Hall magnetic transmission master controller structure and control method thereof

Abstract

The invention discloses a master controller and aims to provide a Hall magnetic transmission master controller structure which is simple to operate, convenient to control, capable of automatically resetting after a control handle is not stressed and good in control effect and a control method of the Hall magnetic transmission master controller structure. The permanent magnet can correspondingly move in the base when the control handle moves, the change state of a magnetic field in the base is detected through the response device arranged in the base, the signal state is converted into an electric signal to be output, and in the pushing process of the control handle, the response device can detect the pushing speed of the control handle; the position of the current control handle is fed back and compared according to the magnetic field data detected by the response device, the accuracy and reliability of the result are ensured, the control handle does not need to be pushed among the contacts in the process of controlling the equipment, the overall pushing fluency is high, and the efficiency is high. The invention is suitable for the technical field of electric transmission devices.

Description

Technical Field

[0001] The present invention relates to a master controller, and more specifically, to a Hall magnetic transmission master controller structure and a control method thereof. Background Art

[0002] The vertical master controller is a manual control appliance, mainly used for starting, speed regulation, reversing, braking, etc. of motors in lifting and transportation machinery and equipment. The vertical master controllers currently used are all contact-type, which control the electrical equipment by controlling the rotation of the cam piece and breaking according to the concave and convex program of the cam piece. At present, the contacts of the master on the linkage platform of the tower crane of the mainstream main engine factory are universal contacts, and there are no specially customized contacts according to the use environment and working conditions of the tower crane. At the same time, the rebound reset structure of the master controller; the rebound reset function of the master controller currently on the market is mainly realized by the twisting or rotating spring relying on its return force to achieve the rebound reset of the master controller, but this is easy to reduce the elasticity of the spring, causing irreversible damage to the spring, increasing the number of subsequent maintenance and repair costs, and also causing great waste of resources; the support structure of the master controller is too complicated, with many supporting parts and fixing parts, resulting in the master controller being too large and difficult to place, high in manufacturing, and difficult to maintain in the later stage. When the master controller is damaged, the broken pieces produced by the damage to the internal supports and fixings may affect the operation of the master controller and even cause irreversible damage to important components inside the master controller, ultimately resulting in a significant increase in maintenance costs.

[0003] At present, the main command controllers on the market are usually equipped with different gears, and contacts for switching gears are provided in each gear. The corresponding circuits are connected by moving the control handle to the corresponding contacts, thereby controlling the device. However, in the process of controlling the device, the control handle needs to be pushed between different contacts, and the resistance of the control handle moving between different contacts needs to be resisted during the pushing process. After long-term operation, it is easy to cause fatigue of the staff's hands and the operation is difficult. At the same time, after adjusting the contacts, if the control handle is not actively reset, it will cause continuous movement of the device, and the use effect is poor. Summary of the invention

[0004] In view of the deficiencies in the prior art, the object of the present invention is to provide a Hall magnetic transmission master controller structure and a control method thereof which are simple to operate, convenient to control, can automatically reset when the control handle is not subjected to force, and have good control effect.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a Hall magnetic transmission master controller structure, comprising a base and a control handle arranged on the base, a handle frame is also arranged between the control handle and the base, the handle frame comprises a horizontal axis and a vertical axis, the horizontal axis and the vertical axis are cross-arranged, an adjustment device is provided on the base, the adjustment device comprises a magnetic field generator arranged inside the base, the magnetic field generator has electromagnets evenly arranged along the inner circumference of the base, a permanent magnet is also provided at the bottom of the control handle, the control handle moves within the horizontal axis and the vertical axis and drives the permanent magnet to move in the magnetic field generator, a response device is also provided at the bottom of the adjustment device, and the response device is configured to detect the moving state of the permanent magnet in the magnetic field generator.

[0006] The present invention is further configured as follows: the electromagnet includes a first electromagnetic coil group arranged perpendicularly to the horizontal axis and a second electromagnetic coil group arranged perpendicularly to the vertical axis, and the first electromagnetic coil group and the second electromagnetic coil group are electrically connected to the response device through a wire.

[0007] The present invention is further configured as follows: the control handle is also covered with a dust cover, the dust cover is configured to form a seal with the control handle, and a slide groove for passing the control handle is provided in the horizontal axis and the vertical axis, and the width of the slide groove matches the diameter of the control handle.

[0008] The present invention is further configured as follows: transverse axis return springs are provided at both ends of the transverse axis, and a rotating member is also provided at the connection between the transverse axis and the side wall of the base, and the transverse axis return spring and the rotating member are used to drive the control handle to return to the middle of the transverse axis.

