symmetrically and parallelly arranged, and constitute an integral whole with the base 01 to jointly support the entire movement mechanism.

[0031] Here, the base 01 and the first support 02 and the second support 03 are the basis of the entire movement mechanism, and positioning pins are needed to be added when installing the first support 02 and the second support 03, to ensure the installation accuracy of the first support 02 and the second support 03. The first support 02 and the second support 03 are fixed on the base 01 by screws, and constitute a whole with the base 01, and together support the entire movement mechanism.

[0032] The first support 02 and the second support 03 are fixed on the base 01 and are symmetrically and parallelly arranged; the first torsional spring 13 is sleeved on the first rotating shaft 05, and the protrusion on the first rotating shaft 05 extends into the two torsional arms of the first torsional spring 13; the first bushing 17 is installed in the bushing hole of the first support 02, the first rotating shaft 05 is inserted into the first bushing 17, and the first rotating shaft 05 can rotate relative to the first support 02; the first bearing 19 is installed in the bearing hole of the second support 02, the second rotating shaft 06 is inserted into the first bearing 19, and the second rotating shaft 06 can rotate relative to the second support 03; the first magnetic sensor 15 is fixed on the second support 03 by screws; the rotating frame 04 has holes matched with the diameters of the first rotating shaft 05 and the second rotating shaft 06, the first rotating shaft 05 and the second rotating shaft 06 extend into the matched holes of the rotating frame 04 and are locked by the set screws; the first stop piece 21 is sleeved on the second rotating shaft 06 and is between the second support 03 and the rotating frame 04; the first stop rod 11 is installed on the first support 02 and is between the two torsional arms of the first torsional spring 13; the second torsional spring 14 is sleeved on the third rotating shaft 07, and the protrusion on the third rotating shaft 07 extends into the two torsional arms of the second torsional spring 14; the rotating frame 04 has a hole matched with the diameter of the third rotating shaft 07, the third rotating shaft 07 extends into the hole of the rotating frame 04 and is locked by the set screw, and the third rotating shaft 07 and the rotating frame 04 are fixed to each other; the second bearing 20 is installed in the bearing hole of the rotating frame 04, the fourth rotating shaft 08 is inserted into the second bearing 20, and the fourth rotating shaft 08 can rotate relative to the rotating frame 04; the second bushing 18 is installed in the bushing hole of the first auxiliary support 09, the third rotating shaft 07 is inserted into the second bushing 18, and the first auxiliary support 09 can rotate relative to the third rotating shaft 07; the second auxiliary support 10 has a hole matched with the fourth rotating shaft 08, the fourth rotating shaft 08 extends into the hole of the second auxiliary support 10 and is locked by the set screw; the second magnetic sensor 16 is fixed on the rotating frame 04 by screws; the second stop piece 22 is sleeved on the fourth rotating shaft 08 and is between the rotating frame 04 and the second auxiliary support 10; the first stop rod 11 is installed on the first support 02 and is between the two torsional arms of the first torsional spring 13; the connecting rod 23 is installed at both ends by screws on the first auxiliary support 09 and the second auxiliary support 10 and is fixed to the first auxiliary support 09 and the second auxiliary support 10.

[0033] The first rotating shaft 05, the second rotating shaft 06 and the rotating frame 04 rotate around the axis of the first rotating shaft 05 and the second rotating shaft 06, and are limited by the protrusions on the first support 02 and the second support 03, thereby limiting the movement range of the self-resetting double-degree-of-freedom movement mechanism in the Y direction.

[0034] The connecting rod 23 is limited by the rotating frame 04 when rotating, thereby limiting the movement range of the self-resetting double-degree-of-freedom movement mechanism in the X direction.

[0035] Further, in one embodiment, the first magnetic sensor 15 is used to obtain the rotation angle of the second rotating shaft 06 by magnetic effect and convert it into analog data; the second magnetic sensor 16 is used to obtain the rotation angle of the fourth rotating shaft 05 by magnetic effect and convert it into analog data; the first magnetic sensor 15 comprises a first sensor 151, a first magnet 152 and a first sensor buckle 153; the second magnetic sensor 16 comprises a second sensor 161, a second magnet 162 and a second sensor buckle 163; the first sensor 151, the first magnet 152 and the second rotating shaft 06 are concentrically installed, wherein the first magnet 152 is embedded in the second rotating shaft 06, and the first sensor 151 is pressed on the second support 03 by the first sensor buckle 153; the second sensor 161, the second magnet 162 and the fourth rotating shaft 08 are concentrically installed, wherein the second magnet 162 is embedded in the fourth rotating shaft 08, and the second sensor 161 is pressed on the rotating frame 04 by the second sensor buckle 163.

