Shaft-force-feedback-free rocker input device based on stylus

Abstract

The invention discloses axial force feedback-free rocker input equipment based on a touch pen. The axial-force-feedback-free rocker input device based on the touch pen comprises a base, a rocker arm and a rocker arm, the rocker arm assembly is provided with a rolling rocker arm with an insertion groove and a pitching rocker arm fixedly connected with the base; the rolling rocker arm is elastically connected with the pitching rocker arm; the pitching rocker arm is elastically connected with the base; the rocker arm assembly can operably realize pitching and transverse rolling actions; the touch pen is operably inserted into or pulled out of the insertion groove; the touch pen is inserted into the insertion groove to operably drive the rolling rocker arm and / or the pitching rocker arm to deflect relative to the vertical direction of the base; the angle sensor is used for detecting the swing angle of the touch pen; and the signal transmission module is used for transmitting the angle detected by the angle sensor. The abrasion problem caused by long-term use of a shaft structure can be avoided, and the device is simple in structure, convenient to manufacture and low in cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of remote control, in particular to a shaft force feedback-free joystick input device based on a stylus. BACKGROUND

[0002] The game joystick is an indispensable device for game players. It is widely used in flight simulation, driving simulation and other games. The joystick device is mostly expensive, complex in structure, bulky, and adopts a shaft structure. Long-term use may cause material wear and tear and structural clearance, affecting the game experience and reducing the product life. SUMMARY

[0003] The present application aims to provide a shaft force feedback-free joystick input device based on a stylus, which can convert a stylus with a gyroscope into an intelligent joystick device, and adopts a shaft-free structure to avoid the wear and tear problem caused by long-term use of the shaft structure. It has the advantages of simple structure, easy manufacturing, low cost, high reliability and the like, and can automatically return to zero without power supply. With power supply, the motor can realize force feedback function.

[0004] To solve the above technical problems, the embodiment of the present application provides a shaft force feedback-free joystick input device based on a stylus, which comprises a base;

[0005] A rocker assembly is operable to realize pitch and roll actions. The rocker assembly has a rolling rocker with an insertion slot and a pitch rocker fixedly connected to the base. The rolling rocker is elastically connected to the pitch rocker, and the pitch rocker is elastically connected to the base. The rocker assembly is operable to swing in at least four degrees of freedom.

[0006] A stylus is operable to be inserted or removed from the insertion slot. When the stylus is inserted into the insertion slot, it can drive the rolling rocker and / or the pitch rocker to deflect relative to the vertical direction of the base.

[0007] An angle sensor detects the swing angle of the stylus; and

[0008] A signal transmission module is used to transmit the angle detected by the angle sensor.

[0009] Compared with the prior art, the embodiment of the present application realizes the elastic connection of the rolling rocker and the pitch rocker, the elastic connection of the pitch rocker and the base, and the swing of the rocker assembly driven by the stylus, i.e. the shaft-free swing structure, which can automatically return to zero. The structure is simple and reliable in function, which can effectively avoid the wear and tear problem caused by long-term use of the shaft swing structure, and allows the user to use a set of device to have multiple input experience.

[0010] In an embodiment, the roll rocker has a main support rod, and a first branch roll rocker and a second branch roll rocker connected to the main support rod, the main support rod has the insertion slot; and the first branch roll rocker and the second branch roll rocker form a first preset angle;

[0011] The pitch rocker has a first branch pitch rocker and a second branch pitch rocker connected in cross, wherein the second branch pitch rocker extends in a second preset angle with the branch roll rocker; the first branch pitch rocker extends in a first direction, and the second branch pitch rocker extends in a second direction;

[0012] The first branch roll rocker and the second branch roll rocker are respectively elastically connected to two ends of the first branch pitch rocker;

[0013] Both ends of the second branch pitch rocker are elastically connected to the base.

