Control device and control system

Abstract

The embodiment of the invention provides a control device which comprises a power assembly, a first driving mechanism and a second driving mechanism. The control assembly comprises a control rod mechanism and a fixed seat; the operating rod mechanism can be rotatably arranged on the fixed seat along a first rotating shaft and a second rotating shaft, the power of the first driving mechanism provides a force for the operating rod mechanism to rotate around the first rotating shaft, and the power of the second driving mechanism provides a force for the operating rod mechanism to rotate around the second rotating shaft; the extension directions of the first rotating shaft and the second rotating shaft are different; and the connecting assembly is in transmission connection between the first driving mechanism and the operating rod mechanism so as to transmit power of the first driving mechanism to the operating rod mechanism and provide force for the operating rod mechanism to rotate around the first rotating shaft.

Description

Technical Field

[0001] The present invention relates to the field of analog control, and in particular to a control device and a control system. Background Art

[0002] The control device (such as a joystick) can be used in a variety of simulation training scenarios or game scenarios. For example, in a simulation training device, the operator uses a joystick to simulate the control of an aircraft for training; for another example, in a game device, the operator can use the joystick on the handle to control the characters, vehicles, aircraft, etc. in the game.

[0003] When operating a simulation training device or a game device through a control device (such as a joystick), how to enable the operator to better perceive the real-time simulation scene / game scene so that the operator can make feedback actions more timely and accurately is the key to the design of the control device. Summary of the invention

[0004] An embodiment of the present specification provides an operating device, which includes: a power assembly, including a first driving mechanism and a second driving mechanism; an operating assembly, including a joystick mechanism and a fixed seat; the joystick mechanism can be rotatably arranged on the fixed seat along a first rotating shaft and a second rotating shaft, the power of the first driving mechanism provides the joystick mechanism with a force for rotating around the first rotating shaft, and the power of the second driving mechanism provides the joystick mechanism with a force for rotating around the second rotating shaft; the first rotating shaft and the second rotating shaft have different extension directions; a connecting assembly, which is transmission-connected between the first driving mechanism and the joystick mechanism to transmit the power of the first driving mechanism to the joystick mechanism and provide the joystick mechanism with a force for rotating around the first rotating shaft.

[0005] In some embodiments, the first driving mechanism and the second driving mechanism are stacked along a first direction, and an output shaft of the first driving mechanism and an output shaft of the second driving mechanism both extend along a second direction.

[0006] In some embodiments, the first direction is perpendicular to the second direction; the first rotation axis is perpendicular to the second rotation axis, the first rotation axis is perpendicular to the first direction, the first rotation axis is perpendicular to the second direction, and the second rotation axis is parallel to the second direction.

[0007] In some embodiments, the first rotating axis and the second rotating axis are arranged to intersect or stagger.

[0008] In some embodiments, the first drive mechanism includes a first motor and a first reducer, and the first reducer is transmission-connected between the output shaft of the first motor and the connecting assembly; and / or, the second drive mechanism includes a second motor and a second reducer, and the second reducer is transmission-connected between the output shaft of the second motor and the joystick mechanism.

[0009] In some embodiments, the first reducer includes a first wheel disc and a second wheel disc that are transmission-connected, the diameter of the first wheel disc is smaller than the diameter of the second wheel disc, the first wheel disc is connected to the output shaft of the first motor, and the second wheel disc is transmission-connected to the connecting assembly; and / or, the second reducer includes a third wheel disc and a fourth wheel disc that are transmission-connected, the diameter of the third wheel disc is smaller than the diameter of the fourth wheel disc, the third wheel disc is connected to the output shaft of the second motor, and the fourth wheel disc is transmission-connected to the joystick mechanism.

[0010] In some embodiments, the power assembly also includes a base plate, which is provided with at least two mounting holes and at least two mounting seats, the second wheel is rotatably mounted on the base plate via one of the mounting seats, and the fourth wheel is rotatably mounted on the base plate via another of the mounting seats; the output shaft of the first driving mechanism passes through one of the mounting holes, and the output shaft of the second driving mechanism passes through another of the mounting holes.

[0011] In some embodiments, the first wheel disc and the second wheel disc are connected by a transmission belt; the third wheel disc and the fourth wheel disc are connected by a transmission belt.

[0012] In some embodiments, the joystick mechanism includes an adapter frame and a joystick, the joystick can be rotatably connected to the adapter frame along a first axis, the adapter frame can be rotatably connected to the fixed base along a second axis, the joystick is transmission-connected to the connecting assembly, and the adapter frame is transmission-connected to the second drive mechanism.

[0013] In some embodiments, the adapter frame is connected to the fixing seat via a first bearing.

[0014] In some embodiments, the joystick includes an operating part and an adapter part, the operating part is mounted on the adapter part, the adapter part is connected to the adapter frame via a second bearing, and the adapter part is connected to the connecting assembly; the connecting assembly drives the adapter part to rotate around the first rotating axis to drive the operating part to rotate around the first rotating axis.

[0015] In some embodiments, the fixing base includes a shell having a through hole formed in the shell, a receiving cavity formed in the shell, the adapter frame is arranged in the receiving cavity, a portion of the joystick is arranged in the receiving cavity, and the joystick passes through the through hole and partially extends out of the receiving cavity.

[0016] In some embodiments, the fixing base includes a plurality of plug-in portions provided at one end of the housing;

[0017] The power assembly further comprises a base plate, and the plurality of plug-in parts are all fixed to the base plate.

[0018] In some embodiments, the second driving mechanism includes a second motor and a second reducer, and the second reducer is transmission-connected between the output shaft of the second motor and the joystick mechanism; the second reducer includes a third wheel disc and a fourth wheel disc which are transmission-connected, the diameter of the third wheel disc is smaller than the diameter of the fourth wheel disc, the third wheel disc is connected to the output shaft of the second motor, and the fourth wheel disc is transmission-connected to the joystick mechanism; the fourth wheel disc is provided with a plurality of slots which are arranged at intervals along the circumference of the fourth wheel disc, and each of the slots extends along the circumference of the fourth wheel disc; the fourth wheel disc is rotatably arranged on the substrate; a plurality of the plug-in parts are respectively inserted into the plurality of slots; when the fourth wheel disc rotates, the slots rotate relative to the plug-in parts.

[0019] In some embodiments, the connecting assembly includes a first ball socket, a first sphere, a connecting rod, a second ball socket, and a second sphere, the connecting rod connecting the first ball socket and the second ball socket, the first sphere is disposed in the first ball socket and cooperates with the spherical surface of the first ball socket; the second sphere is disposed in the second ball socket and cooperates with the spherical surface of the second ball socket; the second sphere is connected to the first driving mechanism, and the first sphere is connected to the joystick mechanism.