[0036] Further, in one embodiment, the second rotating shaft 06 and the fourth rotating shaft 08 are each provided with an adjusting device for adjusting the initial angle of the second rotating shaft 06 and the fourth rotating shaft 04, thereby adjusting the first magnetic sensor 15 and the second magnetic sensor 16; the first stop rod 11 and the second stop rod 12 are each provided with an adjusting device for adjusting the angle of the first stop rod 11 and the second stop rod 12 to eliminate the virtual position between the stop rod and the two torsion arms of the torsional spring.

[0037] Here, preferably, in one embodiment, the adjusting device adopts a slot, but is not limited to a slot.

[0038] Here, preferably, in one embodiment, the first bushing 17 is a non-metallic material, which can reduce the friction of the rotation of the first rotating shaft 05.

[0039] Here, preferably, in one embodiment, the first stop sheet 21 is a non-metallic material, which can reduce the friction between the second support 03 and the rotating frame 04.

[0040] Here preferably, in one embodiment, the second baffle 22 is a non-metallic material, which can reduce the friction between the rotating frame 04 and the second auxiliary support 10.

[0041] Further, in one embodiment, the connecting rod 23 is spherical, and the center of the sphere is located on the X and Y rotation direction axes of the self-resetting double-degree-of-freedom motion mechanism, to ensure that the spherical surface is constant.

[0042] Further, in one embodiment, the connecting rod 12 is provided with a countersunk screw mounting hole, which can be used to install other components and expand the function of the self-resetting double-degree-of-freedom motion mechanism.

[0043] The specific assembly of the overall device is described below:

[0044] When installing the Y-axis of the motion mechanism, the first torsion spring 13 is sleeved on the first rotating shaft 05, the protrusion of the first rotating shaft 05 extends into the two torsion arms of the first torsion spring 13 to expand the torsion spring, and the first magnet 152 is embedded in the second rotating shaft 06. When installing the Y-axis of the motion mechanism, the first bushing 17 and the first bearing 19 are respectively installed in the first support 02 and the second support 03, and then the first rotating shaft 05 and the second rotating shaft 06 are respectively inserted into the first bushing 17 and the first bearing 19, and the first rotating shaft 05 and the second rotating shaft 06 are coaxial. There are holes on the rotating frame 04 that cooperate with the first rotating shaft 05 and the second rotating shaft 06, the first rotating shaft 05 and the second rotating shaft 06 are inserted into the holes of the rotating frame 04, and then the first rotating shaft 05, the second rotating shaft 06 and the rotating frame 04 are fixed by using a locking screw, so that the three can rotate around the axis of the first rotating shaft 05 and the second rotating shaft 06. When the rotating frame 04 rotates around the axis, it will hit the first support 02 and the second support 03, which can limit the angle of Y-axis rotation. The first rotating shaft 06 is sleeved with the first baffle 21, which is between the second support 03 and the rotating frame 04. The first magnetic sensor 15 includes the first sensor 151, the first magnet 152 and the first sensor buckle 153, the first magnet 152 has been installed in the second rotating shaft 06, and the first sensor 151 is pressed on the second support 03 by using a screw through the first sensor buckle 153, so that the rotation angle of the second rotating shaft 06 can be obtained through magnetic effect. There is a slot 061 on the second rotating shaft 06, and a slot screwdriver can be used to adjust the rotation angle of the second rotating shaft 06 before tightening the locking screw of the second rotating shaft 06, which is used for debugging the magnetic sensor to output ideal analog data. The first stop lever 11 is in the shape of a waist, and the end face has a slot 111, which is installed on the first support 02 by a screw, and extends into the two torsion arms of the first torsion spring 13 during installation. When the rotating frame 04 rotates, the two torsion arms of the first torsion spring 13 are opened under the action of the first torsion spring 13 and the first stop lever 11, which can provide a self-resetting force. The rotation angle of the first stop lever 11 can be adjusted by using a slot screwdriver to eliminate the gap between the first stop lever and the two torsion arms of the first torsion spring 13, and eliminate the zero position swing.

