Double-degree-of-freedom movement mechanism and operating device

Abstract

The invention discloses a two-degree-of-freedom movement mechanism and a control device.The two-degree-of-freedom movement mechanism comprises a panel, a support, a driving mechanism and a gear adjusting mechanism, and a first gear and a second gear are arranged on a first rotating piece and a second rotating piece of the driving mechanism correspondingly; a third gear and a fourth gear of the gear adjusting mechanism can be respectively meshed with the first gear and the second gear to rotate and respectively drive a first gear wheel and a second gear wheel to rotate, so that the third gear wheel and the fourth gear wheel are driven to rotate; finally, the regular change of the center distance between the third gear wheel and the first gear wheel and the regular change of the center distance between the fourth gear wheel and the second gear wheel are achieved through a first limiting frame, a second limiting piece, a first spring and a second spring. In this way, an operator can accurately recognize the gear change during rotation, and accurate control is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of motion control, in particular to a dual-freedom motion mechanism and a manipulation device. Background Art

[0002] A joystick is an input device, generally used for angle control on engineering machinery or port machinery. However, nowadays, on operating devices with dual-degree-of-freedom motion mechanisms such as joysticks, the gear position cannot be accurately controlled, the gear position feel is not obvious, and accurate control cannot be achieved, affecting the operation of the entire system. In addition, there is no multi-gear control and multi-redundant structure design. Summary of the invention

[0003] The purpose of the present invention is to provide a dual-degree-of-freedom motion mechanism with redundant function in order to solve the problems existing in the prior art.

[0004] The technical solution to achieve the purpose of the present invention is as follows: on the one hand, a dual-degree-of-freedom motion mechanism is provided, including a panel, a bracket fixedly connected to the panel, and a driving mechanism, wherein the driving mechanism includes a first rotating member rotatably connected to the bracket along a first rotation center line, a second rotating member rotatably connected to the bracket along a second rotation center line, and a rod rotatably connected to the first rotating member / the second rotating member, wherein the first rotation center line extends along the front-to-back direction, the second rotation center line extends along the left-to-right direction, and the first rotation center line and the second rotation center line are located on the same horizontal plane;

[0005] The first rotating member has at least one set of first gears, and the first gears are fixedly connected to the end of the first rotating member;

[0006] The second rotating member has at least one set of second gears, and the second gears are fixedly connected to the end of the second rotating member;

[0007] The dual-degree-of-freedom motion mechanism further includes a gear adjustment mechanism, and the gear adjustment mechanism includes:

[0008] a third gear, rotatably connected to the bracket and capable of meshing and rotating with the first gear, wherein a rotation centerline of the third gear is parallel to the first rotation centerline;

[0009] a fourth gear, rotatably connected to the bracket and capable of meshing and rotating with the second gear, wherein a rotation centerline of the fourth gear is parallel to the second rotation centerline,

[0010] A first gear wheel is fixedly connected to the third gear, and its axis is colinear with the rotation center line of the third gear;

[0011] The second gear wheel is fixedly connected to the fourth gear, and the axis line is colinear with the rotation center line of the fourth gear.

[0012] The third gear wheel is provided with at least two groups, which are respectively provided on the left and right sides of the first gear wheel and can rotate in coordination with the first gear wheel;

[0013] The fourth gear wheel is provided with at least two groups, which are respectively provided on the left and right sides of the second gear wheel and can rotate in coordination with the second gear wheel;

[0014] The first limiting frames are provided with at least two groups, which are respectively arranged on both sides of the two groups of the third gear wheels, and the two groups of the first limiting frames are respectively rotatably connected to the bracket around the third rotation center line and the fourth rotation center line, and the two groups of the third gear wheels are respectively rotatably connected to the two groups of the first limiting frames;

[0015] The second limiting frames are provided with at least two groups, which are respectively arranged on both sides of the two groups of the third gear wheels, the two groups of the second limiting frames are respectively rotatably connected to the bracket around the fifth rotation center line and the sixth rotation center line, and the two groups of the fourth gear wheels are respectively rotatably connected to the two groups of the second limiting frames;

[0016] At least one group of first springs is provided, and two ends of the first springs are respectively connected to two groups of the first limiting frames;