[0020] In some embodiments, one end of the connecting rod is threadedly connected to the first ball seat, and the other end of the connecting rod is threadedly connected to the second ball seat.

[0021] In some embodiments, the first driving mechanism includes a first motor and a first reducer, the first reducer is transmission-connected between the output shaft of the first motor and the connecting assembly; the first reducer includes a first wheel plate and a second wheel plate transmission-connected, the diameter of the first wheel plate is smaller than the diameter of the second wheel plate, and the first wheel plate is connected to the first motor; the joystick mechanism includes an adapter frame and a joystick, the joystick and the adapter frame are rotatably connected along a first rotation axis, the adapter frame and the fixed seat are rotatably connected along a second direction, and the adapter frame is connected to the second driving mechanism; the joystick includes an operating part and an adapter part, the operating part is mounted on the adapter part, and the adapter part is rotatably connected to the adapter frame along the first rotation axis; the connecting assembly transmission-connects the adapter part and the second wheel plate; the second sphere is connected to the second wheel plate, and the first sphere is connected to the adapter part.

[0022] In some embodiments, the manipulation device further comprises a shell, a second inner cavity is formed in the shell, the shell is fixedly connected to the power assembly, and at least part of the power assembly, the manipulation assembly and the connection assembly are all located in the second inner cavity.

[0023] The embodiment of the present specification also provides a control system, which includes the control device described in any of the above embodiments and a controller; the controller is used to control the power output by the power component of the control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0025] Figure 1A is a structural block diagram of a manipulation device according to some embodiments of the present specification;

[0026] Figure 1B is a schematic diagram of the structure of a control device according to some embodiments of the present specification;

[0027] Figure 2A is a schematic diagram of the structure of a power assembly according to some embodiments of this specification;

[0028] Figure 2B is a schematic diagram of the rotation of the joystick mechanism according to some embodiments of this specification;

[0029] Figure 3 is another structural schematic diagram of a manipulation device according to some embodiments of this specification;

[0030] Figure 4is an exploded view of a power assembly according to some embodiments of the present specification;

[0031] Figure 5A is a schematic diagram of the installation of the first driving mechanism and the second driving mechanism according to some embodiments of this specification;

[0032] Figure 5B is a schematic diagram of the structure of the first driving mechanism and the second driving mechanism according to some embodiments of this specification;

[0033] Figure 5C is a schematic diagram of the installation of the first driving mechanism and the second driving mechanism according to other embodiments of this specification;

[0034] Figure 5D is a schematic diagram of the structure of the first driving mechanism and the second driving mechanism according to other embodiments of the present specification;

[0035] Figure 6 is an exploded view of a manipulation assembly according to some embodiments of the present specification;

[0036] Fig. 7A is a schematic diagram of the structure of a connection assembly according to some embodiments of this specification;

[0037] Figure 7B is an exploded view of a connection assembly according to some embodiments of the present specification;

[0038] Figure 8 is a schematic diagram of the assembly of the connection components shown in some embodiments of this specification;

[0039] Fig. 9 is an exploded view of a manipulation assembly and a connection assembly according to some embodiments of the present specification;

[0040] Fig.10 It is a schematic diagram of assembling a power assembly, a control assembly and a connection assembly according to some embodiments of this specification;

[0041] Fig.11 is an exploded view of a manipulation device according to some embodiments of the present specification;

[0042] Fig.12 It is a schematic diagram of the completed assembly of the power assembly, the control assembly and the connection assembly according to some embodiments of this specification;

[0043] Fig.13 is a schematic diagram of the assembly of the operating device according to some embodiments of the present specification;

[0044] Fig.14 It is a schematic diagram of the installation position of the operating device shown in some embodiments of this specification.

[0045] Description of reference numerals: 100, operating device; 110, power assembly; 120, operating assembly; 130, connecting assembly; 140, housing; 111, first driving mechanism; 112, second driving mechanism; 1111, first motor; 1121, second motor; 113, first reducer; 114, second reducer; 115, base plate; 116, first screw; 1131, first wheel plate; 1132, second wheel plate; 1133, first transmission belt; 1134, first coupling plate; 1141, third wheel plate; 1142, fourth wheel plate; 11421, slot; 1143, second transmission belt; 1144, second coupling plate; 1151, mounting hole; 1152, mounting seat; 121, joystick mechanism; 122, fixing seat; 123, first bearing; 124, second bearing; 125, second screw; 126, nut; 1211, joystick; 1212, adapter frame; 12111, operating part; 12112, adapter part; 12113, locking cover; 1221, shell; 1222, end cover; 1223, through hole; 1224, plug-in part; 131, first sphere; 132, first ball seat; 133, connecting rod; 134, second ball seat; 1321, first matching piece; 1322, first base; 13211, first matching part; 13212, second matching part; 141, third screw. DETAILED DESCRIPTION

[0046] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0047] It should be understood that the "system", "device", "component" and / or "mechanism" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0048] Unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate that the parts and elements explicitly identified are included.

[0049] The embodiment of this specification provides a control device, which can be used for the control system of the simulation training equipment of various large-scale equipment such as aircraft and automobiles or the control system of the game equipment (such as a game handle). Specifically, the control system can be a control system for simulated flight training, a control system for simulated vehicle driving, a control system for games (such as racing games), etc. In the case where the control device of the embodiment of this specification is used for the control system of the simulation training equipment or the game equipment, when the control is performed by the control device (such as a joystick mechanism), the power component can output power to the joystick mechanism based on the simulated / game scene, thereby realizing the real-time force or torque (for example, the rudder torque under the simulated training of the aircraft or the vibration force of the explosion in the game, etc.) Feedback to the operator, so that the operator can perceive the real-time simulation training scene / game scene, so that the operator can make feedback actions more timely and accurately.

[0050] Figure 1A is a structural block diagram of a control device according to some embodiments of this specification, Figure 1B Schematic diagram of the structure of the operating device according to some embodiments of this specification. Figure 1A and Figure 1B As shown, the operating device 100 includes a power assembly 110, an operating assembly 120 and a connecting assembly 130. The power assembly 110 includes a first driving mechanism 111 and a second driving mechanism 112. The operating assembly 120 includes a joystick mechanism 121 and a fixed seat 122; the joystick mechanism 121 is rotatably arranged on the fixed seat 122 along the first rotation axis x and the second rotation axis y, the power of the first driving mechanism 111 provides the joystick mechanism 121 with a force for rotating around the first rotation axis x, and the power of the second driving mechanism 112 provides the joystick mechanism 121 with a force for rotating around the second rotation axis y. The first rotation axis x and the second rotation axis y extend in different directions. The connecting assembly 130 is transmission-connected between the first driving mechanism 111 and the joystick mechanism 121 to transmit the power of the first driving mechanism 111 to the joystick mechanism 121 and provide the joystick mechanism 121 with a force for rotating around the first rotation axis x.

