Rocker controller with multi-degree-of-freedom control function

Abstract

The invention relates to the technical field of controllers, in particular to a rocker controller with a multi-degree-of-freedom control function, which comprises a base, a rocker and a handle assembly, the rocker is inserted into the base and can swing in different directions relative to the base, and the rocker is provided with a first sensing assembly so that a first sensing signal can be triggered and generated when the rocker swings; a first reset spring capable of enabling the rocker to reset automatically is further arranged between the rocker and the base. The handle assembly comprises a rotating frame capable of rotating leftwards and rightwards around the axis of the rocker, a second reset spring capable of enabling the rotating frame to automatically reset, a handle shell which is rotatably arranged outside the rotating frame in a sleeving mode and capable of swinging forwards and backwards around the other axis perpendicular to the rocker, and a third reset spring capable of enabling the handle shell to automatically reset. A second induction assembly is arranged on the rocker and the rotating frame so that a second induction signal can be triggered and generated when the rotating frame rotates leftwards and rightwards relative to the rocker, and a third induction assembly is arranged on the rotating frame and the handle shell so that a third induction signal can be triggered and generated when the handle shell swings forwards and backwards relative to the rotating frame.

Description

Technical Field

[0001] The present invention relates to the technical field of controllers, and in particular, to a joystick controller with multi-degree-of-freedom control functions. Background Art

[0002] At present, in the fields of amusement equipment, industry, etc., the joystick controller is a very important component. It realizes the control of the movement direction and actions of the controlled object (such as game characters, mechanical equipment, etc.) through an operation mode of analog reproduction. Since the movement directions and action designs of existing amusement equipment and industrial robots are becoming more and more complex, higher requirements are put forward for the joystick controller. However, the traditional joystick controller usually has only one degree of freedom, that is, the joystick shakes relative to the base. Therefore, it can only output a single direction control signal according to the shaking direction of the joystick, and the function is relatively single, and it is difficult to meet the requirements of multiple functions. Therefore, there is an urgent need for a joystick controller that can output multiple control signals. Summary of the Invention

[0003] In order to overcome the defects existing in the prior art, the task of the present invention is to provide a joystick controller with multi-degree-of-freedom control functions, which can output multiple control signals to realize multiple control functions for the controlled object.

[0004] The task of the present invention is achieved by the following technical solutions:

[0005] A joystick controller with multi-degree-of-freedom control functions includes a base, a joystick, and a handle assembly. The joystick is inserted into the base and is movably connected through a matching ball head and ball head seat so that the joystick can shake relative to the base in different directions. Corresponding first induction components are provided on the base and the joystick so that when the joystick shakes relative to the base, a first induction signal can be triggered and generated. A first return spring is further provided between the joystick and the base so that the joystick can automatically return to the vertical state; the handle assembly includes a rotating frame that can rotate left and right around the axis of the joystick, a second return spring that can automatically return the rotating frame to the initial position, a handle shell that is rotatably sleeved outside the rotating frame and can swing back and forth around another axis perpendicular to the joystick, and a third return spring that can automatically return the handle shell to the initial position. Corresponding second induction components are provided on the joystick and the rotating frame so that when the rotating frame rotates left and right relative to the joystick, a second induction signal can be triggered and generated. Corresponding third induction components are provided on the rotating frame and the handle shell so that when the handle shell swings back and forth relative to the rotating frame, a third induction signal can be triggered and generated.

[0006] As a preferred technical solution, the first induction component includes a first magnet disposed at the lower end of the rocker and a first Hall induction circuit board disposed opposite thereto within the base. When the rocker shakes relative to the base, the relative positions of the first magnet and the first Hall induction circuit board change, causing the first Hall induction circuit board to generate the first induction signal.

[0007] As a preferred technical solution, the lower end of the rotating frame is rotatably sleeved on the rocker, and the upper end of the rocker extends into the rotating frame. The second induction component includes a second magnet disposed on the inner side wall of the rotating frame and a second Hall induction circuit board disposed opposite thereto on the side of the rocker. When the rotating frame rotates left and right relative to the rocker, the relative positions of the second magnet and the second Hall induction circuit board change, causing the second Hall induction circuit board to generate the second induction signal.