[0009] The present invention is further configured as follows: the rotating member includes a bearing base, a rotating bearing arranged in the bearing base, and the rotating bearing is connected to the horizontal axis or the vertical axis and operates the horizontal axis or the vertical axis to rotate relative to the bearing base.

[0010] Preferably, connecting rods are extended downward at both ends of the horizontal axis and the vertical axis, and a sliding groove is provided on the bearing base. The connecting rod is arranged in the sliding groove and can slide in the sliding groove, and the movement trajectory of the connecting rod on the bearing base matches the shape of the sliding groove. A spring slider is also provided in the sliding groove, and the spring slider is used to move in the sliding groove and drive the insertion rod to reset.

[0011] The present invention is further configured as follows: the permanent magnet is one or more quadrupole magnets.

[0012] The present application also provides a control method for a Hall magnetic transmission master controller structure, characterized in that a position sensor and a speed sensor are also provided in the response device, the position sensor is used to detect the motion state and motion direction of the control handle in the base, and the speed sensor is used to detect the level signal output in the magnetic field, and the control method comprises the following steps: S1, pushing the control handle, while the response device detects the motion state of the permanent magnet at the bottom of the control handle; S2. When the control handle is in the initial position, the magnetic field forces of the electromagnet in the four directions are F1, F2, F3, and F4; S31, the response device detects the value change of each magnetic field force. If the value of F1 increases and the value of F3 decreases at the same time, it is determined that the current control handle is pushed backward, and the response device converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the value of F3 increases and the value of F1 decreases at the same time, it is determined that the current control handle is pushed forward, and the response device converts the magnetic field change signal into a control signal and sends it down. S32, the response device detects the value change of each magnetic field force. If the value of F2 increases and the value of F4 decreases at the same time, it is determined that the current control handle is pushed to the left, and the response device converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the value of F4 increases and the value of F2 decreases at the same time, it is determined that the current control handle is pushed to the right, and the response device converts the magnetic field change signal into a control signal and sends it down. S33, the response device detects the value change of each magnetic field force. If the values ​​of F1 and F2 increase and the values ​​of F3 and F4 decrease at the same time, it is judged that the control handle is pushed to the left rear, and the response device converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the values ​​of F3 and F4 increase and the values ​​of F1 and F2 decrease at the same time, it is judged that the control handle is pushed to the right front, and the response device converts the magnetic field change signal into a control signal and sends it down. S34, the response device detects the value change of each magnetic field force. If the values ​​of F1 and F4 increase and the values ​​of F2 and F3 decrease at the same time, it is judged that the control handle is pushed to the right rear, and the response device converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the values ​​of F2 and F3 increase and the values ​​of F1 and F4 decrease at the same time, it is judged that the control handle is pushed to the left front, and the response device converts the magnetic field change signal into a control signal and sends it down; S4, the position sensor detects the change value of the magnetic field in step S31-step S34 and generates a corresponding voltage output, and converts the voltage signal into a digital signal in the response device; S5. Stop pushing the control handle. At the same time, the response device detects the magnetic field forces of the electromagnet in four directions as Fx1, Fx2, Fx3, and Fx4 again. At the same time, the value of each magnetic field force is detected. If the value of any one of Fx1, Fx2, Fx3, and Fx4 is 1.5 times to 2 times the other values, it is determined that the control handle is not in the initial position. The controller is powered off and the staff is notified for maintenance. Otherwise, it is determined that the control handle is reset.

[0013] Preferably, the step S4 also includes control handle position feedback, including the following steps: S41, the response device detects the magnetic field force of the electromagnet in four directions as Fy1, Fy2, Fy3, and Fy4, and compares the above data at the same time, and the position sensor determines the current position of the control handle according to the larger value of the current magnetic field force and uploads it; S42, during the movement of the control handle, the response device detects the magnetic field force signal of the electromagnet, and the speed sensor converts the magnetic field force signal into a level signal; S43, the speed sensor detects the width of the level signal pulse. If the width of the level signal pulse is short, it is judged that the current control handle is pushed at a fast speed. Conversely, if the width of the level signal pulse is long, it is judged that the current control handle is pushed at a slow speed. The response device sends a corresponding control instruction according to the speed at which the control handle is pushed.