[0051] The power assembly 110 is a component for providing power to the joystick 1211 assembly. In the use of the control device 100, it is necessary to feed back force or torque (for example, the rudder torque under the simulated training of the aircraft or the vibration force of the explosion / collision in the game, etc.) to the operator, and at this time, the power assembly 110 will output the corresponding size of power to the joystick 1211 assembly. As an example only, when the control device 100 is used for the control system of simulated flight training, since it is necessary to feed back the flight attitude to the operator, it is necessary to simulate the real-time rudder torque of the aircraft. At this time, the power assembly 110 can output the power of the real-time rudder torque of the simulated aircraft to realize the feedback of the operating force of the operator. For another example, when the control device 100 is used for the control system of the game, the power assembly 110 can output the power of the vibration of the simulated explosion or collision to realize the feedback of the vibration force in the game scene.

[0052] The first driving mechanism 111 and the second driving mechanism 112 included in the power assembly 110 may include a main body component and a power output component. The main body component may include an internal power generating structure and an external fixed shell. The power output component may include an output shaft, and the output shaft may output power through movements such as rotation and extension. In some embodiments, the power assembly 110 may be replaced to change its power and the size of the power output by the power assembly 110. For more details about the structure of the power assembly 110, please refer to the following. Figure 2A-Figure 5D Related instructions.

[0053] The manipulation assembly 120 is a component that feeds back the power output by the power assembly 110 to the operator and accepts the manipulation control of the operator. The fixed seat 122 of the manipulation assembly 120 is a component that keeps a relatively fixed position during the manipulation of the operator. In some embodiments, the fixed seat 122 can be fixedly connected to the fixed shell of the first drive mechanism 111 and the fixed shell of the second drive mechanism 112.

[0054] The joystick mechanism 121 can rotate relative to the fixed seat 122 along the first rotation axis x, and can also rotate relative to the fixed seat 122 along the second rotation axis y. The power of the first driving mechanism 111 provides the joystick mechanism 121 with a force for rotating around the first rotation axis x, thereby realizing force feedback when the joystick mechanism 121 rotates around the first rotation axis x (such as the feedback of the operating force or the feedback of the vibration force described above). The power of the second driving mechanism 112 provides the joystick mechanism 121 with a force for rotating around the second rotation axis y, thereby realizing force feedback when the joystick mechanism 121 rotates around the second rotation axis (such as the feedback of the operating force or the feedback of the vibration force described above). By setting the first rotation axis x and the second rotation axis y with different extension directions, the joystick mechanism 121 can be flexibly rotated in all directions relative to the fixed seat 122. For more specific details about the extension directions of the first rotation axis x and the second rotation axis y, please see below Figure 2B For more details about the structure of the operating assembly 120, please refer to the following Figure 6 It should be noted that the relative positions of the first drive mechanism and the second drive mechanism and their respective control of the rotation direction of the joystick assembly in the drawings of this specification are only examples. For example, in the embodiments of the drawings of this specification, the drive mechanism located at the top in the first direction drives the joystick mechanism 121 to rotate around the first rotation axis x. However, it is also possible that the drive mechanism located at the top in the first direction drives the joystick mechanism 121 to rotate around the second rotation axis y.

[0055] As an example only, when the control device 100 is used in a control system for simulated flight training, the joystick mechanism 121 rotates around the first rotation axis x to control the pitch motion of the aircraft, and the joystick mechanism 121 rotates around the second rotation axis y to control the roll motion of the aircraft. As an example only, when the control device 100 is used in a control system for a racing game, the joystick mechanism 121 rotates around the first rotation axis x to control the acceleration and deceleration of the racing car in the game, and the joystick mechanism 121 rotates around the second rotation axis y to control the turning of the racing car.

[0056] The connection assembly 130 is a component that realizes the transmission connection between the power assembly 110 and the operating assembly 120. Specifically, the connection assembly 130 can be connected between the first drive mechanism 111 and the joystick 1211 assembly to transmit the power output by the first drive mechanism 111 to the joystick mechanism 121. In some embodiments, the second drive mechanism 112 and the joystick mechanism 121 can also be connected through another connection assembly 130. The connection assembly 130 can at least realize the change of the direction of the force, for example, the change of the direction of the power output by the power assembly 110. In some embodiments, the connection assembly 130 can also realize the change of the magnitude of the force. Since the extension directions of the first rotating shaft x and the second rotating shaft y are different, the change of the transmission direction of the force can be realized through the connection assembly 130, so that the power of the power assembly 110 can be stably transmitted to the operating assembly 120. In addition, the positions and directions of the various components of the operating device 100 can be arranged more flexibly, and the space occupied by the operating device 100 can be reduced as much as possible. For more specific content about the structure of the connection assembly 130, please refer to the following Figure 7A-Figure 8 Related instructions.

[0057] Figure 2A Schematic diagram of the structure of the power assembly according to some embodiments of this specification. Figure 2AAs shown, in some embodiments, the first drive mechanism 111 and the second drive mechanism 112 are stacked along the first direction. In some embodiments, the first direction may be a vertical direction. In some embodiments, the first drive mechanism 111 may be arranged above the second drive mechanism 112. In some other embodiments, the first direction may also be a horizontal direction or other directions. The output shaft of the first drive mechanism 111 and the output shaft of the second drive mechanism 112 both extend along the second direction. At this time, the output shaft of the first drive mechanism 111 is parallel to the output shaft of the second drive mechanism 112. The second direction is different from the first direction. In some embodiments, the second direction may be a horizontal direction. In some other embodiments, the first direction may also be a vertical direction or other directions. It should be noted that the first direction and the second direction in this specification are only used to indicate the relative setting position and direction of each component, and do not limit the setting direction of the entire control assembly 120. When the control assembly 120 is set on different devices, the setting direction of the control assembly 120 can be determined according to specific usage requirements. By stacking the first driving mechanism 111 and the second driving mechanism 112 , even if the first driving mechanism 111 and the second driving mechanism 112 are relatively large in size, the power assembly 110 can be reasonably arranged to ensure that the operating device 100 occupies a relatively small space.

[0058] In some embodiments, the first direction is perpendicular to the second direction. Figure 2B Schematic diagram of the rotation of the joystick mechanism according to some embodiments of this specification. Figure 2B As shown, in some embodiments, the first rotating axis x is perpendicular to the second rotating axis y. The first rotating axis x is perpendicular to the first direction and the second direction, that is, the first rotating axis x is perpendicular to both the first direction and the second direction. The second rotating axis is parallel to the second direction. By setting the second rotating axis y parallel to the output shaft of the second driving mechanism 112 in this way, when the second driving mechanism 112 provides the joystick mechanism 121 with a force for rotation around the second rotating axis y, it can be convenient to drive, thereby reducing the setting of additional transmission components. In some other embodiments, the first rotating axis x and the second rotating axis y may not be perpendicular to each other, such as the angle between the first rotating axis x and the second rotating axis y is 45°, 60°, 85°, etc.