[0008] As a preferred technical solution, the upper end of the rotating frame is rotatably connected to a rotating shaft perpendicular to the rocker, and the inner side walls of the handle housing are fixedly connected to both ends of the rotating shaft. Thus, the handle housing can drive the rotating frame to rotate left and right relative to the rocker, and can also drive the handle housing to swing back and forth relative to the rotating frame. The third induction component includes a third magnet disposed at the lower part of the rotating shaft and a third Hall induction circuit board disposed opposite thereto at the top of the upper end of the rocker. When the handle housing swings back and forth relative to the rotating frame, the relative positions of the third magnet and the third Hall induction circuit board change, causing the third Hall induction circuit board to generate the third induction signal.

[0009] As a preferred technical solution, the first return spring is a columnar spring sleeved outside the rocker. A spring seat is provided on the rocker. The two ends of the first return spring respectively abut against the spring seat and the base. When the rocker shakes relative to the base, the first return spring can be bent, so that the first return spring's reset elasticity can be used to drive the rocker to automatically reset, and when reset, the first magnet faces the first Hall induction circuit board.

[0010] As a preferred technical solution, the second return spring is a torsion spring sleeved outside the rocker. The torsion spring is connected to the rotating frame. When the rotating frame rotates left and right relative to the rocker, the torsion spring can be twisted, so that the torsion spring's reset elasticity can be used to drive the rotating frame to automatically reset, and when reset, the second magnet faces the second Hall induction circuit board.

[0011] As a preferred technical solution, the third return spring includes two tension springs respectively arranged on the front and rear sides of the rocker. The tension springs are located at the lower part inside the handle housing, and both ends of each tension spring are connected to the inner side wall of the handle housing. When the handle housing swings back and forth relative to the rotating frame, the side of the tension spring can abut against the rocker, so that the return elasticity of the tension spring can be used to drive the handle housing to automatically return. When resetting, the third magnet is opposite to the third Hall induction circuit board. The third magnet is an arc-shaped magnet, and the axis of the arc-shaped magnet is parallel or coincident with the axis of the rotating shaft.

[0012] As a preferred technical solution, an installation frame is provided at the upper end of the rocker. The second Hall induction circuit board and the third Hall induction circuit board are both connected to the installation frame. A main circuit board is fixedly arranged in the base, and the first Hall induction circuit board is connected to the main circuit board. The rocker is a hollow rod with a middle hole. The connecting wires of the second Hall induction circuit board and the third Hall induction circuit board pass through the middle hole of the rocker and are connected to the main circuit board.

[0013] As a preferred technical solution, a limiting structure capable of limiting the rotation angle range of the rotating frame is provided on the rotating frame and the rocker. The limiting mechanism includes a limiting pin arranged on the installation frame and a limiting groove arranged on the rotating frame. The limiting pin extends into the limiting groove and can move within the range of the limiting groove, so as to limit the rotation angle range of the rotating frame and the rocker.

[0014] As a preferred technical solution, a detachable ball head cover is provided on the base at the ball head seat. Hemispherical grooves are respectively provided on the ball head cover and the base, and a perforation for the rocker to pass through is provided. The two hemispherical grooves cooperate to form a spherical cavity covering the ball head. Vertical grooves are provided on the opposite sides of the ball head, and two cylindrical pins are correspondingly arranged in the base and are respectively inserted into the two vertical grooves to limit the rocker from rotating relative to the base around its axis.

[0015] Compared with the prior art, a joystick controller with multi - degree - of - freedom control function provided by this patent has the following advantages: Users can drive the joystick to shake in different directions relative to the base, and then generate a first induction signal through the first induction component. They can also drive the handle shell to drive the rotating frame to rotate left and right relative to the joystick, and then generate a second induction signal through the second induction component. Additionally, they can drive the handle shell to swing back and forth relative to the rotating frame to generate a third induction signal. Among them, the first induction signal, the second induction signal, and the third induction signal can be respectively set to control the controlled object to achieve different actions. For example, the first induction signal can be set to control the controlled object to perform moving actions in different directions, the second induction signal can be set to control the controlled object to perform steering actions in different directions, and the third induction signal can be set to control the controlled object to perform pitching actions, so as to achieve multiple control functions for the controlled object. Moreover, the structural design is simple and compact, the operation is convenient, and the operation experience is good.

[0016] The following will further illustrate the concept, specific structure and effects of the present invention in conjunction with the accompanying drawings to fully understand the purpose, features and effects of the present invention. Brief Description of the Drawings

[0017] Figure 1 is a schematic structural diagram of the joystick controller in this embodiment;

[0018] Figure 2 is a schematic longitudinal sectional structural diagram of the joystick controller in this embodiment;

[0019] Figure 3 is an exploded structural diagram of the joystick controller with some shells omitted in this embodiment.