[0017] At least one group of second springs is provided, and both ends of the second springs are respectively connected to two groups of the second limiting frames;

[0018] The dual-degree-of-freedom motion mechanism has a first working state and a second working state. When the dual-degree-of-freedom motion mechanism is in the first working state, the first rotating member rotates, the first gear drives the third gear to rotate, the first gear wheel follows the third gear to rotate, the first gear wheel drives two groups of the third gear wheels to rotate, and the center distance between the third gear wheel and the first gear wheel changes regularly; when the dual-degree-of-freedom motion mechanism is in the second working state, the second rotating member rotates, the second gear drives the fourth gear to rotate, the second gear wheel follows the fourth gear to rotate, the second gear wheel drives two groups of the fourth gear wheels to rotate, and the center distance between the fourth gear wheel and the second gear wheel changes regularly.

[0019] Further, the first gear wheel and the third gear wheel are both circular, either of which is provided with an arc-shaped protrusion, and the other is provided with an arc-shaped groove, the arc-shaped protrusion and the arc-shaped groove cooperate with each other, and the center distance between the first gear wheel and the third gear wheel is less than the sum of the maximum radii of the two; the second gear wheel and the first gear wheel have the same specifications, and the third gear wheel and the fourth gear wheel have the same specifications.

[0020] Further, the first gear is provided with two groups, the third gear is provided with two groups, the two groups of the first gear are respectively arranged at the two ends of the first rotating member, and the two groups of the third gear are respectively meshed with the two groups of the first gear for transmission; the second gear is provided with two groups, the fourth gear is provided with two groups, the two groups of the second gear are respectively arranged at the two ends of the second rotating member, and the two groups of the fourth gear are respectively meshed with the two groups of the second gear for transmission, and the first gear and the second gear have the same parameters.

[0021] Furthermore, the dual-degree-of-freedom motion mechanism also includes a reset mechanism, which includes at least two groups of third limit frames, at least two groups of fourth limit frames, a third spring, and a fourth spring. The third limit frame and the fourth limit frame are both rotatably connected to the bracket, a first drive pin is provided at the end of the first rotating member, and a second drive pin is provided at the end of the second rotating member. The first drive pin and the third spring are located between the two groups of the third limit frames, and the second drive pin and the fourth spring are located between the two groups of the fourth limit frames.

[0022] Furthermore, the third spring and the fourth spring are both compression springs of the same specification, and the reset mechanism also includes a spring guide structure, and each of the two groups of the third limit frames and the two groups of the fourth limit frames is rotatably connected with a group of the spring guide structures, and the spring guide structure includes a guide rod and a guide shaft, and the guide shaft is passed through the guide rod, and the guide rod and the guide shaft are both passed through the third spring / fourth spring.

[0023] Further, a rotation centerline of the third limiting frame is located between the first driving pin and the third spring, and a rotation centerline of the fourth limiting frame is located between the second driving pin and the fourth spring.

[0024] Furthermore, the dual-degree-of-freedom motion mechanism also includes a rotation-stopping mechanism, which includes a guide member fixedly connected to the bracket, a limit member inserted through the rod, a fifth spring inserted through the rod, and a stop block fixed on the rod, the limit member, the fifth spring, and the stop block are arranged in sequence from bottom to top along the direction of the rod, and two groups of vertically intersecting guide grooves are provided on the guide member. The lower end of the limit member can be clamped at the intersection of the two groups of guide grooves, one end of the fifth spring abuts against the upper end of the limit member, and the other end abuts against the stop block.

[0025] Furthermore, the guide member is hemispherical, and the limit member includes a limit portion and a stop portion. When the limit member is in a state without external force, the limit portion is located in the guide groove, and the limit portion abuts against the guide member. When the limit member moves upward along the length direction of the rod, the limit portion disengages from the guide groove; the stop portion abuts against the stop block to limit the limit member.