[0014] In an embodiment, the rocker input device further comprises:

[0015] A pair of legs, the legs are arranged on the base and located on both sides of the first branch roll rocker extending direction;

[0016] A pair of first elastic members, two ends of the first branch pitch rocker are respectively connected to the first branch roll rocker and the second branch roll rocker through the first elastic members; and

[0017] A pair of second elastic members, two ends of the second branch pitch rocker are respectively connected to a pair of the legs through the second elastic members;

[0018] Wherein, the support rod is operable to drive the roll rocker and / or the pitch rocker to deflect relative to the vertical direction of the base; when the main support rod deflects towards the second direction, the first branch roll rocker and the second branch roll rocker drive the first elastic members to deform, and the first elastic members provide the resilience to pull the first branch roll rocker and the second branch roll rocker to reset; when the main support rod deflects towards the first direction, the second branch pitch rocker drives the second elastic members to deform, and the second elastic members provide the resilience to reset the roll rocker and the pitch rocker.

[0019] In an embodiment, the line between the pair of legs is in the second direction; the first direction and the second direction are perpendicular.

[0020] In an embodiment, each of the first elastic members comprises: a pair of first elastic sheets, the pair of first elastic sheets are arranged in cross, and two ends of each of the first elastic sheets are respectively connected to the roll rocker and the pitch rocker.

[0021] In an embodiment, the roll rocker has a first connecting arm arranged at a free end of the first branch roll rocker, and a second connecting arm arranged at a free end of the second branch roll rocker;

[0022] The pitch rocker has a third connecting arm and a fourth connecting arm respectively connected to two ends of the first branch pitch rocker;

[0023] The first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are arranged obliquely relative to a horizontal plane; two ends of each of the first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are connected to different first elastic pieces.

[0024] In an embodiment, each of the second elastic pieces includes a pair of second elastic pieces arranged in cross; two ends of each of the second elastic pieces are respectively connected to the leg and the pitch rocker.

[0025] In an embodiment, the pitch rocker has a fifth connecting arm and a sixth connecting arm respectively connected to two ends of the second branch pitch rocker;

[0026] The pair of legs respectively has a seventh connecting arm and an eighth connecting arm;

[0027] Two ends of each of the fifth connecting arm, the sixth connecting arm, the seventh connecting arm and the eighth connecting arm are connected to different second elastic pieces.

[0028] In an embodiment, the rocker input device further includes:

[0029] A first motor connected to the first branch roll rocker or the second branch roll rocker;

[0030] A second motor connected to the first branch pitch rocker;

[0031] A master control module electrically connected to the first motor and the second motor, configured to control the first motor and / or the second motor to start or stop after receiving an external signal; the first motor is started to give force feedback to the roll rocker, and the second motor is started to give force feedback to the pitch rocker.

[0032] In an embodiment, the first branch roll rocker and the second branch roll rocker are in an arc shape away from two ends of the first branch pitch rocker;

[0033] A line connecting the free end of the first branch roll rocker and the free end of the second branch roll rocker is in a first direction. BRIEF DESCRIPTION OF DRAWINGS

[0034] One or more embodiments are illustrated by way of example in the figures that form a part of this disclosure and which demonstrate aspects of the embodiments. It is to be understood that the same or similar elements shown in different figures can have the same or similar reference numerals. The figures can not be to scale and some features can be exaggerated to show details of particular embodiments. Elements in the figures are of help in illustrating elements and interfaces.

[0035] Figure 1 is a structural schematic diagram of a shaft-force feedback-free rocker input device according to an embodiment of the present application;

[0036] Figure 2 is an exploded view of a shaft-force feedback-free rocker input device according to an embodiment of the present application;

[0037] Figure 3 is a structural schematic diagram of a stylus swinging in a second direction according to an embodiment of the present application;

[0038] Figure 4 is a top view of Figure 3

[0039] Figure 5 is a sectional view of A-A in Figure 4

[0040] is a structural schematic diagram of a stylus swinging in a first direction according to an embodiment of the present application; Figure 6

[0041] is a top view of Figure 7 Figure 6

[0042] Figure 8 is a sectional view of B-B in Figure 7

[0043] Figure 9 is a use schematic diagram of a shaft-force feedback-free rocker input device according to an embodiment of the present application;