[0045] When the X-axis of the motion mechanism is installed forwardly, the second torsion spring 14 is sleeved on the third rotating shaft 07, the protrusion of the third rotating shaft 07 is inserted between the two torsion arms of the second torsion spring 14 to expand the torsion spring, and the second magnet 162 is inlaid in the fourth rotating shaft 08. When the X-axis of the motion mechanism is installed, the rotating frame 04 has a hole matched with the third rotating shaft 07, the third rotating shaft 07 is inserted into the hole of the rotating frame 04, and a locking screw is used for locking. The second bearing 20 is installed on the rotating frame 04, the fourth bearing is inserted into the second bearing 20, the fourth rotating shaft 08 can rotate relative to the rotating frame 04, and the axes of the third rotating shaft 07 and the fourth rotating shaft 08 are collinear. The second bushing 18 is installed in the first auxiliary support 09, then the first auxiliary support 09 is sleeved on the third rotating shaft 07, and the first auxiliary support 09 can rotate around the axis of the third rotating shaft 07. The second auxiliary support 10 has a hole matched with the fourth rotating shaft 08, the fourth rotating shaft 08 is inserted into the second auxiliary support 10, and a locking screw is used for locking. The second blocking piece 22 is sleeved on the fourth rotating shaft 08 and is between the rotating frame 04 and the second auxiliary support 10. The second magnetic sensor 16 comprises a second sensor 161, a second magnet 162 and a second sensor buckle 163, the second magnetic sensor 16 is installed in the fourth rotating shaft 08, the second sensor 161 is pressed on the rotating frame 04 by using a screw through the second sensor buckle 163, and the rotating angle of the fourth rotating shaft 08 can be obtained through magnetic effect. The fourth rotating shaft 08 has a slot 081, before the locking screw of the fourth rotating shaft 08 is tightened, the rotating angle of the fourth rotating shaft 08 can be adjusted by using a slot screwdriver, which is used for debugging the magnetic sensor and outputting ideal analog quantity data. The second blocking rod is in the shape of a waist, has a slot 121 on an end face, is installed on the second auxiliary support 10 by using a screw, and is inserted into the two torsion arms of the second torsion spring 14 during installation. When the second auxiliary support 10 rotates, the two torsion arms of the second torsion spring 14 are expanded under the action of the second torsion spring 14 and the second blocking rod 12, and a self-resetting force can be provided. The rotating angle of the first blocking rod 11 can be adjusted by using a slot screwdriver, the gap between the first blocking rod and the two torsion arms of the first torsion spring 13 is eliminated, and zero position shaking is eliminated. Finally, the connecting rod 23 is installed on the first auxiliary support 09 and the second auxiliary support 10 by using a screw, so that the three are fixed as a whole and can rotate together. When the connecting rod 23 rotates around the axis, the inner boss will hit the rotating frame 04, and the rotating angle of the X-axis can be limited.

[0046] According to the assembly condition, it can be seen that the entire motion mechanism is independent and does not affect each other between the X-axis direction and the Y-axis direction, so the motion area of the motion mechanism is rectangular.

[0047] The self-resetting type double-degree-of-freedom motion mechanism designed in the application has a clever structure, is convenient to assemble, can convert rotary motion into an analog signal, and can be applied to various joysticks.

[0048] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A self-resetting dual-degree-of-freedom motion mechanism, characterized by, The self-resetting double-degree-of-freedom movement mechanism can realize self-resetting rotary movement in X and Y axial directions, the rotary movement in the two axial directions does not interfere with each other, and the movement region is rectangular. The self-resetting double-degree-of-freedom movement mechanism comprises a base, a first support, a second support, a rotating frame, a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a first auxiliary support, a second auxiliary support, a first stop rod, a second stop rod, a first torsional spring, a second torsional spring, a first magnetic sensor, a second magnetic sensor, a first bushing, a second bushing, a first bearing, a second bearing, a first stop piece, a second stop piece and a connecting rod; the first support and the second support are fixed on the base and are symmetrically and parallelly arranged; the first torsional spring is sleeved on the first rotating shaft, and a protrusion on the first rotating shaft extends into two torsional arms of the first torsional spring; the first bushing is installed in a bushing hole of the first support, the first rotating shaft is inserted into the first bushing, and the first rotating shaft can rotate relative to the first support; the first bearing is installed in a bearing hole of the second support, the second rotating shaft is inserted into the first bearing, and the second rotating shaft can rotate relative to the second support; the first magnetic sensor is fixed on the second support by a screw; the rotating frame has holes matched with diameters of the first rotating shaft and the second rotating shaft, the first rotating shaft and the second rotating shaft extend into the matched holes of the rotating frame and are locked by a locking screw; the first stop piece is sleeved on the second rotating shaft and is between the second support and the rotating frame; the first stop rod is installed on the first support and is between the two torsional arms of the first torsional spring; the second torsional spring is sleeved on the third rotating shaft, and a protrusion on the third rotating shaft extends into two torsional arms of the second torsional spring; the rotating frame has a hole matched with a diameter of the third rotating shaft, the third rotating shaft extends into the hole of the rotating frame and is locked by a locking screw, and the third rotating shaft and the rotating frame are fixed to each other; the second bearing is installed in a bearing hole of the rotating frame, the fourth rotating shaft is inserted into the second bearing, and the fourth rotating shaft can rotate relative to the rotating frame; the second bushing is installed in a bushing hole of the first auxiliary support, the third rotating shaft is inserted into the second bushing, and the first auxiliary support can rotate relative to the third rotating shaft; the second auxiliary support has a hole matched with the fourth rotating shaft, the fourth rotating shaft extends into the hole of the second auxiliary support and is locked by a locking screw; the second magnetic sensor is fixed on the rotating frame by a screw; the second stop piece is sleeved on the fourth rotating shaft and is between the rotating frame and the second auxiliary support; the first stop rod is installed on the first support and is between the two torsional arms of the first torsional spring; and the connecting rod is installed at two ends thereof on the first auxiliary support and the second auxiliary support by screws and is fixed to the first auxiliary support and the second auxiliary support.