[0026] On the other hand, a manipulation device is provided, comprising a plurality of groups of potentiometers and a plurality of groups of sensors, the manipulation device further comprising the dual-degree-of-freedom motion mechanism as described above, the manipulation device further comprising a first switch assembly, the first switch assembly comprising a fixed frame, a pressing rod, a first sliding member, a sixth spring, and a switch, the fixed frame having a sliding groove for the first sliding member to slide in a vertical direction, the pressing rod being located above the first sliding member and contacting the upper end portion of the first sliding member, the sixth spring being arranged in the sliding groove, the two ends of the sixth spring respectively abutting against the first sliding member and the bottom of the sliding groove, the switch having a trigger protrusion, and the trigger protrusion being partially / entirely located in the sliding groove; the first switch assembly has an off state and a trigger state, when the first switch is in the off state, the first sliding member and the trigger protrusion are away from each other; when the first switch assembly is in the trigger state, the first sliding member slides along the sliding groove, and the first sliding member and the trigger protrusion are in contact.

[0027] Furthermore, the lower end of the pressing rod is a spherical structure, the upper end of the first sliding member is a concave spherical structure, and the lower end of the pressing rod can rotate in the concave spherical structure.

[0028] Compared with the prior art, the present invention has the following significant advantages:

[0029] (1) The dual-degree-of-freedom motion mechanism of the present invention has a gear adjustment mechanism on its dual-axis rotation mechanism, so that the operator can clearly feel the change of the gear during use, thereby ensuring the control accuracy.

[0030] (2) The adjustment function of the gear adjustment mechanism is mainly achieved by adjusting the center distance between the gear wheels that cooperate with each other. The number of gears can be increased / decreased by changing the number of teeth on the gear wheels, and the gear feel can be adjusted by changing the distance between the center lines of the gear wheels.

[0031] (3) The main friction between the moving parts in the gear adjustment mechanism is rolling friction, and the existing mechanisms mostly use rolling friction, which has more advantages in service life and control accuracy.

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the overall structure of a dual-degree-of-freedom motion mechanism in one embodiment.

[0034] Figure 2 for Figure 1 Schematic diagram of the drive mechanism in the dual-degree-of-freedom motion mechanism.

[0035] Figure 3 for Figure 1 Schematic diagram of the mid-range adjustment structure of the dual-degree-of-freedom motion mechanism.

[0036] Figure 4 for Figure 3 Schematic diagram of the structure of the first gear wheel and the third gear wheel in the mid-gear adjustment structure.

[0037] Figure 5 It is a structural schematic diagram of a stop-rotation mechanism of a dual-degree-of-freedom motion mechanism in one embodiment.

[0038] Figure 6 Schematic diagram of the overall structure of a control device in one embodiment.

[0039] Figure 7 for Figure 6 Schematic diagram of the structure of the first switch component.

[0040] Figure 8 for Figure 7 Schematic diagram of the structure of the first switch component in another viewing angle.

[0041] Fig. 9 for Figure 8 Schematic diagram of the structure of the pressing rod in the first switch assembly.

[0042] Fig.10 for Figure 8 A schematic structural diagram of the first sliding member in the first switch assembly.

[0043] The reference numerals are:

[0044] 1. Panel;

[0045] 2. Bracket;

[0046] 3. Driving mechanism; 30. First rotating member; 301. First gear; 302. First driving pin; 31. Second rotating member; 311. Second gear; 312. Second driving pin; 32. Rod;

[0047] 4. Gear adjustment structure; 40. Third gear; 41. Fourth gear; 42. First gear wheel; 43. Second gear wheel; 44. Third gear wheel; 45. Fourth gear wheel; 46. First limit frame; 47. Second limit frame; 48. First spring; 49. Second spring;

[0048] 5. Reset mechanism; 50. Third limit frame; 51. Fourth limit frame; 52. Third spring; 53. Fourth spring; 54. Spring guide structure; 541. Guide rod; 542. Guide shaft;

[0049] 6. anti-rotation mechanism; 61. guide member; 611. guide groove; 62. limit member; 621. limit part; 622. stop part; 63. fifth spring; 64. stop block;

[0050] 7. Potentiometer;

[0051] 8. Sensor;

[0052] 9. first switch assembly; 91. fixing frame; 911. sliding slot; 92. pressing rod; 93. first sliding member; 94. sixth spring; 95. switch; 951. triggering protrusion;

[0053] A. First rotation center line; B. Second rotation center line; C. Third rotation center line; D. Fourth rotation center line; E. Fifth rotation center line; F. Sixth rotation center line. DETAILED DESCRIPTION

[0054] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0055] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0057] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0058] The following directional words such as "front", "back", "left", and "right" are all based on Figure 2 The directions indicated are defined by reference.