[0014] By adopting the above technical solution, the beneficial effects are as follows: 1. By arranging a permanent magnet in the control handle, the permanent magnet can move correspondingly inside the base when the control handle moves, and an electromagnet is arranged in the base, the electromagnet is used to form a magnetic field in the base, when the permanent magnet moves in the base, the change state of the magnetic field is detected by the response device arranged in the base, and the signal state is converted into an electrical signal output, and then the electrical signal is sent to the device to control the device. At the same time, during the process of pushing the control handle, the response device can detect the speed of pushing the control handle, and can feedback and compare the current position of the control handle according to the magnetic field data detected by the response device, thereby ensuring the accuracy and reliability of the result. At the same time, during the process of pushing the control handle, the device is controlled by the movement of the control handle and then causing the change of the magnetic field. Compared with the traditional control method, the present application does not need to push the control handle between the contacts during the process of controlling the device, and the overall push is smooth, and the force required to push the control handle is small, thereby preventing fatigue of personnel after long-term use.

[0015] 2. Further, in order to facilitate the pushing of the control handle, the control handle is arranged on the handle frame, and the handle frame has a cross-arranged horizontal axis and vertical axis, and the horizontal axis and the vertical axis are both provided with a slide groove matching the width of the control handle, the slide groove is used to allow the control handle to slide along its length direction, and can abut against the inner wall of the slide groove when the control handle does not slide along the length of the slide groove, thereby making the horizontal axis or the vertical axis rotate along its central axis, and at the same time, a rotating member is provided at the connection between the horizontal axis, the vertical axis and the side wall of the base, and the rotating member is used to control the horizontal axis or the vertical axis to rotate along its central axis, specifically, when the control handle is pushed forward and backward in the controller, the control handle can move along the length direction of the slide groove in the vertical axis, during the movement, the control handle abuts against the inner wall of the slide groove in the horizontal axis, so that the horizontal axis can rotate along its central axis, conversely, when the control handle is pushed left and right in the controller, the control handle can move along the length direction of the horizontal axis, during the movement, the control handle abuts against the inner wall of the slide groove in the vertical axis, so that the vertical axis can rotate along its central axis.

[0016] 3. At the same time, in order to enable the control handle to automatically return to its original position after no force is applied, return springs are provided at both ends of the horizontal axis and the vertical axis, and correspondingly, a sliding groove is provided in the rotating member, and connecting rods are provided on both sides of the horizontal axis and the vertical axis, and the connecting rods are provided in the sliding groove and can slide in the sliding groove. Furthermore, a spring slider is provided in the sliding groove, and when the horizontal axis or the vertical axis rotates along its central axis, the connecting rod can slide in the sliding groove and conflict with the spring slider in the sliding groove, and when the control handle is pushed, it is conflicted by the return spring and the spring slider, so that the control handle can move smoothly and the control effect is good, and after the control handle is not pushed, the control handle loses resistance to the return spring and The force of the spring slider deformation, specifically, the horizontal axis return spring can push the control handle to retreat along the horizontal axis slide groove to the middle of the horizontal axis, and before the control handle retreats, the connecting rod under the vertical axis moves in the sliding groove and squeezes the spring slider in the sliding groove; when the control handle is not pushed, the spring slider corresponding to the vertical axis resets and pushes the connecting rod back to the middle of the sliding groove during the reset process; correspondingly, the vertical axis return spring can push the control handle to retreat along the vertical axis slide groove to the middle of the vertical axis, and before the control handle retreats, the connecting rod under the horizontal axis moves in the sliding groove and squeezes the spring slider in the sliding groove; when the control handle is not pushed, the spring slider corresponding to the horizontal axis resets and pushes the connecting rod back to the middle of the sliding groove during the reset process.