[0044] Reference signs: 100, rocker input device; 1, base; 2, rocker assembly; 3, stylus; 21, roll rocker; 211, main support rod; 210, insertion slot; 212, first branch roll rocker; 213, second branch roll rocker; 214, first connecting arm; 215, second connecting arm; 22, pitch rocker; 221, first branch pitch rocker; 222, second branch pitch rocker; 223, third connecting arm; 224, fourth connecting arm; 225, fifth connecting arm; 226, sixth connecting arm; 4, leg; 41, seventh connecting arm; 42, eighth connecting arm; 5, first elastic member; 51, first elastic sheet; 6, second elastic member; 61, second elastic sheet; 7, first motor; 8, second motor; 91, first connecting rod; 92, second connecting rod. DETAILED DESCRIPTION

[0045] ​​​​In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the various embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that, in the various embodiments of the present application, many technical details are presented in order to make the readers better understand the present application. However, the technical solutions claimed by the present application can be implemented even if these technical details are not presented and various changes and modifications based on the following various embodiments.

[0046] In the following description, for purposes of explaining the various disclosed embodiments, specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. However, persons of ordinary skill in the relevant art will recognize that the embodiments can be practiced without one or more of the specific details, or with other techniques, structures, etc. In other instances, well-known devices, structures and techniques have not been shown or described in order to avoid unnecessarily obscuring the description of the embodiments.

[0047] Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is to say, in the sense of "including, but not limited to".

[0048] The various embodiments of the present application will be described in detail below with reference to the drawings. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present application, but merely to illustrate the essential spirit of the technical solutions of the present application.

[0049] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrase "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0050] As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. It should be noted that the term "comprising" or "comprises" is generally used herein in the sense of "including" or "includes" but not limited to.

[0051] In the following description, in order to clearly show the structure and working mode of the present application, many directional words will be used for description, but the words of "front", "back", "left", "right", "outer", "inner", "outward", "inward", "up", "down" and the like should be understood as convenient words, and should not be understood as limiting words.

[0052] Embodiments of the present application will be described below with reference to the accompanying drawings.

[0053] The first embodiment of the present application relates to a touch pen based shaft force feedback free rocker input device 100. The rocker input device 100 can be used in game flight simulation, professional gimbal camera control (camera following, lens focusing), unmanned vehicle or unmanned aerial vehicle control, professional auxiliary design (color adjustment, image or video post-processing) and other use devices. The purpose of the present application is to design a force feedback base based on a shaft-free structure for a touch pen, which can convert the touch pen into a smart rocker input device and avoid various problems caused by the shaft structure.

[0054] As shown in Figure 1 , Figure 2 , the rocker input device 100 includes a base 1, a rocker assembly 2, a touch pen 3, an angle sensor and a signal transmission module. The rocker assembly can be operated to realize pitch and roll actions, and the rocker assembly 2 has a rolling rocker 21 with an insertion slot 210 and a pitch rocker 22 fixedly connected with the base 1. The rolling rocker 21 is elastically connected with the pitch rocker 22, and the pitch rocker 22 is elastically connected with the base 1. The rocker assembly 2 can be operated to swing at least four degrees of freedom. The touch pen 3 can be inserted or pulled out of the insertion slot 210, and the insertion of the touch pen 3 into the insertion slot 210 can be operated to drive the rolling rocker 21 and / or the pitch rocker 22 to deflect relative to the vertical direction of the base 1. The angle sensor detects the swing angle of the touch pen 3, and the signal transmission module is used to transmit the angle detected by the angle sensor. The angle sensor can be a gyroscope, and when the touch pen 3 is inserted into the insertion slot 210, the function of the angle sensor can be turned on. When the touch pen 3 is shaken, the rocker assembly 2 is driven, the angle sensor senses the angle of the touch pen 3, and the obtained angle is sent to the main control program through the signal transmission module. The main control program executes corresponding functions according to the angle information, such as professional gimbal camera control (camera following, lens focusing), unmanned vehicle or unmanned aerial vehicle control, professional auxiliary design (color adjustment, image or video post-processing), etc., so as to realize the rocker function of the touch pen 3 and enable the user to use a set of devices to have multiple input experience. The signal transmission module can be a Bluetooth module or a network connection module. In addition, through the elastic connection of the rolling rocker 21 and the pitch rocker 22, and the elastic connection of the pitch rocker 22 and the base 1, the touch pen 3 can drive the rocker assembly 2 to swing, that is, a shaft-free swing structure, and can automatically return to normal, which is simple in structure, reliable in function, can effectively avoid the wear and tear problem caused by long-term use of the shaft swing structure. In addition, as shown in Figure 9 , the base 1 can also be provided with a USB interface, which can be connected with the use device. Of course, the rocker input device 100 can also be connected with the use device through Bluetooth or wireless network connection. The USB interface and the wireless network transmission module can also be a kind of signal transmission module. The base 1 can also be provided with a charging position or a power supply, etc.