[0059] In some embodiments, Figure 2B As shown, the first rotation axis x and the second rotation axis y are arranged in an interlaced manner, that is, the first rotation axis x and the second rotation axis y do not intersect each other. However, such an arrangement will cause the rotation stroke and rotation radius of the first rotation axis x and the second rotation axis y to be inconsistent. In some embodiments, in order to ensure that the rotation stroke and rotation radius of the first rotation axis x and the second rotation axis y are consistent, as shown in FIG. Figure 1B As shown, the first rotation axis x and the second rotation axis y are arranged to intersect each other, and the first rotation axis x intersects the second rotation axis y perpendicularly.

[0060] Figure 3 FIG. 1 is another schematic diagram of the structure of the operating device according to some embodiments of the present specification. Figure 3 As shown, when the first drive mechanism 111 and the second drive mechanism 112 are stacked in the above manner, and the output shaft of the first drive mechanism 111 and the output shaft of the second drive mechanism 112 are set to extend in the same direction (second direction), if the power of the drive mechanism needs to be increased (greater power means larger size), the size of the drive mechanism can be increased only in the opposite direction of the second direction, and the size in other directions does not need to be changed, which facilitates the arrangement of the manipulation device 100. For example, Figure 3 The portion in the middle dotted frame is only increased in size along the direction opposite to the second direction based on the original structure.

[0061] In some embodiments, the driving mechanism (first driving mechanism 111, second driving mechanism 112) of the power assembly 110 may include various types of power sources such as motors, hydraulic cylinders, and pneumatic cylinders. When the driving mechanism (first driving mechanism 111, second driving mechanism 112) is a linear drive (such as a hydraulic cylinder or a pneumatic cylinder), power can be output through a reversing mechanism. When the driving mechanism is a rotary driving mechanism (such as a motor), power can be output directly or through a reducer. For more information about reducers, please refer to the following section on Figure 4-5B Related instructions.

[0062] Figure 4 is an exploded view of a power assembly according to some embodiments of this specification, Figure 5A is a schematic diagram of the structure of the first driving mechanism and the second driving mechanism according to some embodiments of this specification, Figure 5B It is a schematic diagram of the structure of the first driving mechanism and the second driving mechanism shown in some embodiments of this specification.

[0063] like Figure 4-5BAs shown, in some embodiments, the first drive mechanism 111 includes a first motor 1111 and a first reducer 113, and the first reducer 113 is connected in transmission between the output shaft of the first motor 1111 and the connecting assembly 130. In some embodiments, the second drive mechanism 112 includes a second motor 1121 and a second reducer 114, and the second reducer 114 is connected in transmission between the output shaft of the second motor 1121 and the joystick mechanism 121. In some embodiments, the first motor 1111 and / or the second motor 1121 can be a stepper motor, a servo motor, etc. In some embodiments, the first motor 1111 and / or the second motor 1121 can be a sensor servo motor. By providing power to the control assembly 120 through the motor (the first motor 1111, the second motor 1121), current closed-loop control, speed closed-loop control and position closed-loop control can also be achieved. Among them, current closed-loop control means that the motor can dynamically adjust the output by dynamically modifying the target current value. Specifically, by setting the target current value of the motor, the actual current value follows the target current value. Since the output torque of the motor is proportional to the motor current, it can be equivalent to indirectly controlling the output torque of the motor, which can be used for dynamic force simulation scenarios. Speed ​​closed loop means: setting the target speed value of the motor rotation, monitoring the actual speed value of the motor rotation, and constantly adjusting the input signal of the motor so that the actual speed value of the motor rotation has a set relationship with the target speed value (such as the actual speed value is equal to less than 80% of the target speed value). In the dynamic force simulation, the maximum rotation speed of the motor can be limited to avoid speed out of control and injury or equipment damage. Speed ​​closed loop means: setting the target position of the device or component, monitoring the real-time position of the device, and constantly adjusting the input signal of the motor so that the device or component gradually moves to the target position. When the error is small enough, the motor stops adjusting and the position closed loop control is completed. The position closed loop can realize functions such as automatic driving (such as automatic steering) and automatic control.

[0064] In some embodiments, the first reducer 113 includes a first wheel disc 1131 and a second wheel disc 1132 that are in transmission connection, the diameter of the first wheel disc 1131 is smaller than the diameter of the second wheel disc 1132, the first wheel disc 1131 is connected to the output shaft of the first motor 1111, and the second wheel disc 1132 is in transmission connection with the connecting assembly 130. The second wheel disc 1132 can drive the joystick mechanism 121 to rotate around the first rotation axis x through the connecting assembly 130. In some embodiments, the second reducer 114 includes a third wheel disc 1141 and a fourth wheel disc 1142 that are in transmission connection, the diameter of the third wheel disc 1141 is smaller than the diameter of the fourth wheel disc 1142, the third wheel disc 1141 is connected to the output shaft of the second motor 1121, and the fourth wheel disc 1142 is in transmission connection with the joystick mechanism 121. The fourth wheel disc 1142 can drive the joystick mechanism 121 to rotate around the second rotation axis y.

[0065] Due to the diameter difference between the first wheel disc 1131 and the second wheel disc 1132 and / or the diameter difference between the third wheel disc 1141 and the fourth wheel disc 1142, speed reduction can be achieved during the transmission process. In some embodiments, the driving force output by the first motor 1111 and / or the second motor 1121 can be adjusted by adjusting the transmission ratio of the first reducer 113 and / or the second reducer 114.

[0066] In some embodiments, the first wheel 1131 and the second wheel 1132 are connected by a first transmission belt 1133 to achieve deceleration. The third wheel 1141 and the fourth wheel 1142 are connected by a second transmission belt 1143 to achieve deceleration. In some other embodiments, the first wheel 1131 and the second wheel 1132, and the third wheel 1141 and the fourth wheel 1142 can also be connected by gear transmission, chain transmission, etc. to achieve deceleration. By setting up a belt drive, compared with gear transmission or chain transmission, there will be no transmission backlash, making the transmission more precise.

[0067] In some other embodiments, the first reducer 113 may not be provided, that is, the first motor 1111 directly outputs power. In some other embodiments, the second reducer 114 may not be provided, that is, the second motor 1121 directly outputs power.