[0017] 4. Furthermore, in the process of controlling the device through the above-mentioned controller, in order to improve the control accuracy and improve the accuracy of the controller in controlling the device, the magnetic field force of the electromagnet in four directions in the base is detected by the response device. At the same time, when the control handle is pushed, the control handle moves in the handle frame, and a permanent magnet is also provided at the bottom of the control handle. During the movement of the control handle, the magnetic field will change, and Hall voltage will be generated inside the response device. The Hall voltage is converted into an electrical signal for subsequent processing in the response device, and the controller is used for subsequent identification and control instructions are issued to control the device. In the control process, the magnetic field force of the electromagnet in four directions in the base is detected. The response device can judge the movement state of the control handle according to the value of the magnetic field force in each direction and the change of the value in each direction. Furthermore, in order to improve the control accuracy, a control handle position feedback method is also provided in the control process, which causes the magnetic field by the current position of the control handle. Intensity changes. Generally speaking, the closer the permanent magnet is to the coil, the greater the intensity of the magnetic field force. Correspondingly, the intensity of the magnetic field force on the other side is smaller. For example, when the control handle is pushed forward, the permanent magnet at the bottom of the control handle approaches the rear end of the base. At this time, the magnetic field force of Fy3 increases and the magnetic field force of Fy1 decreases. The controller judges and feeds back the position of the control handle according to the current magnetic field force value so that the position of the control handle is consistent with the control signal. At the same time, when the control handle automatically returns, the control handle may be stuck for different reasons and cannot be reset. At this time, the permanent magnet is not in the middle position, resulting in different magnitudes of the magnetic field force. For example, the control handle is stuck on the right side of the controller. At this time, the permanent magnet at the bottom of the control handle is close to the left side of the electromagnet in the base, so that the magnetic field force on the left side is greater than the magnetic field force at other positions, and the ratio between the maximum and minimum magnetic field forces is between 1.5-2. The detection effect is good and the detection accuracy is high, which effectively prevents the control handle from being stuck in the controller and unable to be reset. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a specific structure of a Hall magnetic transmission master controller structure and a control method embodiment of the present invention; Figure 2 It is a schematic diagram of the specific structure of a handle frame of an embodiment of a Hall magnetic transmission master controller structure and a control method thereof of the present invention; Figure 3 A schematic diagram of the specific structure of a vertical shaft and a rotating member of an embodiment of a Hall magnetic transmission master controller structure and a control method thereof of the present invention; Figure 4 It is a schematic diagram of the specific structure of the horizontal axis and the rotating part of an embodiment of a Hall magnetic transmission master controller structure and a control method thereof of the present invention; Figure 5It is a schematic diagram of the specific structure of the base and the electromagnet of an embodiment of a Hall magnetic transmission master controller structure and a control method thereof of the present invention; Figure 6 A control method flow chart of a Hall magnetic transmission master controller structure and a control method embodiment of the present invention; Figure 7 A handle position feedback control flow chart of a Hall magnetic transmission master controller structure and a control method embodiment of the present invention; The reference numerals in the figure are: 1. base; 2. control handle; 3. handle frame; 31. horizontal axis; 32. vertical axis; 33. slide groove; 34. rotating part; 341. bearing base; 342. rotating bearing; 343. connecting rod; 344. slide groove; 345. spring slider; 4. adjusting device; 5. magnetic field generator; 51. electromagnet; 52. first electromagnetic coil group; 53. second electromagnetic coil group; 6. permanent magnet; 7. response device; 8. dust cover. DETAILED DESCRIPTION

[0019] Reference Figures 1 to 6 The present invention further describes an embodiment of a Hall magnetic transmission master controller structure and a control method thereof.

[0020] For ease of explanation, spatial relative terms such as "upper", "lower", "left", "right" and the like are used in the embodiments to illustrate the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that, in addition to the orientation shown in the figure, the spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, the element described as being "under" other elements or features will be positioned "on" other elements or features. Therefore, the exemplary term "under" can include both upper and lower orientations. The device can be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used here can be interpreted accordingly.

[0021] Furthermore, relational terms such as “first” and “second” and the like are merely used to distinguish one component from another having the same name, but do not necessarily require or imply any such actual relationship or order between these components.

[0022] A Hall magnetic transmission master controller structure comprises a base 1 and a control handle 2 arranged on the base 1, a handle frame 3 is further arranged between the control handle 2 and the base 1, the handle frame 3 comprises a horizontal axis 31 and a vertical axis 32, the horizontal axis 31 and the vertical axis 32 are cross-arranged, an adjustment device 4 is provided on the base 1, the adjustment device 4 comprises a magnetic field generator 5 arranged inside the base 1, the magnetic field generator 5 has electromagnets 51 uniformly arranged along the inner circumferential surface of the base 1, a permanent magnet 6 is further arranged at the bottom of the control handle 2, the control handle 2 moves within the horizontal axis 31 and the vertical axis 32 and drives the permanent magnet 6 to move within the magnetic field generator 5, a response device 7 is further provided at the bottom of the adjustment device 4, and the response device 7 is configured to detect the moving state of the permanent magnet 6 in the magnetic field generator 5.

[0023] The electromagnet 51 includes a first electromagnetic coil group 52 disposed perpendicularly to the horizontal axis 31 and a second electromagnetic coil group 53 disposed perpendicularly to the vertical axis 32 . The first electromagnetic coil group 52 and the second electromagnetic coil group 53 are electrically connected to the response device 7 via a wire.