2. The self-righting dual-degree-of-freedom motion mechanism according to claim 1, wherein, The first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are uniformly distributed along the rotating frame in a cross structure, and the first rotating shaft and the second rotating shaft are coaxially arranged along an X-axis direction, and the third rotating shaft and the fourth rotating shaft are coaxially arranged along a Y-axis direction.

3. The self-righting dual-degree-of-freedom locomotion mechanism of claim 1, wherein, When the first rotating shaft, the second rotating shaft and the rotating frame rotate around the axes of the first rotating shaft and the second rotating shaft, the first support and the second support are limited by the protrusions thereon, thereby limiting the movement range of the self-resetting double-degree-of-freedom movement mechanism in the Y-axis direction.

4. The self-righting dual-degree-of-freedom motion mechanism of claim 1, wherein, The connecting rod is limited by the rotating frame when rotating, thereby limiting the movement range of the X-axis of the self-resetting double-freedom movement mechanism.

5. The self-righting dual-degree-of-freedom locomotion mechanism of claim 1, wherein, The first magnetic sensor is used to obtain the rotation angle of the second rotating shaft by magnetic effect and convert it into analog data; the second magnetic sensor is used to obtain the rotation angle of the fourth rotating shaft by magnetic effect and convert it into analog data; the first magnetic sensor comprises a first sensor, a first magnet and a first sensor buckle; the second magnetic sensor comprises a second sensor, a second magnet and a second sensor buckle; the first sensor, the first magnet and the second rotating shaft are concentrically installed, wherein the first magnet is embedded in the second rotating shaft, and the first sensor is pressed on the second support by the first sensor buckle; the second sensor, the second magnet and the fourth rotating shaft are concentrically installed, wherein the second magnet is embedded in the fourth rotating shaft, and the second sensor is pressed on the rotating frame by the second sensor buckle.

6. The self-righting dual-degree-of-freedom locomotion mechanism of claim 1, wherein, The second rotating shaft and the fourth rotating shaft are provided with adjusting devices, respectively used to adjust the initial angles of the second rotating shaft and the fourth rotating shaft, thereby used to debug the first magnetic sensor and the second magnetic sensor.

7. The self-righting dual-degree-of-freedom locomotion mechanism of claim 1, wherein, The first stop rod and the second stop rod are provided with adjusting devices, respectively used to adjust the angles of the first stop rod and the second stop rod, so as to eliminate the virtual position between the stop rod and the two torsion arms of the torsion spring.

8. The self-righting dual-degree-of-freedom locomotion mechanism of claim 1, wherein, The connecting rod is spherical at the top, and the spherical center position is on the X rotating direction axis and the Y rotating direction axis of the self-resetting double-freedom movement mechanism, so as to ensure the invariability of the spherical surface.

9. The self-righting dual-degree-of-freedom locomotion mechanism of claim 1, wherein, The connecting rod is provided with a countersunk screw mounting hole, which can be used to install other components and expand the function of the self-resetting double-freedom movement mechanism.

10. The self-righting dual-degree-of-freedom locomotion mechanism of claim 1, wherein, The base is provided with a positioning pin, used to ensure the installation accuracy of the first support and the second support.

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