[0068] In some embodiments, the power assembly 110 further includes a substrate 115. In some embodiments, the substrate 115 is connected to a fixed structure of the power assembly 110. For example, the substrate 115 is connected to a fixed housing of the first drive mechanism 111 and the second drive mechanism 112. Figure 4-5B As shown, at least two mounting holes 1151 and at least two mounting seats 1152 are provided on the base plate 115, the second wheel disc 1132 is rotatably provided on the base plate 115 through one mounting seat 1152, and the fourth wheel disc 1142 is rotatably provided on the base plate 115 through another mounting seat 1152. The output shaft of the first driving mechanism 111 passes through one mounting hole 1151 to connect the first wheel disc 1131, and the output shaft of the second driving mechanism 112 passes through another mounting hole 1151 to connect the third wheel disc 1141. The provision of the base plate 115 facilitates the reasonable arrangement and installation of the two reducers (the first reducer 113 and the second reducer 114).

[0069] Figure 5C is a schematic diagram of the installation of the first driving mechanism and the second driving mechanism according to other embodiments of this specification, Figure 5D It is a schematic diagram of the structure of the first driving mechanism and the second driving mechanism shown in other embodiments of this specification. Figure 5C and Figure 5DFIG. 1 shows a case where the first drive mechanism 111 and the second drive mechanism 112 do not include a reducer. Figure 5C and Figure 5D As shown, a first coupling disc 1134 and a second coupling disc 1144 are provided on the base plate 115. The first coupling disc 1134 and the second coupling disc 1144 are both rotatably provided on the base plate 115. The first coupling disc 1134 is sleeved on the output shaft of the first motor 1111, and the first coupling disc 1134 can be transmission-connected with the joystick mechanism 121. The second coupling disc 1144 is sleeved on the output shaft of the second motor 1121, and the second coupling disc 1144 can be transmission-connected with the connecting assembly 130. The first coupling disc 1134 and the second coupling disc 1144 make the connection between the first motor 1111 and the second motor 1121 and the joystick mechanism 121 more convenient and reliable.

[0070] Figure 6 FIG. 1 is an exploded view of a manipulation assembly according to some embodiments of the present specification. Figure 6 As shown, in some embodiments, the joystick mechanism 121 includes an adapter frame 1212 and a joystick 1211, and the joystick 1211 can be rotatably connected to the adapter frame 1212 along the first rotation axis x. For example, the joystick 1211 is provided with a mounting shaft extending along the first rotation axis x. The adapter frame 1212 can be rotatably connected to the fixed seat 122 along the second rotation axis y. The joystick 1211 is transmission-connected to the connecting assembly 130, and the connecting assembly 130 realizes transmission between the first driving mechanism 111 and the joystick 1211. The adapter frame 1212 is transmission-connected to the second driving mechanism 112, so that the second driving mechanism 112 drives the adapter frame 1212 to rotate around the second rotation axis y. By setting the adapter frame 1212, it can be ensured that the joystick 1211 can flexibly rotate around the first rotation axis x and the second rotation axis y on the fixed seat 122. In some embodiments, the adapter frame 1212 may be substantially columnar, such as a cylindrical shape, an elliptical cylindrical shape, a quadrangular prism shape, a hexagonal prism shape, etc.

[0071] In some embodiments, the adapter frame 1212 is connected to the fixing seat 122 via the first bearing 123. In some embodiments, the outer ring of the first bearing 123 can be fixed to the fixing seat 122, and the inner ring of the first bearing 123 can be fixed to the adapter frame 1212.

[0072] In some embodiments, the joystick 1211 includes a joystick 12111 and an adapter 12112, the joystick 12111 is mounted on the adapter 12112, the adapter 12112 is connected to the adapter frame 1212 via the second bearing 124, and the adapter 12112 is connected to the connection assembly 130. Under the drive of the first driving mechanism 111, the connection assembly 130 drives the adapter 12112 to rotate around the first rotation axis x, so as to drive the joystick 12111 to rotate around the first rotation axis x. In some embodiments, the joystick 12111 can be a rod-shaped structure.

[0073] In some embodiments, the adapter frame 1212 may be provided with an assembly hole, the outer ring of the second bearing 124 may be fixedly installed in the assembly hole, the adapter portion 12112 is provided with the above-mentioned installation shaft extending along the first rotation axis x, and the inner ring of the second bearing 124 may be fixed to the installation shaft on the adapter portion 12112. In some embodiments, in order to ensure that the adapter frame 1212 can more stably support the joystick 1211, the number of the second bearings 124 may be two. The two second bearings 124 may be arranged at intervals along the extension direction of the first rotation axis, and the two ends of the installation shaft are respectively fixed to the inner rings of the two second bearings 124.

[0074] In some embodiments, the fixing seat 122 includes a shell 1221, a through hole 1223 is provided on the shell 1221, a receiving chamber is formed in the shell 1221, and the adapter 1212 is arranged in the receiving chamber. Part of the joystick 1211 is arranged in the receiving chamber, for example, part of the operating part 12111 of the joystick 1211 and the adapter 12112 are arranged in the receiving chamber. The joystick 1211 passes through the through hole 1223, for example, the operating part 12111 of the joystick 1211 passes through the through hole 1223 to partially extend out of the receiving chamber. In some embodiments, the shell 1221 can be substantially columnar, such as cylindrical, elliptical, quadrangular, hexagonal, etc.

[0075] In some embodiments, the fixing seat 122 can be connected to the fixed structure of the power assembly 110. For example, the fixing seat 122 is connected to the main body component (such as a fixed shell) of the first drive mechanism 111 and the second drive structure. In some embodiments, the fixing seat 122 includes a plurality of plug-in portions 1224 provided at one end of the shell 1221, and the plurality of plug-in portions 1224 are all fixed to the substrate 115. Since the substrate 115 is connected to the fixed structure of the power assembly 110, the connection between the fixing seat and the fixed structure of the power assembly 110 can be achieved through the cooperation of the plug-in portions 1224 and the substrate 115. In some embodiments, the other end of the shell 1221 can be provided with an end cover 1222 to block the other end of the shell 1221.

[0076] In some embodiments, in combination Figure 4 , Figure 6 and Fig.10 When the second driving mechanism 112 includes a second reducer 114, and the second reducer 114 is arranged according to the embodiment described above, a plurality of slots 11421 are arranged at intervals along the circumference of the fourth wheel disc 1142 on the fourth drive mechanism 112, and each slot 11421 extends along the circumference of the fourth wheel disc 1142. A plurality of plug-in parts 1224 are respectively inserted into the plurality of slots and fixed to the base plate 115. Specifically, the number of slots may be 2, 3, 5, etc. The number of slots 11421 may be the same as the number of plug-in parts 1224, and the plug-in parts 1224 are arranged in a one-to-one correspondence with the slots 11421. When the fourth wheel disc 1142 rotates, the slots 11421 rotate relative to the plug-in parts 1224. That is, when the fourth wheel disc 1142 rotates, the slot 11421 rotates accordingly, and the housing 1221 is connected to the fixed structure of the power assembly 110 through the base plate 115, and the position of the plug-in portion 1224 is relatively fixed. At this time, the plug-in portion 1224 can also play a role of limiting the rotation angle of the fourth wheel disc 1142. The circumferential length of the slot along the fourth wheel disc 1142 can also be set based on the range of angles allowed for the fourth wheel disc 1142 to rotate.