[0024] The control handle 2 is also covered with a dust cover 8, and the dust cover 8 is configured to form a seal with the control handle 2. The horizontal axis 31 and the vertical axis 32 are provided with a slide groove 33 for passing the control handle 2, and the width of the slide groove 33 matches the diameter of the control handle 2.

[0025] Both ends of the transverse axis 31 are provided with transverse axis 31 return springs, and a rotating member 34 is also provided at the connection between the transverse axis 31 and the side wall of the base 1 . The transverse axis 31 return spring and the rotating member 34 are used to drive the control handle 2 to return to the middle of the transverse axis 31 .

[0026] The rotating member 34 includes a bearing base 341 and a rotating bearing 342 disposed in the bearing base 341 . The rotating bearing 342 is connected to the horizontal axis 31 or the vertical axis 32 and allows the horizontal axis 31 or the vertical axis 32 to rotate relative to the bearing base 341 .

[0027] Preferably, connecting rods 343 are extended downward at both ends of the horizontal axis 31 and the vertical axis 32, and a sliding groove 344 is provided on the bearing base 341. The connecting rod 343 is arranged in the sliding groove 344 and can slide in the sliding groove 344, and the movement trajectory of the connecting rod 343 on the bearing base 341 matches the shape of the sliding groove 344. A spring slider 345 is also provided in the sliding groove 344, and the spring slider 345 is used to move in the sliding groove 344 and drive the insertion rod to reset.

[0028] The permanent magnet 6 is one or more quadrupole magnets.

[0029] By providing a permanent magnet 6 in the control handle 2, the permanent magnet 6 can move correspondingly inside the base 1 when the control handle 2 moves, and the base 1 is provided with an electromagnet 51, the electromagnet 51 is used to form a magnetic field in the base 1. When the permanent magnet 6 moves in the base 1, the response device 7 provided in the base 1 detects the change state of the magnetic field, and converts the signal state into an electrical signal output, and then sends the electrical signal to the device to control the device. At the same time, during the pushing process of the control handle 2, the response device 7 can detect the pushing speed of the control handle 2, and can feedback and compare the current position of the control handle 2 according to the magnetic field data detected by the response device 7, thereby ensuring the accuracy and reliability of the result. At the same time, during the pushing process of the control handle 2, the device is controlled by the movement of the control handle 2 and the change of the magnetic field. Compared with the traditional control method, the present application does not need to push the control handle 2 between the contacts during the control of the device, and the overall pushing is smooth, and the force required to push the control handle 2 is small, thereby preventing fatigue of personnel after long-term use.

[0030] Furthermore, in order to facilitate the pushing of the control handle 2, the control handle 2 is arranged on the handle frame 3, and the handle frame 3 has a cross-arranged horizontal axis 31 and a vertical axis 32, and the horizontal axis 31 and the vertical axis 32 are both provided with a slide groove 33 matching the width of the control handle 2, and the slide groove 33 is used to allow the control handle 2 to slide along its length direction, and can abut against the inner wall of the slide groove 33 when the control handle 2 does not slide along the length of the slide groove 33, thereby allowing the horizontal axis 31 or the vertical axis 32 to rotate along its central axis. At the same time, a rotating member 34 is provided at the connection between the horizontal axis 31, the vertical axis 32 and the side wall of the base 1 The rotating member 34 is used to control the horizontal axis 31 or the vertical axis 32 to rotate along its central axis. Specifically, when the control handle 2 is pushed forward and backward in the controller, the control handle 2 can move along the length direction of the slide groove 33 in the vertical axis 32. During the movement, the control handle 2 conflicts with the inner wall of the slide groove 33 in the horizontal axis 31, so that the horizontal axis 31 can rotate along its central axis. Conversely, when the control handle 2 is pushed left and right, the control handle 2 can move along the length direction of the horizontal axis 31. During the movement, the control handle 2 conflicts with the inner wall of the slide groove 33 in the vertical axis 32, so that the vertical axis 32 can rotate along its central axis.

[0031] At the same time, in order to enable the control handle 2 to automatically return to its original position after no force is applied, return springs are provided at both ends of the horizontal axis 31 and the vertical axis 32, and correspondingly, a sliding groove 344 is provided in the rotating member 34, and connecting rods 343 are extended downwardly on both sides of the horizontal axis 31 and the vertical axis 32, and the connecting rods 343 are arranged in the sliding groove 344 and can slide in the sliding groove 344. Furthermore, a spring slider 345 is provided in the sliding groove 344. When the horizontal axis 31 or the vertical axis 32 rotates along its central axis, the connecting rod 343 can slide in the sliding groove 344 and conflict with the spring slider 345 in the sliding groove 344, and when the control handle 2 is pushed, it is conflicted by the return spring and the spring slider 345, so that the control handle 2 can move smoothly and the control effect is good. Moreover, when the control handle 2 is not pushed, the control handle 2 loses the force to resist the deformation of the return spring and the spring slider 345. The cam 343 of the second hand is pressed against the stopper 344 to push the cam 345 back to the stopper 344, and the cam 345 is pressed against the stopper 344 to push the cam 345 back to the stopper 344.