[0020] Among them, base 1, ball - head seat 11, ball - head cover 12, pin 13, joystick 2, ball - head 21, vertical groove 211, magnet mounting seat 22, spring seat 23, mounting frame 24, limit pin 241, handle assembly 3, rotating frame 31, rotating shaft 311, connecting head 3111, boss 3112, limit groove 312, second return spring 32,

[0021] handle shell 33, hook 331, third return spring 34, tension spring 341, second induction component 35, second magnet 351, second Hall induction circuit board 352, third induction component 36, third magnet 361, third Hall induction circuit board 362, first induction component 4, first magnet 41, first Hall induction circuit board 42, first return spring 5, main circuit board 6. Detailed Description of the Preferred Embodiment

[0022] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be 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 invention and are not used to limit the present invention. In addition, it should be understood that the terms "first", "second" and similar terms used in the description of the present application and the claims do not indicate any order, quantity or importance, but are only used to distinguish different components; similar terms such as "one" or "a" do not indicate a quantity limitation, but indicate that there is at least one; similar terms such as "several" and "multiple" indicate two or more. Unless otherwise specified, similar terms such as "front", "rear", "lower", "upper" are only for convenience of description and are not limited to a position or a spatial orientation. Terms such as "installation", "connection", "pivotal connection" should be understood in a broad sense, and can be directly connected or indirectly connected through intermediate elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0023] As Figures 1-3 shown, this embodiment provides a rocker controller with multi-degree-of-freedom control function, including a base 1, a rocker 2 and a handle assembly 3. The rocker 2 is inserted into the base 1 and is movably connected through a matching ball head 21 and a ball head seat 11 so that the rocker 2 can swing relative to the base 1 in different directions. Corresponding first sensing components 4 are provided on the base 1 and the rocker 2 so that when the rocker 2 swings relative to the base 1, a first sensing signal can be triggered. A first return spring 5 is also provided between the rocker 2 and the base 1 so that the rocker 2 can automatically return to the vertical state; the handle assembly 3 includes a rotating frame 31 that can rotate left and right around the axis of the rocker 2, a second return spring 32 that can make the rotating frame 31 automatically return to the initial position, a handle housing 33 that can be rotatably sleeved outside the rotating frame 31 and can swing back and forth around another axis perpendicular to the rocker 2, and a third return spring 34 that can make the handle housing 33 automatically return to the initial position. Corresponding second sensing components 35 are provided on the rocker 2 and the rotating frame 31 so that when the rotating frame 31 rotates left and right relative to the rocker 2, a second sensing signal can be triggered. Corresponding third sensing components 36 are provided on the rotating frame 31 and the handle housing 33 so that when the handle housing 33 swings back and forth relative to the rotating frame 31, a third sensing signal can be triggered.

[0024] A rocker controller with multi - degree - of - freedom control function provided in this embodiment. Users can drive the rocker 2 to shake in different directions relative to the base 1, and then generate a first induction signal through the first induction component 4. They can also drive the handle housing 33 to drive the rotating frame 31 to rotate left and right relative to the rocker 2, and then generate a second induction signal through the second induction component 35. They can also drive the handle housing 33 to swing back and forth relative to the rotating frame 31 to generate a third induction signal. Among them, the first induction signal, the second induction signal, and the third induction signal can be respectively set to control the controlled object to achieve different actions. For example, the first induction signal can be set to control the controlled object to perform moving actions in different directions, the second induction signal can be set to control the controlled object to perform steering actions in different directions, and the third induction signal can be set to control the controlled object to perform pitching actions, so as to realize multiple control functions for the controlled object. Moreover, the structural design is simple and compact, the operation is convenient, and the operation experience is good.

[0025] As a preferred solution of this embodiment, the first induction component 4 includes a first magnet 41 arranged at the lower end of the rocker 2 and a first Hall induction circuit board 42 arranged opposite thereto in the base 1. When the rocker 2 shakes relative to the base 1, the relative positions of the first magnet 41 and the first Hall induction circuit board 42 will change, so that the first Hall induction circuit board 42 generates the first induction signal. In this embodiment, a magnet mounting seat 22 is threadedly connected to the lower end of the rocker 2. The diameter of the magnet mounting seat 22 is larger than the diameter of the lower end of the rocker 2. An embedding groove is provided at the lower end of the magnet mounting seat 22, and the first magnet 41 is fixedly installed in the embedding groove. The first Hall induction circuit board 42 is located directly below the first magnet 41, which is convenient for the diameter of the magnet to be larger than the diameter of the rocker 2, so that the first induction signal can be generated when the moving range of the first magnet 41 relative to the first Hall induction circuit board 42 is larger, and it is more sensitive.