[0077] In some embodiments, when a reducer is not provided, a slot can be provided on the first coupling disk 1134 described above. The manner of providing the slot on the first coupling disk 1134 is similar to the manner of providing the slot on the fourth wheel disk 1142. For details, please refer to the relevant instructions on providing the slot on the fourth wheel disk 1142 described above.

[0078] In some embodiments, the connection assembly 130 may include a crank-connecting rod mechanism. In some embodiments, the connection assembly 130 may include a spherical fit connection structure.

[0079] Fig. 7A is a schematic diagram of the structure of the connection assembly shown in some embodiments of this specification, Figure 7B is an exploded view of a connection assembly according to some embodiments of this specification. Fig. 7A and Figure 7BAs shown, in some embodiments, the connecting assembly 130 includes a first ball seat 132, a first sphere 131, a connecting rod 133, a second ball seat 134 and a second sphere (blocked in the figure), the connecting rod 133 connects the first ball seat 132 and the second ball seat 134, the first sphere 131 is arranged in the first ball seat 132, and is spherically matched with the first ball seat 132. The second sphere is arranged in the second ball seat 134, and is spherically matched with the second ball seat 134. The matching mode of the second sphere and the second ball seat 134 is similar to the matching mode of the first sphere 131 and the first ball seat 132. The second sphere is connected to the first driving mechanism 111 (such as the second wheel 1132), and the first sphere 131 is connected to the joystick mechanism 121. Since the first sphere 131 and the first ball seat 132 are spherically matched, and the second sphere and the second ball seat 134 are spherically matched, the first drive mechanism 111 and the connecting rod 133, as well as the second drive mechanism 112 and the connecting rod 133, can freely move in three degrees of rotational freedom. Since the output shaft of the first drive mechanism 111 extends along the second direction, and the first rotating shaft is perpendicular to the second direction, the transmission steering can be carried out unhindered through the spherical matching of the first sphere 131 and the first ball seat 132 and the spherical matching of the second sphere and the second ball seat 134. The connecting assembly 130 designed according to the above spherical matching method is a key component for realizing transmission through two three-degree-of-freedom spherical pairs. The power assembly 110 is connected to the joystick mechanism 121 and the first drive mechanism 111 through such a connecting assembly 130, and the increase of the power assembly 110 (mass) will not lead to an increase in the inertia of the output force. In addition, the connecting component 130 minimizes the mutual interference of different operating force outputs / displacements that drive the joystick mechanism 121 to rotate around the first rotation axis and the second rotation axis, so that when only the first driving mechanism 111 drives the joystick mechanism 121 to rotate around the first rotation axis x, the joystick mechanism 121 does not rotate relative to the second rotation axis y; when only the second driving mechanism 112 drives the joystick mechanism 121 to rotate around the second rotation axis y, the joystick mechanism 121 does not rotate relative to the first rotation axis x.

[0080] In some embodiments, in order to ensure convenient and stable assembly, one end of the connecting rod 133 is threadedly connected to the first ball seat 132 , and the other end of the connecting rod 133 is threadedly connected to the second ball seat 134 .

[0081] Figure 8 Schematic diagram of the assembly of the connection components shown in some embodiments of this specification. Figure 8As shown, in some embodiments, the first ball seat 132 includes a first base 1322 and a first matching piece 1321; the first matching piece 1321 includes a first matching portion 13211 and a second matching portion 13212, and the first matching portion 13211 and the second matching portion 13212 can be spliced ​​to form a first concave spherical surface that matches the first sphere 131. The first sphere 131 and the first concave spherical surface are spherically matched. Similarly, the second ball seat 134 includes a second base and a second matching piece; the second matching piece includes a third matching portion and a fourth matching portion, and the third matching portion and the fourth matching portion can be spliced ​​to form a second concave spherical surface that matches the second sphere. The second sphere and the second concave spherical surface are spherically matched. In some embodiments, the first mating portion 13211 and the second mating portion 13212 can be spliced ​​to form a first mating piece 1321 (such as an outer sleeve group that is sleeved outside the first sphere 131, and a first concave spherical surface is formed inside the outer sleeve group), and the third mating portion and the fourth mating portion can be spliced ​​to form a second mating piece (such as an outer sleeve group that is sleeved outside the second sphere, and a second concave spherical surface is formed inside the outer sleeve group).

[0082] In some embodiments, after the first sphere 131 and the first matching piece 1321 are matched and installed, the first matching piece 1321 is set on the first base 1322 by assembly. In some embodiments, after the second sphere and the second matching piece are matched and installed, the second matching piece is installed on the second base by assembly. By setting the connection between the first sphere 131 and the first ball seat 132 and the connection between the second sphere and the second ball seat 134 to be assembled, the first matching piece 1321 is split and processed to match with the first sphere 131, and then the first matching piece 1321 is assembled into the first ball seat 132, and the second matching piece is split and processed to match with the second sphere, and then the second matching piece is assembled into the second ball seat 134, which is convenient for assembly. In addition, such an assembly method can ensure that the components are free of extrusion and thermal deformation after assembly, and the requirements of smoothness and gaplessness can be achieved by ensuring that the components are processed to the design accuracy. In addition, this makes the spherical matching structure have the advantages of a larger clamping angle and a smaller gap.

[0083] Fig. 9 is an exploded view of a manipulation component and a connection component according to some embodiments of this specification, Fig.10 1 is a schematic diagram of assembling a power assembly, a control assembly and a connection assembly according to some embodiments of this specification. Fig. 9 and Fig.10As shown, in some embodiments, when the first driving mechanism 111 includes a first reducer 113, the first reducer 113 is arranged according to the above-described embodiment, and the joystick mechanism 121 includes an adapter frame 1212 and a joystick 1211, the joystick 1211 includes a manipulation portion 12111 and an adapter portion 12112, and the joystick mechanism 121 is arranged according to the above-described embodiment, the connecting assembly 130 can be connected to the first driving mechanism 111 and the joystick mechanism 121 in a transmission manner as follows. The connecting assembly 130 is connected to the second wheel disc 1132 of the first reducer 113 and the adapter portion 12112. In some embodiments, the second sphere is connected to the second wheel disc 1132, and the first sphere 131 is connected to the adapter portion 12112. In some embodiments, a connecting structure, such as a threaded structure, a clamping structure, etc., can be provided on the first sphere 131 and the second sphere. In some embodiments, the second sphere and the second wheel disc 1132 can be connected in a detachable manner such as a clamping connection or a threaded connection. In some embodiments, the first sphere 131 and the adapter 12112 can be connected in a detachable manner such as snap connection or threaded connection.