[0032] The present application also provides a control method for a Hall magnetic transmission master controller structure, characterized in that a position sensor and a speed sensor are also provided in the response device, the position sensor is used to detect the motion state and motion direction of the control handle in the base, and the speed sensor is used to detect the level signal output in the magnetic field, and the control method comprises the following steps: S1, pushing the control handle, while the response device detects the motion state of the permanent magnet at the bottom of the control handle; S2. When the control handle is in the initial position, the magnetic field forces of the electromagnet in the four directions are F1, F2, F3, and F4; S31, the response device detects the value change of each magnetic field force. If the value of F1 increases and the value of F3 decreases at the same time, it is determined that the current control handle is pushed backward, and the response device converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the value of F3 increases and the value of F1 decreases at the same time, it is determined that the current control handle is pushed forward, and the response device converts the magnetic field change signal into a control signal and sends it down. S32, the response device detects the value change of each magnetic field force. If the value of F2 increases and the value of F4 decreases at the same time, it is determined that the current control handle is pushed to the left, and the response device converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the value of F4 increases and the value of F2 decreases at the same time, it is determined that the current control handle is pushed to the right, and the response device converts the magnetic field change signal into a control signal and sends it down. S33, the response device detects the value change of each magnetic field force. If the values ​​of F1 and F2 increase and the values ​​of F3 and F4 decrease at the same time, it is judged that the control handle is pushed to the left rear, and the response device converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the values ​​of F3 and F4 increase and the values ​​of F1 and F2 decrease at the same time, it is judged that the control handle is pushed to the right front, and the response device converts the magnetic field change signal into a control signal and sends it down. S34, the response device detects the value change of each magnetic field force. If the values ​​of F1 and F4 increase and the values ​​of F2 and F3 decrease at the same time, it is judged that the control handle is pushed to the right rear, and the response device converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the values ​​of F2 and F3 increase and the values ​​of F1 and F4 decrease at the same time, it is judged that the control handle is pushed to the left front, and the response device converts the magnetic field change signal into a control signal and sends it down; S4, the position sensor detects the change value of the magnetic field in step S31-step S34 and generates a corresponding voltage output, and converts the voltage signal into a digital signal in the response device; S5. Stop pushing the control handle. At the same time, the response device detects the magnetic field forces of the electromagnet in four directions as Fx1, Fx2, Fx3, and Fx4 again. At the same time, the value of each magnetic field force is detected. If the value of any one of Fx1, Fx2, Fx3, and Fx4 is 1.5 times to 2 times the other values, it is determined that the control handle is not in the initial position. The controller is powered off and the staff is notified for maintenance. Otherwise, it is determined that the control handle is reset.

[0033] Preferably, the step S4 also includes control handle position feedback, including the following steps: S41, the response device detects the magnetic field force of the electromagnet in four directions as Fy1, Fy2, Fy3, and Fy4, and compares the above data at the same time, and the position sensor determines the current position of the control handle according to the larger value of the current magnetic field force and uploads it; S42, during the movement of the control handle, the response device detects the magnetic field force signal of the electromagnet, and the speed sensor converts the magnetic field force signal into a level signal; S43, the speed sensor detects the width of the level signal pulse. If the width of the level signal pulse is short, it is judged that the current control handle is pushed at a fast speed. Conversely, if the width of the level signal pulse is long, it is judged that the current control handle is pushed at a slow speed. The response device sends a corresponding control instruction according to the speed at which the control handle is pushed.