[0026] As a preferred solution of this embodiment, the lower end of the rotating frame 31 is rotatably sleeved on the rocker 2, and the upper end of the rocker 2 extends into the rotating frame 31. The second induction component 35 includes a second magnet 351 arranged on the inner side wall of the rotating frame 31 and a second Hall induction circuit board 352 arranged opposite thereto on the side of the rocker 2. When the rotating frame 31 rotates left and right relative to the rocker 2, the relative positions of the second magnet 351 and the second Hall induction circuit board 352 will change, so that the second Hall induction circuit board 352 generates the second induction signal. In this embodiment, the rotating frame 31 is a U - shaped frame. The bottom of the rotating frame 31 is rotatably sleeved on the upper part of the rocker 2, and the upper end of the rocker 2 extends into the rotating frame 31.

[0027] As a preferred solution of this embodiment, the upper end of the rotating frame 31 is rotatably connected to a rotating shaft 311 perpendicular to the rocker 2, and the inner side wall of the handle housing 33 is fixedly connected to both ends of the rotating shaft 311. Thus, the rotating frame 31 can be driven by the handle housing 33 to rotate left and right relative to the rocker 2, and the handle housing 33 and the rotating shaft 311 can be driven to swing back and forth relative to the rotating frame 31. The third sensing component 36 includes a third magnet 361 provided at the lower part of the rotating shaft 311 and a third Hall induction circuit board 362 oppositely provided at the top of the upper end of the rocker 2. When the handle housing 33 swings back and forth relative to the rotating frame 31, the relative positions of the third magnet 361 and the third Hall induction circuit board 362 can be changed, so that the third Hall induction circuit board 362 generates the third induction signal. In this embodiment, both ends of the rotating shaft 311 pass through the two side walls at the upper end of the U-shaped frame and are rotatably connected thereto. Non-circular (square in this embodiment) connectors 3111 are respectively provided at both ends of the rotating shaft 311. Corresponding two slots with matching shapes are provided on the inner side wall of the handle housing 33. The connectors 3111 at both ends of the rotating shaft 311 are inserted into the slots, so that the rotation of the handle housing 33 can drive the rotation of the rotating shaft 311. The rotating shaft 311 includes an inner shaft and an outer sleeve, which are fixedly connected by screws. A boss 3112 is provided on the lower surface at the middle position of the outer sleeve. An embedding groove is provided on the bottom surface of the boss 3112. The third magnet 361 is embedded and installed in the embedding groove. The third Hall induction circuit board 362 is located directly below the third magnet 361. The third magnet 361 is an arc-shaped magnet, and the axis of the arc-shaped magnet is parallel or coincident with the axis of the rotating shaft 311.

[0028] As a preferred solution of this embodiment, the first return spring 5 is a columnar spring (or tower spring) sleeved outside the rocker 2. A spring seat 23 is provided on the rocker 2. Both ends of the first return spring 5 respectively abut against the spring seat 23 and the base 1. When the rocker 2 swings relative to the base 1, the first return spring 5 can be bent, so that the first return spring 5 can be used to drive the rocker 2 to automatically return by its return elasticity. When returning, the first magnet 41 is directly opposite to the first Hall induction circuit board 42.

[0029] As a preferred solution of this embodiment, the second return spring 32 is a torsion spring sleeved outside the rocker 2. A protruding pin is provided on the inner side wall of the rotating frame 31. The torsion spring is connected to the rotating frame 31 by being stuck on the pin. When the rotating frame 31 rotates left and right relative to the rocker 2, the torsion spring can be twisted, so that the rotating frame 31 can be driven to automatically return by the return elasticity of the torsion spring. When returning, the second magnet 351 is directly opposite to the second Hall induction circuit board 352.

[0030] As a preferred solution of this embodiment, the third return spring 34 includes two tension springs 341 respectively disposed on the front and rear sides of the rocker 2 and below the rotating frame. The tension springs 341 are located in the lower part of the handle housing 33, and both ends of each tension spring 341 are connected to the inner side wall of the handle housing 33. When the handle housing 33 swings back and forth relative to the rotating frame 31, the side of the tension spring 341 can abut against the rocker 2, so that the return elasticity of the tension spring 341 can be used to drive the handle housing 33 to automatically return. When resetting, the third magnet 361 is directly opposite to the third Hall induction circuit board 362. In this embodiment, a hook 331 for hanging the tension spring 341 is provided on the inner side of the handle housing 33. The hook 331 is threadedly connected to the inner side wall of the handle housing 33 by a screw, and the length of the hook 331 extending into the handle housing 33 can be adjusted by the screw, so as to adjust the tightness of the tension spring 341, thereby facilitating the adjustment of the return elasticity of the third return spring 34.