[0084] The rotation of the second wheel disc 1132 will push the connecting rod 133 to move, and the movement of the connecting rod 133 will drive the adapter 12112 to rotate around the first rotation axis x. Since the rotation of the second wheel disc 1132 does not drive the connecting rod 133 to move in a single direction, and the movement direction of the connecting rod 133 is not consistent with the rotation direction of the adapter 12112, the spherical surface of the first ball 131 and the first ball seat 132 and the spherical surface of the second ball and the second ball seat 134 can ensure that the connecting assembly 130 can stably convert the rotational power of the second wheel disc 1132 into the power to drive the adapter 12112 to rotate around the first rotation axis x.

[0085] Fig.11 FIG. 1 is an exploded view of a manipulation device according to some embodiments of the present specification. Fig.11 As shown, in some embodiments, the operating device 100 also includes a shell 140, an inner cavity is formed in the shell 140, the shell 140 is fixedly connected to the power assembly 110, and at least part of the power assembly 110, the operating assembly 120 and the connecting assembly 130 are all located in the inner cavity. In some embodiments, at least part of the structure of the power assembly 110 disposed in the second inner cavity may include a power output component of the first drive mechanism 111 and the second drive structure. By providing the shell 140, the shell 1221 structure of the shell 140 can protect at least part of the power assembly 110 (such as the first reducer 113, the second reducer 114), the operating assembly 120 and the connecting assembly 130, to prevent the external dust, water stains, etc. from affecting the operation of these components, and can also protect the operator, to prevent these components from causing damage to the operator during operation.

[0086] In some embodiments, the housing 140 can be mounted on the substrate 115 to shield the entire first reducer 113 and the second reducer 114, prevent foreign matter from entering the first reducer 113 and / or the second reducer 114 and affecting their normal operation, and prevent the rotating parts of the first reducer 113 and / or the second reducer 114 from being involved in foreign matter and injuring the operator. In some embodiments, the housing 140 and the substrate 115 can be detachably connected by means of a snap connection or a threaded connection. For example, the housing 140 is mounted on the substrate 115 by a third screw 141.

[0087] In some embodiments, the operating device 100 may be assembled according to the following process. It should be noted that the following process is only used as an illustrative example and does not limit the present application. Fig.11 As shown, the base plate 115 is mounted on the fixed structure of the power assembly 110 using the first screw 116, such as the fixed shell of the first drive mechanism 111 and the fixed shell of the second drive mechanism 112, the second wheel disc 1132 of the first reducer 113 and the fourth wheel disc 1142 of the second reducer 114 are both mounted on the base plate 115, the first wheel disc 1131 of the first reducer 113 is mounted on the output shaft of the first motor 1111, and the third wheel disc 1141 of the second reducer 114 is mounted on the output shaft of the second motor 1121. Then, the first transmission belt 1133 is sleeved between the first wheel disc 1131 and the second wheel disc 1132, and the second transmission belt 1143 is sleeved between the third wheel disc 1141 and the fourth wheel disc 1142. The adapter 12112 is mounted on the adapter frame 1212 through the second bearing 124, and the adapter frame 1212 is mounted on the fixing seat 122 through the first bearing 123. The first ball 131 of the connecting assembly 130 is connected to the adapter 12112. The second ball of the connecting assembly 130 is connected to the second wheel disc 1132, and the plug-in portion 1224 of the housing 1221 of the fixing seat 122 is inserted into the slot 11421 of the fourth wheel disc 1142, and the housing 1221 is fixed to the base plate 115 by tightening the second screw 125. In this way, the power assembly 110, the operating assembly 120 and the connecting assembly 130 can be assembled as shown in the figure. Fig.12 Further, as Fig.13 As shown, the housing 140 is fixed to the base plate 115 by the third screw 141, and finally the locking cover 12113 is set on one end of the operating part 12111 of the operating rod 1211, and the other end of the operating part 12111 is assembled to the adapter 12112. For example, the operating part 12111 passes through the adapter 12112 and is locked with the nut 126. One end of the operating part 12111 can be installed with other structures through the locking cover 12113.

[0088] Fig.14Schematic diagram of the installation position of the operating device according to some embodiments of this specification. Fig.14 As shown, in some embodiments, the output shaft of the first drive mechanism 111 and the output shaft of the second drive mechanism 112 are arranged toward the human body. When the control device 100 is used for the simulation training equipment of the aircraft, the control device 100 needs to be arranged between the legs of the operator. By designing the specific structure of the control assembly 120 according to the above technical scheme, the size of the drive mechanism can be increased only in the opposite direction of the second direction, ensuring that the structure of the control device 100 between the legs and the crotch of the operator is minimized, and the comfort of the personnel is optimized. Specifically, the rear-mounted (arranged in the direction away from the operator) power assembly 110 avoids the left and right thighs of the operator and the crotch of the operator. In theory, the power assembly 110 can be infinitely extended backward (in the direction away from the operator) without affecting the control experience. The front-mounted (arranged in the direction toward the operator) control assembly 120 ensures that the structure between the legs and the crotch of the operator is minimized when the control assembly 120 is set, and the comfort of the personnel is optimized.

[0089] According to the operating device provided in the embodiment of this specification, the power component 110 is directly connected to the operating component 120 through the connecting component 130. The power component 110 is in a fixed state and will not move with the operating component 120, thereby effectively reducing the volume of the operating device 100 and the inertia of the operating component 120, so that when the same power source is used to output the same amount of power, the force of the joystick mechanism 121 rotating around the first rotation axis x and the force of the joystick mechanism 121 rotating around the second rotation axis y are approximately equal.

[0090] This specification also provides a manipulation system, which may include the manipulation device 100 and the controller described in any of the above embodiments. The controller may be used to control the power output by the power assembly 110 of the manipulation device 100. Specifically, the controller may control the magnitude and direction of the power output by the first drive mechanism 111, and the controller also controls the magnitude and direction of the power output by the first drive mechanism 111. For example, when the first drive device is a first motor 1111, the controller may control the magnitude and direction of the torque output by the first motor 1111, and when the second drive device is a second motor 1121, the controller may control the magnitude and direction of the torque output by the second motor 1121.