[0034] In the process of controlling the device through the above-mentioned controller, in order to improve the control accuracy and improve the accuracy of the controller in controlling the device, the magnetic field force of the electromagnet 51 in the base 1 in four directions is detected by the response device 7. At the same time, when the control handle 2 is pushed, the control handle 2 moves in the handle frame 3, and a permanent magnet 6 is also provided at the bottom of the control handle 2. During the movement of the control handle 2, it will cause changes in the magnetic field. A Hall voltage will be generated inside the response device 7. The Hall voltage is converted into an electrical signal for subsequent processing in the response device 7, and the controller performs subsequent identification and issues control instructions to control the device. In the control process, the magnetic field force of the electromagnet 51 in the base 1 in four directions is detected. The response device 7 can judge the moving state of the control handle 2 according to the changes in the values ​​of the magnetic field force in each direction according to the detected values. Furthermore, in order to improve the control accuracy, a control handle 2 position feedback method is also provided in the control process, which causes the magnetic field strength to be controlled by the current position of the control handle 2. Generally speaking, the closer the permanent magnet 6 is to the coil, the greater the strength of the magnetic field force, and correspondingly, the smaller the strength of the magnetic field force on the other side. For example, when the control handle 2 is pushed forward, the permanent magnet 6 at the bottom of the control handle 2 is relatively close to the rear end of the base 1. At this time, the magnetic field force of Fy3 becomes larger and the magnetic field force of Fy1 decreases. The controller judges and feeds back the position of the control handle 2 according to the current magnetic field force value, so that the position of the control handle 2 is consistent with the control signal. At the same time, when the control handle 2 automatically returns to its original position, the control handle 2 may be stuck for different reasons and cannot be reset. At this time, the permanent magnet 6 is not in the middle position, resulting in different magnitudes of the magnetic field force. For example, the control handle 2 is stuck on the right side of the controller. At this time, the permanent magnet 6 at the bottom of the control handle 2 is close to the left side of the electromagnet 51 in the base 1, so that the magnetic field force on the left side is greater than the magnetic field force at other positions, and the ratio between the maximum value and the minimum value of the magnetic field force is between 1.5-2. The detection effect is good and the detection accuracy is high, which effectively prevents the control handle 2 from being stuck in the controller and unable to be reset.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A Hall magnetic transmission master controller structure, comprising a base (1) and a control handle (2) arranged on the base (1), characterized in that: A handle frame (3) is further provided between the control handle (2) and the base (1), the handle frame (3) comprising a horizontal axis (31) and a vertical axis (32), the horizontal axis (31) and the vertical axis (32) being arranged crosswise, an adjustment device (4) is provided on the base (1), the adjustment device (4) comprising a magnetic field generator (5) arranged inside the base (1), the magnetic field generator (5) having electromagnets (51) uniformly arranged along the inner circumference of the base (1), a magnet is further provided at the bottom of the control handle (2), the control handle (2) moves within the horizontal axis (31) and the vertical axis (32) and drives the magnet to move within the magnetic field generator (5), and a response device (7) is further provided at the bottom of the adjustment device (4), the response device (7) being configured to detect the moving state of the magnet within the magnetic field generator (5).

2. A Hall magnetic transmission master controller structure according to claim 1, characterized in that: The electromagnet (51) comprises a first electromagnetic coil group (52) arranged perpendicularly to the horizontal axis (31) and a second electromagnetic coil group (53) arranged perpendicularly to the vertical axis (32); the first electromagnetic coil group (52) and the second electromagnetic coil group (53) are electrically connected to a response device (7) via a wire.

3. A Hall magnetic transmission master controller structure according to claim 1, characterized in that: The control handle (2) is also covered with a dust cover (8), and the dust cover (8) is configured to form a seal with the control handle (2). The horizontal axis (31) and the vertical axis (32) are provided with a slide groove (33) for passing the control handle (2), and the width of the slide groove (33) matches the diameter of the control handle (2).

4. A Hall magnetic transmission master controller structure according to claim 1, characterized in that: Both ends of the transverse axis (31) are provided with transverse axis (31) return springs, and a rotating member (34) is also provided at the connection between the transverse axis (31) and the side wall of the base (1). The transverse axis (31) return spring and the rotating member (34) are used to drive the control handle (2) to return to the middle of the transverse axis (31).

5. The Hall magnetic transmission master controller structure according to claim 1 is characterized in that: Vertical shaft (32) return springs are provided at both ends of the vertical shaft (32), and a rotating member (34) is also provided at the connection between the vertical shaft (32) and the side wall of the base (1). The vertical shaft (32) return spring and the rotating bearing (342) are used to drive the control handle (2) to return to the middle of the vertical shaft (32).

6. A Hall magnetic transmission master controller structure according to claim 5, characterized in that: The rotating member (34) comprises a bearing base (341) and a rotating bearing (342) arranged in the bearing base (341); the rotating bearing (342) is connected to the horizontal axis (31) or the vertical axis (32) and operates the horizontal axis (31) or the vertical axis (32) to rotate relative to the bearing base (341).