[0031] As a preferred solution of this embodiment, an installation frame 24 is provided at the upper end of the rocker 2. The second Hall induction circuit board 352 and the third Hall induction circuit board 362 are both connected to the installation frame 24. A main circuit board 6 is fixedly provided in the base 1. The first Hall induction circuit board 42 is connected to the main circuit board 6. The rocker 2 is a hollow rod with a middle hole. An outlet is provided above the lower part of the rocker 2 near the magnet mounting seat 22. The connection lines of the second Hall induction circuit board 352 and the third Hall induction circuit board 362 pass through the middle hole of the rocker 2 and are led out from the outlet and then connected to the main circuit board 6. A processing module for processing and analyzing the first induction signal, the second induction signal, and the third induction signal, and a wiring port for connecting to an external device are provided on the main circuit board 6.

[0032] As a preferred solution of this embodiment, a limiting structure for limiting the rotation angle range of the rotating frame 31 is provided on the rotating frame 31 and the rocker 2. The limiting mechanism includes a limiting pin 241 provided on the installation frame 24 and a limiting groove 312 provided on the rotating frame 31. The limiting pin 241 extends into the limiting groove 312 and can move within the range of the limiting groove 312, so as to limit the rotation angle range of the rotating frame 31 and the rocker 2.

[0033] As a preferred solution of this embodiment, a detachable ball head cover 12 is provided on the base 1 above the ball head seat 11. Hemispherical grooves are respectively provided on the ball head cover 12 and the base 1, and perforations for the rocker 2 to pass through are provided. The two hemispherical grooves cooperate to form a spherical cavity covering the outside of the ball head 21. Vertical grooves 211 are provided on opposite sides of the ball head 21. Two cylindrical pins 13 are correspondingly provided in the base 1 and are respectively inserted into the two vertical grooves 211 so as to limit the rocker 2 from rotating relative to the base 1 around its axis. In this solution, since the pins 13 are cylindrical and the diameter of the pins 13 is basically equal to or slightly smaller than the width of the vertical grooves 211, the rocker 2 can move in any direction without jamming, and it can be ensured that the rocker 2 cannot rotate relative to the base 1 around its axis, avoiding operation dead zones, improving the operation feel and sensitivity, and preventing winding problems. In addition, in this solution, by providing the ball head cover 12 with a hemispherical groove, a spherical groove is formed in cooperation with the hemispherical groove in the base 1, so as to facilitate the ball head 21 on the rocker 2 to shake at any angle therein, and at the same time, the rocker 2 can be restricted from moving up and down, further making it difficult to generate dead zones during the operation of the rocker 2 controller, and the operation feel and sensitivity are better.

[0034] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the embodiments formed by the specific combination of the above technical features, and should also cover other embodiments formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the embodiments formed by mutually replacing the above features with the (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A joystick controller with multi-degree-of-freedom control function, characterized in that: The invention comprises a base, a rocker and a handle assembly, wherein the rocker is inserted into the base and movably connected through a matching ball head and a ball head seat so that the rocker can be rocked in different directions relative to the base, and the base and the rocker are correspondingly provided with matching first sensing components so that a first sensing signal can be triggered when the rocker is rocked relative to the base, and a first reset spring is also provided between the rocker and the base so that the rocker can automatically reset to a vertical state; the handle assembly comprises a rotating frame that can rotate left and right around the axis of the rocker, and a second reset spring that can automatically reset the rotating frame to an initial position, a handle shell that can be rotatably sleeved outside the rotating frame and can swing back and forth around another axis perpendicular to the rocker, and a third reset spring that can automatically reset the handle shell to an initial position, and the rocker and the rotating frame are correspondingly provided with matching second sensing components so that a second sensing signal can be triggered when the rotating frame rotates left and right relative to the rocker, and the rotating frame and the handle shell are correspondingly provided with matching third sensing components so that a third sensing signal can be triggered when the handle shell swings back and forth relative to the rotating frame.