[0091] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0092] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0093] Similarly, it should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0094] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A control device, characterized in that: include: A power assembly, comprising a first drive mechanism and a second drive mechanism; A control assembly, including a control lever mechanism and a fixing seat; The joystick mechanism can be rotatably arranged on the fixing seat along the first rotating shaft and the second rotating shaft, the power of the first driving mechanism provides the joystick mechanism with a force for rotating around the first rotating shaft, and the power of the second driving mechanism provides the joystick mechanism with a force for rotating around the second rotating shaft; the first rotating shaft and the second rotating shaft have different extending directions; The connecting assembly is transmission-connected between the first driving mechanism and the joystick mechanism to transmit the power of the first driving mechanism to the joystick mechanism and provide the joystick mechanism with a force for rotating around the first rotating shaft.

2. The operating device according to claim 1, characterized in that The first driving mechanism and the second driving mechanism are stacked along a first direction, and an output shaft of the first driving mechanism and an output shaft of the second driving mechanism both extend along a second direction.

3. The operating device according to claim 2, characterized in that The first direction is perpendicular to the second direction; the first rotation axis is perpendicular to the second rotation axis, the first rotation axis is perpendicular to the first direction, the first rotation axis is perpendicular to the second direction, and the second rotation axis is parallel to the second direction.

4. The operating device according to claim 3, characterized in that The first rotating shaft and the second rotating shaft are arranged to intersect or stagger.

5. The operating device according to claim 1, characterized in that: The first driving mechanism comprises a first motor and a first reducer, wherein the first reducer is drivingly connected between an output shaft of the first motor and the connecting assembly; and / or, The second driving mechanism includes a second motor and a second reducer, and the second reducer is drivingly connected between the output shaft of the second motor and the joystick mechanism.

6. The operating device according to claim 5, characterized in that The first reducer comprises a first wheel disc and a second wheel disc which are transmission-connected, the diameter of the first wheel disc is smaller than the diameter of the second wheel disc, the first wheel disc is connected to the output shaft of the first motor, and the second wheel disc is transmission-connected to the connecting assembly; and / or, The second reducer includes a third wheel and a fourth wheel that are transmission-connected, the diameter of the third wheel is smaller than the diameter of the fourth wheel, the third wheel is connected to the output shaft of the second motor, and the fourth wheel is transmission-connected to the joystick mechanism.

7. The operating device according to claim 6, characterized in that The power assembly also includes a base plate, which is provided with at least two mounting holes and at least two mounting seats, the second wheel is rotatably mounted on the base plate via one of the mounting seats, and the fourth wheel is rotatably mounted on the base plate via another of the mounting seats; the output shaft of the first driving mechanism passes through one of the mounting holes, and the output shaft of the second driving mechanism passes through another of the mounting holes.

8. The operating device according to claim 6, characterized in that The first wheel disc and the second wheel disc are connected by a first transmission belt; The third wheel disc and the fourth wheel disc are connected via a second transmission belt.

9. The operating device according to claim 1, characterized in that The joystick mechanism includes an adapter frame and a joystick, the joystick can be rotatably connected to the adapter frame along a first rotating axis, the adapter frame can be rotatably connected to the fixed base along a second rotating axis, the joystick is connected to the connecting assembly, and the adapter frame is transmission-connected to the second driving mechanism.

10. The operating device according to claim 9, characterized in that The adapter frame is connected to the fixing seat via a first bearing.

11. The operating device according to claim 9, characterized in that The operating lever includes an operating part and an adapter part, the operating part is mounted on the adapter part, the adapter part is connected to the adapter frame via a second bearing, and the adapter part is connected to the connecting component; the connecting component drives the adapter part to rotate around the first rotating shaft to drive the operating part to rotate around the first rotating shaft.

12. The operating device according to claim 9, characterized in that The fixing seat includes a shell, a through hole is provided on the shell, a receiving cavity is formed in the shell, the adapter is arranged in the receiving cavity, part of the operating rod is arranged in the receiving cavity, and the operating rod passes through the through hole and partially extends out of the receiving cavity.

13. The operating device according to claim 12, characterized in that The fixing seat includes a plurality of plug-in parts provided at one end of the housing; The power assembly further comprises a base plate, and the plurality of plug-in parts are all fixed to the base plate.

14. The operating device according to claim 13, characterized in that The second driving mechanism includes a second motor and a second reducer, the second reducer is transmission-connected between the output shaft of the second motor and the joystick mechanism; the second reducer includes a third wheel disc and a fourth wheel disc which are transmission-connected, the diameter of the third wheel disc is smaller than the diameter of the fourth wheel disc, the third wheel disc is connected to the output shaft of the second motor, and the fourth wheel disc is transmission-connected to the joystick mechanism; The fourth wheel disc is provided with a plurality of slots spaced apart along the circumference of the fourth wheel disc, and each of the slots extends along the circumference of the fourth wheel disc; the fourth wheel disc is rotatably arranged on the base plate; the plurality of the plug-in parts are respectively inserted into the plurality of the slots; When the fourth wheel disc rotates, the slot rotates relative to the plug-in portion.

15. The operating device according to claim 1, characterized in that The connecting assembly includes a first ball seat, a first sphere, a connecting rod, a second ball seat and a second sphere, the connecting rod connects the first ball seat and the second ball seat, the first sphere is arranged in the first ball seat and cooperates with the spherical surface of the first ball seat; the second sphere is arranged in the second ball seat and cooperates with the spherical surface of the second ball seat; the second sphere is connected to the first driving mechanism, and the first sphere is connected to the joystick mechanism.

16. The operating device according to claim 15, characterized in that One end of the connecting rod is threadedly connected to the first ball seat, and the other end of the connecting rod is threadedly connected to the second ball seat.

17. The operating device according to claim 15, characterized in that The first driving mechanism comprises a first motor and a first reducer, wherein the first reducer is drivingly connected between the output shaft of the first motor and the connecting assembly; The first reducer comprises a first wheel disc and a second wheel disc which are transmission-connected, the diameter of the first wheel disc is smaller than the diameter of the second wheel disc, and the first wheel disc is connected to the first motor; The joystick mechanism comprises an adapter frame and a joystick, wherein the joystick and the adapter frame are rotatably connected along a first rotating shaft, the adapter frame and the fixing seat are rotatably connected along a second direction, and the adapter frame is connected to the second driving mechanism; The operating lever comprises an operating part and an adapter part, wherein the operating part is mounted on the adapter part, and the adapter part is rotatably connected to the adapter frame along a first rotating shaft; The connecting assembly is transmission-connected between the adapter and the second wheel disc; the second sphere is connected to the second wheel disc, and the first sphere is connected to the adapter.

18. The operating device according to claim 1, characterized in that The operating device also includes a shell, an inner cavity is formed in the shell, the shell is fixedly connected to the power component, and at least part of the power component, the operating component and the connecting component are all located in the inner cavity.

19. A control system, characterized in that: A manipulation device and a controller comprising any one of claims 1 to 18; The controller is used to control the power output by the power component of the operating device.

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