[0059] In one embodiment, in combination Figures 1 to 5 , provides a dual-degree-of-freedom motion mechanism, including a panel 1, a bracket 2 fixedly connected to the panel 1, a driving mechanism 3, a gear adjustment mechanism 4, a reset mechanism 5, and a rotation-stopping mechanism 6. Figure 2 The driving mechanism 3 includes a first rotating member 30 rotatably connected to the bracket 2 along a first rotation center line A, a second rotating member 31 rotatably connected to the bracket 2 along a second rotation center line B, and a rod 32 rotatably connected to the first rotating member 30 / the second rotating member 31. The first rotation center line A extends in the front-to-back direction, the second rotation center line B extends in the left-to-right direction, and the first rotation center line A and the second rotation center line B are located on the same horizontal plane.

[0060] The first rotating member 30 has at least one set of first gears 301 , and the first gears 301 are fixedly connected to the end of the first rotating member 30 .

[0061] Preferably, in this embodiment, two groups of first gears 301 are provided, and the two groups of first gears 301 are respectively disposed at two ends of the first rotating member 30 .

[0062] The second rotating member 31 has at least one set of second gears 311 , and the second gears 311 are fixedly connected to the end of the second rotating member 31 .

[0063] Preferably, in this embodiment, two groups of second gears 311 are provided, and the two groups of second gears 311 are respectively disposed at two ends of the second rotating member 31 .

[0064] Combination Figure 3The dual-degree-of-freedom motion mechanism also includes a gear adjustment structure 4, including a third gear 40, a fourth gear 41, a first gear wheel 42, a second gear wheel 43, a third gear wheel 44, a fourth gear wheel 45, a first limiting frame 46, a second limiting frame 47, a first spring 48, and a second spring 49. Among them, the third gear 40 is rotatably connected to the bracket 2 and can mesh and rotate with the first gear 301, and at the same time, the rotation center line of the third gear 40 is parallel to the first rotation center line A; the fourth gear 41 is rotatably connected to the bracket 2 and can mesh and rotate with the first gear 301, and the rotation center line of the fourth gear 41 is parallel to the second rotation center line B; the first gear wheel 42 is fixedly connected to the third gear 40, and the axis line is collinear with the rotation center line of the third gear 40; the second gear wheel 43 is fixedly connected to the fourth gear 41, and the axis line is collinear with the rotation center line of the fourth gear 41; the third gear wheel 44 is provided with at least two groups, which are arranged on the left and right sides of the first gear wheel 42, and can rotate in coordination with the first gear wheel 42; the fourth gear wheel 45 is provided with at least two groups, which are arranged on the left and right sides of the second gear wheel 43, and can rotate with the second gear wheel 43 Cooperate to rotate; at least two groups of first limit frames 46 are provided, which are arranged on both sides of the two groups of third gear wheels 44, and the two groups of first limit frames 46 are rotatably connected to the bracket 2 around the third rotation center line C and the fourth rotation center line D respectively, and the two groups of third gear wheels 44 are rotatably connected to the two groups of first limit frames 46 respectively; second limit frames 47; at least two groups are provided, which are arranged on both sides of the two groups of third gear wheels 44, and the two groups of second limit frames 47 are rotatably connected to the bracket 2 around the fifth rotation center line E and the sixth rotation center line F respectively, and the two groups of fourth gear wheels 45 are rotatably connected to the two groups of second limit frames 47 respectively; at least one group of first springs 48 is provided, and the two ends of the first springs 48 are respectively connected to the lower ends of the two groups of first limit frames 46; at least one group of second springs 49 is provided, and the two ends of the second springs 49 are respectively connected to the lower ends of the two groups of second limit frames 47.