2. The joystick controller with multi-degree-of-freedom control function according to claim 1, characterized in that: The first sensing component includes a first magnet arranged at the lower end of the rocker and a first Hall sensing circuit board arranged opposite to the first magnet in the base. When the rocker is shaken relative to the base, the positions of the first magnet and the first Hall sensing circuit board can change relative to each other, so that the first Hall sensing circuit board generates the first sensing signal.

3. The joystick controller with multi-degree-of-freedom control function according to claim 1, characterized in that: The lower end of the rotating frame can be rotatably mounted on the rocker, and the upper end of the rocker extends into the rotating frame. The second sensing component includes a second magnet arranged on the inner side wall of the rotating frame and a second Hall sensing circuit board arranged opposite to the second magnet on the side of the rocker. When the rotating frame rotates left and right relative to the rocker, the positions of the second magnet and the second Hall sensing circuit board can change relative to each other, so that the second Hall sensing circuit board generates the second sensing signal.

4. The joystick controller with multi-degree-of-freedom control function according to claim 3, characterized in that: The upper end of the rotating frame can be rotatably connected to a rotating shaft perpendicular to the rocker, and the inner side wall of the handle shell is fixedly connected to the two ends of the rotating shaft so that it can swing back and forth relative to the rotating frame. The third sensing component includes a third magnet arranged at the lower part of the rotating shaft and a third Hall sensing circuit board arranged at the top of the upper end of the rocker opposite to it. When the handle shell is swung back and forth relative to the rotating frame, the positions of the third magnet and the third Hall sensing circuit board can change relatively, so that the third Hall sensing circuit board generates the third sensing signal.

5. The joystick controller with multi-degree-of-freedom control function according to claim 2, characterized in that: The first return spring is sleeved on the columnar spring outside the rocker, and a spring seat is provided on the rocker. The two ends of the first return spring respectively press against the spring seat and the base. When the rocker is shaken relative to the base, the first return spring can be bent, so that the return elasticity of the first return spring can be used to drive the rocker to automatically return to its original position, and when resetting, the first magnet is directly opposite to the first Hall sensing circuit board.

6. The joystick controller with multi-degree-of-freedom control function according to claim 3, characterized in that: The second reset spring is a torsion spring sleeved outside the rocker, and the torsion spring is connected to the rotating frame. When the rotating frame rotates left and right relative to the rocker, the torsion spring can be twisted, so that the reset elasticity of the torsion spring can be used to drive the rotating frame to automatically reset, and when resetting, the second magnet is facing the second Hall sensor circuit board.

7. The joystick controller with multi-degree-of-freedom control function according to claim 4, characterized in that: The third reset spring includes two tension springs respectively arranged on the front and rear sides of the rocker arm, the tension springs are located in the lower part of the handle shell and both ends of each tension spring are connected to the inner wall of the handle shell, when the handle shell swings back and forth relative to the rotating frame, the side of the tension spring can press against the rocker arm, so that the reset elasticity of the tension spring can be used to drive the handle shell to automatically reset, and when resetting, the third magnet is opposite to the third Hall sensing circuit board, the third magnet is an arc magnet, and the axis of the arc magnet is parallel to or coincides with the axis of the rotating shaft.

8. The joystick controller with multi-degree-of-freedom control function according to claim 4, characterized in that: A mounting frame is provided at the upper end of the rocker, the second Hall sensing circuit board and the third Hall sensing circuit board are both connected to the mounting frame, a main circuit board is fixedly provided in the base, the first Hall sensing circuit board is connected to the main circuit board, the rocker is a hollow rod with a central hole, and the connecting wires of the second Hall sensing circuit board and the third Hall sensing circuit board pass through the central hole of the rocker and are connected to the main circuit board.

9. The joystick controller with multi-degree-of-freedom control function according to claim 8, characterized in that: The rotating frame and the rocker are provided with a limiting structure capable of limiting the rotation angle range of the rotating frame. The limiting mechanism includes a limiting pin arranged on the mounting frame and a limiting groove arranged on the rotating frame. The limiting pin extends into the limiting groove and can move within the range of the limiting groove, thereby limiting the rotation angle range of the rocker of the rotating frame.

10. The joystick controller with multi-degree-of-freedom control function according to claim 1, characterized in that: A detachable ball head cover is provided on the base and located on the ball head seat. The ball head cover and the base are respectively provided with hemispherical grooves and through holes for the rocker to pass through. The two hemispherical grooves cooperate to form a spherical cavity covering the outside of the ball head. Vertical grooves are provided on opposite sides of the ball head. Two cylindrical pins are correspondingly provided in the base and are respectively inserted into the two vertical grooves to limit the rocker from rotating around its axis relative to the base.

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