[0055] Further, as shown inFigure 2 As shown in the figure, the roll rocker 21 has a main support rod 211, and a first branch roll rocker 212 and a second branch roll rocker 213 connected with the main support rod 211, the main support rod 211 has an insertion slot 210; and the first branch roll rocker 212 and the second branch roll rocker 213 form a first preset angle. The pitch rocker 22 has a first branch pitch rocker 221 and a second branch pitch rocker 222 connected in cross, wherein the extension direction of the second branch pitch rocker 222 forms a second preset angle with the branch roll rockers; the first branch pitch rocker 221 extends along a first direction, and the second branch pitch rocker 222 extends along a second direction. The first branch roll rocker 212 and the second branch roll rocker 213 are respectively elastically connected with two ends of the first branch pitch rocker 221, and both ends of the second branch pitch rocker 222 are elastically connected with the base 1.

[0056] In addition, as shown in the figure, Figure 2 The intersection where the first branch pitch rocker 221 and the second branch pitch rocker 222 are connected is the connection O in the figure, the connection O equally divides the first branch pitch rocker 221 and the second branch pitch rocker 222 into a short branch and a long branch, the long branch is longer than the short branch, and the area formed by the intersection of the two long branches can be provided with the main support rod 211, so that the roll rocker 21 and the pitch rocker 22 are reasonably arranged on the base 1.

[0057] Further, as shown in the figure, Figure 2 The rocker input device 100 further includes a pair of legs 4, a pair of first elastic members 5 and a pair of second elastic members 6. The legs 4 are arranged on the base 1 and located on both sides of the extension direction of the first branch roll rocker 212. The two ends of the first branch pitch rocker 221 are respectively connected with the first branch roll rocker 212 and the second branch roll rocker 213 through the first elastic members 5. The two ends of the second branch pitch rocker 222 are respectively connected with the pair of legs 4 through the second elastic members 6. Wherein, the support rod can operatively drive the roll rocker 21 and / or the pitch rocker 22 to deflect relative to the vertical direction of the base 1. When the main support rod 211 deflects towards the second direction, the first branch roll rocker 212 and the second branch roll rocker 213 drive the first elastic members 5 to deform, and the first elastic members 5 provide the resilience force to pull the first branch roll rocker 212 and the second branch roll rocker 213 to reset; when the main support rod 211 deflects towards the first direction, the second branch pitch rocker 222 drives the second elastic members 6 to deform, and the second elastic members 6 provide the resilience force to reset the roll rocker 21 and the pitch rocker 22. Specifically, when the stylus 3 rocks, it can form different angles with the vertical line of the base 1, and the stylus 3 can rotate around the vertical line of the base 1. As shown in the figure, Figure 1 , Figure 4 , Figure 6 The first direction is the Y direction in the figure, and the second direction is the X direction in the figure, as shown in the figure, Figure 3 ,Figure 4 、 Figure 5 The figure shows that the user controls the stylus 3 to swing to the right, at this time the rolling rocker 21 drives the first elastic member 5 to deform, and the user leaves the stylus 3, and the first elastic member 5 drives the rolling rocker 21 to reset. That is, when the user controls the stylus 3 to swing in the second direction, that is, Figure 3 、 Figure 4 、 Figure 5 When the first elastic member 5 is swung to the left or right, the rolling rocker arm 21 drives the first elastic member 5 to deform. Figure 6 The state shown in FIG is the state of swinging forward. The user controls the stylus pen 3 to swing forward and backward, that is, Figure 7 、 Figure 8 When the stylus 3 is swung in the first direction, the pitch arm 22 causes the second elastic member 6 to deform. When the user releases the stylus 3, the second elastic member 6 causes the pitch arm 22 and the roll arm 21 to return to their original positions. It is understood that the stylus 3 can also be swung in directions other than the first and second directions. Depending on the swaying direction, the first elastic member 5 and the second elastic member 6 will deform accordingly.