[0065] In this embodiment, the dual-degree-of-freedom motion mechanism has a first working state and a second working state. When the dual-degree-of-freedom motion mechanism is in the first working state, the first rotating member 30 rotates, the first gear 301 drives the third gear 40 to rotate, the first gear wheel 42 follows the third gear 40 to rotate, the first gear wheel 42 drives two groups of third gear wheels 44 to rotate, and the center distance between the third gear wheel 44 and the first gear wheel 42 changes regularly; when the dual-degree-of-freedom motion mechanism is in the second working state, the second rotating member 31 rotates, the second gear 311 drives the fourth gear 41 to rotate, the second gear wheel 43 follows the fourth gear 41 to rotate, the second gear wheel 43 drives two groups of fourth gear wheels 45 to rotate, and the center distance between the fourth gear wheel 45 and the second gear wheel 43 changes regularly.

[0066] In this embodiment, the first gear 301 and the second gear 311 have the same parameters, that is, when the rotating rod 32, correspondingly, the third gear 40 and the fourth gear 41 have the same parameters, the first gear wheel 42 and the second gear wheel have the same parameters, the third gear wheel 44 and the fourth gear wheel 45 have the same parameters, the first limit frame 46 and the second limit frame 47 have the same size, and the first spring 48 and the second spring 49 have the same specifications, so that the rotation feel along the front and rear direction can be ensured to be the same as the rotation feel along the left and right direction.

[0067] In some other embodiments, in order to meet actual needs, the first gear 301 and the second gear 311 can also be set to gears of different specifications. Accordingly, the third gear 40, the fourth gear 41, the first gear wheel 42, the second gear wheel 43, the third gear wheel 44, the fourth gear wheel 45, the first limit frame 46, the second limit frame 47, the first spring 48, and the second spring 49 can all be adjusted as needed.

[0068] Combination Figure 4 , the first gear wheel 42 and the third gear wheel 44 are both circular, and either one of the first gear wheel 42 and the third gear wheel 44 is provided with an arc-shaped protrusion, and the other one is provided with an arc-shaped groove, the arc-shaped protrusion and the arc-shaped groove can cooperate with each other, and the center distance between the first gear wheel 42 and the third gear wheel 44 is less than the sum of the maximum radii of the two; similarly, the second gear wheel 43 and the fourth gear wheel 45 are both circular, and either one of the two is provided with an arc-shaped protrusion, and the other one is provided with an arc-shaped groove, the arc-shaped protrusion and the arc-shaped groove can cooperate with each other, and the center distance between the first gear wheel 42 and the third gear wheel 44 is less than the sum of the maximum radii of the two.

[0069] Preferably, in this embodiment, the first gear wheel 42 and the second gear wheel 43 are provided with arc-shaped protrusions, the third gear wheel 44 and the fourth gear wheel 45 are provided with arc-shaped grooves, the second gear wheel 43 and the first gear wheel 42 have the same specifications, and the third gear wheel 44 and the fourth gear wheel 45 have the same specifications.

[0070] Combination Figure 2The double-degree-of-freedom motion mechanism also includes a reset mechanism 5, which includes at least two groups of third limit frames 50, at least two groups of fourth limit frames 51, a third spring 52, a fourth spring 53, and a spring guide structure 54. The third limit frames 50 and the fourth limit frames 51 are both rotatably connected to the bracket 2. A first driving pin 302 is provided at the end of the first rotating member 30, and a second driving pin 312 is provided at the end of the second rotating member 31. The first driving pin 302 and the third spring 52 are located between the two groups of third limit frames 50, and the second driving pin 312 and the fourth spring 53 are located between the two groups of third limit frames 50. A group of spring guide structures 54 are rotatably connected between the two groups of fourth limit frames 51, and between the two groups of third limit frames 50 and the two groups of fourth limit frames 51. The spring guide structure 54 has a guide rod 541 and a guide shaft 542. The guide shaft 542 is passed through the guide rod 541. The guide rod 541 and the guide shaft 542 are both passed through the third spring 52 / fourth spring 53. The rotation centerline of the third limit frame 50 is located between the first drive pin 302 and the third spring 52, and the rotation centerline of the fourth limit frame 51 is located between the second drive pin 312 and the fourth spring 53.

[0071] Preferably, in this embodiment, four groups of third limit brackets 50 are provided, two of which are located at one end of the first rotating member 30, and the other two are located at the other end of the first rotating member 30; four groups of fourth limit brackets 51 are provided, two of which are located at one end of the second rotating member 31, and the other two are located at the other end of the second rotating member 31. Correspondingly, two groups of third springs 52 and fourth springs 53 are provided, and both the third springs 52 and fourth springs 53 are compression springs of the same specification.