7. A Hall magnetic transmission master controller structure according to claim 6, characterized in that: A connecting rod (343) extends downwardly from both ends of the horizontal axis (31) and the vertical axis (32); a sliding groove (344) is provided on the bearing base (341); the connecting rod (343) is arranged in the sliding groove (344) and can slide in the sliding groove (344); and the movement trajectory of the connecting rod (343) on the bearing base (341) matches the shape of the sliding groove (344); a spring slider (345) is also provided in the sliding groove (344); the spring slider (345) is used to move in the sliding groove (344) and drive the insertion rod to reset.

8. The Hall magnetic transmission master controller structure according to claim 1 is characterized in that: The magnet is one or more quadrupole magnets.

9. A control method applicable to the Hall magnetic transmission master controller structure according to claim 1, characterized in that: The response device (7) is further provided with a position sensor and a speed sensor, the position sensor being used to detect the motion state and motion direction of the control handle (2) in the base (1), and the speed sensor being used to detect the level signal output in the magnetic field. The control method comprises the following steps: S1, pushing the control handle (2), while the response device (7) detects the motion state of the magnet at the bottom of the control handle (2); S2, when the control handle (2) is located at the initial position, the magnetic field forces of the electromagnet (51) in four directions are F1, F2, F3, and F4; S31, the response device (7) detects the value change of each magnetic field force. If the value of F1 increases and the value of F3 decreases at the same time, it is determined that the current control handle (2) is pushed backward, and the response device (7) converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the value of F3 increases and the value of F1 decreases at the same time, it is determined that the current control handle (2) is pushed forward, and the response device (7) converts the magnetic field change signal into a control signal and sends it down. S32, the response device (7) detects the numerical changes of each magnetic field force. If the F2 value increases and the F4 value decreases at the same time, it is determined that the current control handle (2) is pushed to the left, and the response device (7) converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the F4 value increases and the F2 value decreases at the same time, it is determined that the current control handle (2) is pushed to the right, and the response device (7) converts the magnetic field change signal into a control signal and sends it down. S33, the response device (7) detects the numerical changes of each magnetic field force. If the numerical values ​​of F1 and F2 increase while the numerical values ​​of F3 and F4 decrease, it is determined that the control handle (2) is pushed to the left rear, and the response device (7) converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the numerical values ​​of F3 and F4 increase while the numerical values ​​of F1 and F2 decrease, it is determined that the control handle (2) is pushed to the right front, and the response device (7) converts the magnetic field change signal into a control signal and sends it down. S34, the response device (7) detects the numerical changes of each magnetic field force. If the numerical values ​​of F1 and F4 increase while the numerical values ​​of F2 and F3 decrease, it is determined that the control handle (2) is pushed to the right rear, and the response device (7) converts the magnetic field change signal into a control signal and sends it down. On the contrary, if the numerical values ​​of F2 and F3 increase while the numerical values ​​of F1 and F4 decrease, it is determined that the control handle (2) is pushed to the left front, and the response device (7) converts the magnetic field change signal into a control signal and sends it down. S4, the position sensor detects the change value of the magnetic field in step S31-step S34 and generates a corresponding voltage output, and converts the voltage signal into a digital signal in the response device (7); S5. Stop pushing the control handle (2). At the same time, the response device (7) detects the magnetic field forces of the electromagnet (51) in four directions as Fx1, Fx2, Fx3, and Fx4 again. At the same time, the values ​​of each magnetic field force are detected. If the value of any one of Fx1, Fx2, Fx3, and Fx4 is 1.5 to 2 times the value of the other values, it is determined that the control handle (2) is not in the initial position, the controller is powered off, and the staff is notified for maintenance. Otherwise, it is determined that the control handle (2) is reset.

10. The control method of the Hall magnetic transmission master controller structure according to claim 9, characterized in that: The step S4 also includes position feedback of the control handle (2), including the following steps: S41, the response device (7) detects the magnetic field forces of the electromagnet (51) in four directions as Fy1, Fy2, Fy3, and Fy4, and compares the magnetic field force data at the same time. The position sensor determines the current position of the control handle (2) according to the larger value of the current magnetic field force and uploads it; S42, during the movement of the control handle (2), the response device (7) detects the magnetic field force signal of the electromagnet (51), and the speed sensor converts the magnetic field force signal into a level signal; S43, the speed sensor detects the width of the level signal pulse. If the width of the level signal pulse is short, it is determined that the current control handle (2) is pushed at a fast speed. On the contrary, if the width of the level signal pulse is long, it is determined that the current control handle (2) is pushed at a slow speed. The response device (7) issues a corresponding control instruction according to the speed at which the control handle (2) is pushed.

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