[0072] Combination Figure 5 The double-degree-of-freedom motion mechanism also includes a rotation-stopping mechanism 6, which includes a guide member 61 fixedly connected to the bracket 2, a limit member 62 passed through the rod 32, a fifth spring 63 passed through the rod 32, and a stopper 64 fixed to the rod 32. The limit member 62, the fifth spring 63, and the stopper 64 are arranged in sequence from bottom to top along the direction of the rod 32. Two groups of vertically intersecting guide grooves 611 are opened on the guide member 61. The lower end of the limit member 62 can be clamped at the intersection of the two groups of guide grooves 611. One end of the fifth spring 63 abuts against the upper end of the limit member 62, and the other end abuts against the stopper 64.

[0073] The guide member 61 is hemispherical, and the limit member 62 has a limit portion 621 and a stop portion 622. When the limit member 62 is in a state without external force, the limit portion 621 is located in the guide groove 611, and the limit portion 621 abuts against the guide member 61. When the limit member 62 moves upward along the length direction of the rod 32, the limit portion 621 escapes from the guide groove 611. When the limit member 62 rises to the limit position, the stop portion 622 abuts against the stop block 64, limiting the limit member 62 from continuing to rise.

[0074] The specific working principle of the dual-degree-of-freedom motion mechanism is described in detail below:

[0075] When it is necessary to rotate the rod 32, the limit piece 62 is pushed to compress the fifth spring 63, and the limit portion 621 disengages from the intersection of the two sets of guide grooves 611. When the rod 32 rotates along the front and rear directions, the rod 32 drives the second rotating member 31 to rotate around the second rotation center line B, the second gear 311 drives the fourth gear 41 to rotate, and the second driving pin 312 drives the fourth limit frame 51 to rotate, thereby compressing the fourth spring 53. At the same time, because the second gear wheel 43 and the fourth gear 41 are fixedly connected, the fourth gear 41 drives the second gear wheel 43 to rotate, and the second gear wheel 43 drives the fourth gear wheel 45 to rotate. Since the center distance between the second gear wheel 43 and the fourth gear wheel 45 is constantly changing, the second spring 49 regularly extends and contracts, thereby realizing the change of gear.

[0076] When the external force on the rod 32 is removed, the fourth spring 53 extends, so that the fourth limit frame 51 pushes the second drive pin 312 to rotate, thereby causing the rod 32 to rotate around the second rotation center line B. When the limit portion 621 rotates to the intersection of the two sets of guide grooves 611, the fifth spring 63 pushes the limit frame 62, so that the limit portion 621 is re-stuck at the intersection of the two sets of guide grooves 611, thereby limiting the rotation of the rod 32.

[0077] The working principle of the rod 32 when rotating in the left and right directions is similar to the above, and will not be described in detail here.

[0078] In one embodiment, in combination Figures 6 to 8 , provides a manipulation device, including the dual-degree-of-freedom motion mechanism described in this embodiment, a dust cover, multiple sets of potentiometers 7, multiple sets of sensors 8, and a first switch assembly 9, wherein the potentiometers 7 and sensors 8 can identify the rotation information of the dual-degree-of-freedom motion mechanism and convert the rotation information into an electrical signal output. Figure 7 and Figure 8The first switch assembly 9 includes a fixing frame 91, a pressing rod 92, a first sliding member 93, a sixth spring 94, and a switch 95. The fixing frame 91 has a sliding groove 911 for the first sliding member 93 to slide in a vertical direction. The pressing rod 92 is located above the first sliding member 93 and contacts the upper end of the first sliding member 93. The sixth spring 94 is arranged in the sliding groove 911. The two ends of the sixth spring 94 respectively abut against the first sliding member 93 and the bottom of the sliding groove 911. The switch 95 has a trigger protrusion 951, and the trigger protrusion 951 is partially / entirely located in the sliding groove 911. The first switch assembly 9 has an off state and a trigger state. When the first switch 95 is in the off state, the first sliding member 93 and the trigger protrusion 951 are away from each other; when the first switch assembly 9 is in the trigger state, the first sliding member 93 slides along the sliding groove 911, and the first sliding member 93 contacts the trigger protrusion 951.

[0079] Combination Fig. 9 and Fig.10 Preferably, in this embodiment, the lower end of the pressing rod 92 is a spherical structure, and the upper end of the first sliding member 93 is a concave spherical structure. The lower end of the pressing rod 92 can rotate in the concave spherical structure to ensure that the pressing rod 92 can be in good contact with the first sliding member 93 during the rotation of the rod 32.

[0080] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A dual-degree-of-freedom motion mechanism, comprising a panel, a bracket fixedly connected to the panel, and a driving mechanism, wherein the driving mechanism comprises a first rotating member rotatably connected to the bracket along a first rotation center line, a second rotating member rotatably connected to the bracket along a second rotation center line, and a rod rotatably connected to the first rotating member / the second rotating member, wherein the first rotation center line extends in a front-to-back direction, the second rotation center line extends in a left-to-right direction, the first rotation center line and the second rotation center line are located in the same horizontal plane, and characterized in that: The first rotating member has at least one set of first gears, and the first gears are fixedly connected to the end of the first rotating member; The second rotating member has at least one set of second gears, and the second gears are fixedly connected to the end of the second rotating member; The dual-degree-of-freedom motion mechanism further includes a gear adjustment mechanism, and the gear adjustment mechanism includes: a third gear, rotatably connected to the bracket and capable of rotating in mesh with the first gear, wherein a rotation centerline of the third gear is parallel to the first rotation centerline; a fourth gear, rotatably connected to the bracket and capable of meshing and rotating with the second gear, wherein a rotation centerline of the fourth gear is parallel to the second rotation centerline, A first gear wheel is fixedly connected to the third gear, and its axis is colinear with the rotation center line of the third gear; The second gear wheel is fixedly connected to the fourth gear, and the axis line is colinear with the rotation center line of the fourth gear. The third gear wheel is provided with at least two groups, which are respectively provided on the left and right sides of the first gear wheel and can rotate in coordination with the first gear wheel; The fourth gear wheel is provided with at least two groups, which are respectively provided on the left and right sides of the second gear wheel and can rotate in coordination with the second gear wheel; The first limiting frames are provided with at least two groups, which are respectively arranged on both sides of the two groups of the third gear wheels, and the two groups of the first limiting frames are respectively rotatably connected to the bracket around the third rotation center line and the fourth rotation center line, and the two groups of the third gear wheels are respectively rotatably connected to the two groups of the first limiting frames; The second limiting frames are provided with at least two groups, which are respectively arranged on both sides of the two groups of the third gear wheels, the two groups of the second limiting frames are respectively rotatably connected to the bracket around the fifth rotation center line and the sixth rotation center line, and the two groups of the fourth gear wheels are respectively rotatably connected to the two groups of the second limiting frames; At least one group of first springs is provided, and two ends of the first springs are respectively connected to two groups of the first limiting frames; At least one group of second springs is provided, and both ends of the second springs are respectively connected to two groups of the second limiting frames; The dual-degree-of-freedom motion mechanism has a first working state and a second working state. When the dual-degree-of-freedom motion mechanism is in the first working state, the first rotating member rotates, the first gear drives the third gear to rotate, the first gear wheel follows the third gear to rotate, the first gear wheel drives two groups of the third gear wheels to rotate, and the center distance between the third gear wheel and the first gear wheel changes regularly; when the dual-degree-of-freedom motion mechanism is in the second working state, the second rotating member rotates, the second gear drives the fourth gear to rotate, the second gear wheel follows the fourth gear to rotate, the second gear wheel drives two groups of the fourth gear wheels to rotate, and the center distance between the fourth gear wheel and the second gear wheel changes regularly.

2. The dual-degree-of-freedom motion mechanism according to claim 1, characterized in that: The first gear wheel and the third gear wheel are both circular, one of the first gear wheel and the third gear wheel is provided with an arc-shaped protrusion, and the other is provided with an arc-shaped groove, the arc-shaped protrusion and the arc-shaped groove cooperate with each other, and the center distance between the first gear wheel and the third gear wheel is less than the sum of the maximum radii of the two; the second gear wheel and the first gear wheel have the same specifications, and the third gear wheel and the fourth gear wheel have the same specifications.

3. The dual-degree-of-freedom motion mechanism according to claim 1, characterized in that: The first gear is provided with two groups, the third gear is provided with two groups, the two groups of the first gear are respectively arranged at the two ends of the first rotating member, and the two groups of the third gear are respectively meshed with the two groups of the first gear for transmission; the second gear is provided with two groups, the fourth gear is provided with two groups, the two groups of the second gear are respectively arranged at the two ends of the second rotating member, and the two groups of the fourth gear are respectively meshed with the two groups of the second gear for transmission, and the first gear and the second gear have the same parameters.

4. The dual-degree-of-freedom motion mechanism according to claim 1, characterized in that: The dual-degree-of-freedom motion mechanism also includes a reset mechanism, which includes at least two groups of third limit frames, at least two groups of fourth limit frames, a third spring, and a fourth spring. The third limit frame and the fourth limit frame are both rotatably connected to the bracket. A first driving pin is provided at the end of the first rotating member, and a second driving pin is provided at the end of the second rotating member. The first driving pin and the third spring are located between the two groups of the third limit frames, and the second driving pin and the fourth spring are located between the two groups of the fourth limit frames.

5. The dual-degree-of-freedom motion mechanism according to claim 4, characterized in that: The third spring and the fourth spring are both compression springs of the same specification. The reset mechanism also includes a spring guide structure. A group of spring guide structures are rotatably connected between the two groups of the third limit frames and the two groups of the fourth limit frames. The spring guide structure includes a guide rod and a guide shaft. The guide shaft is inserted into the guide rod. The guide rod and the guide shaft are both inserted into the third spring / fourth spring.

6. The dual-degree-of-freedom motion mechanism according to claim 5, characterized in that: The rotation center line of the third limiting frame is located between the first driving pin and the third spring, and the rotation center line of the fourth limiting frame is located between the second driving pin and the fourth spring.

7. The dual-degree-of-freedom motion mechanism according to claim 1, characterized in that: The dual-degree-of-freedom motion mechanism also includes a rotation-stopping mechanism, which includes a guide member fixedly connected to the bracket, a limit member inserted through the rod, a fifth spring inserted through the rod, and a stop block fixed on the rod. The limit member, the fifth spring, and the stop block are arranged in sequence from bottom to top along the direction of the rod. Two groups of vertically intersecting guide grooves are provided on the guide member. The lower end of the limit member can be clamped at the intersection of the two groups of guide grooves. One end of the fifth spring abuts against the upper end of the limit member, and the other end abuts against the stop block.

8. The dual-degree-of-freedom motion mechanism according to claim 7, characterized in that: The guide member is hemispherical, and the limit member includes a limit portion and a stop portion. When the limit member is in a state without external force, the limit portion is located in the guide groove, and the limit portion abuts against the guide member. When the limit member moves upward along the length direction of the rod, the limit portion escapes from the guide groove; the stop portion abuts against the stop block to limit the limit member.

9. A control device, comprising a plurality of sets of potentiometers and a plurality of sets of sensors, characterized in that: The operating device further comprises the dual-degree-of-freedom motion mechanism as claimed in any one of claims 1 to 8, and the operating device further comprises a first switch assembly, the first switch assembly comprises a fixing frame, a pressing rod, a first sliding member, a sixth spring, and a switch, the fixing frame has a sliding groove for allowing the first sliding member to slide in a vertical direction, the pressing rod is located above the first sliding member and contacts the upper end of the first sliding member, the sixth spring is arranged in the sliding groove, the two ends of the sixth spring respectively abut against the first sliding member and the bottom of the sliding groove, and the switch has a trigger protrusion, and the trigger protrusion is partially / entirely located in the sliding groove; The first switch assembly has an off state and a trigger state. When the first switch is in the off state, the first sliding member and the trigger protrusion are away from each other; when the first switch assembly is in the trigger state, the first sliding member slides along the sliding groove, and the first sliding member and the trigger protrusion are in contact.

10. The operating device according to claim 9, characterized in that: The lower end of the pressing rod is a spherical structure, the upper end of the first sliding member is a concave spherical structure, and the lower end of the pressing rod can rotate in the concave spherical structure.

Images