[0058] Alternatively, as Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 As shown, the line connecting the pair of legs 4 is in the second direction, and the first and second directions are perpendicular. In other embodiments, the pair of legs 4 may not be in the second direction, but may be staggered. The first and second directions may also not be perpendicular, but may be at other angles, such as 60° or 30°.

[0059] In addition, if Figure 2 As shown, each first elastic member 5 includes a pair of first elastic sheets 51 , which are cross-arranged, and two ends of each first elastic sheet 51 are respectively connected to the rolling rocker arm 21 and the pitching rocker arm 22 .

[0060] In addition, if Figure 2 As shown, the roll rocker arm 21 has a first connecting arm 214 disposed at the free end of the first branch roll rocker 212, and a second connecting arm 215 disposed at the free end of the second branch roll rocker 213. The pitch rocker arm 22 has a third connecting arm 223 and a fourth connecting arm 224, respectively connected to the ends of the first branch pitch rocker 221. The first connecting arm 214, the second connecting arm 215, the third connecting arm 223, and the fourth connecting arm 224 are arranged at an angle relative to the horizontal plane; each of the first connecting arm 214, the second connecting arm 215, the third connecting arm 223, and the fourth connecting arm 224 has a different first spring clip 51 connected to its ends. The first spring clip 51 can be a removable and replaceable metal spring clip. By changing the thickness of the first spring clip 51, the damping of the rocker arm assembly 2 can be precisely adjusted, thereby better simulating the steering feel.

[0061] In addition, as shown in Figure 2 Each second elastic member 6 includes a pair of second elastic sheets 61 arranged in cross, and two ends of each second elastic sheet 61 are connected to the leg 4 and the pitch rocker arm 22 respectively. The second elastic sheet 61 can be a metal elastic sheet and can be replaced. The thickness of the second elastic sheet 61 can be adjusted to precisely adjust the damping size of the rocker arm assembly 2, so that the steering feeling can be better simulated.

[0062] Further, as shown in Figure 2 The pitch rocker arm 22 has a fifth connecting arm 225 and a sixth connecting arm 226 connected to two ends of the second branch pitch rocker 222 respectively. The pair of legs 4 has a seventh connecting arm 41 and an eighth connecting arm 42 respectively. The two ends of the fifth connecting arm 225, the sixth connecting arm 226, the seventh connecting arm 41 and the eighth connecting arm 42 are connected to different second elastic sheets 61.

[0063] Further, as shown in Figure 1 and Figure 2 The rocker input device 100 further includes a main control module, a first motor 7 and a second motor 8. The first motor 7 is connected to the first branch roll rocker 212 or the second branch roll rocker 213, and the second motor 8 is connected to the first branch pitch rocker 221. The main control module is electrically connected to the first motor 7 and the second motor 8, and is used to control the first motor 7 and / or the second motor 8 to start and stop after receiving external signals. The first motor 7 starts to give force feedback to the roll rocker 21, and the second motor 8 starts to give force feedback to the pitch rocker 22. The first motor 7 is directly connected to the roll rocker 21 through the first connecting rod 91, and the second motor 8 is connected to the pitch rocker 22 through the second connecting rod 92.

[0064] Further, as shown in Figure 1 , Figure 2 The first branch roll rocker 212 and the second branch roll rocker 213 are arc-shaped away from the two ends of the first branch pitch rocker 221. The free end of the first branch roll rocker 212 and the free end of the second branch roll rocker 213 are connected in the first direction. And the free end of the first branch roll rocker 212 and the free end of the second branch roll rocker 213 are slightly away from the first branch pitch rocker 221.

[0065] When the rocker input device 100 is used in a non-force feedback device, in a non-force feedback game scenario, the user shakes the stylus 3 to transmit the angle information to the main control program through the signal transmission module to realize the steering function. In the process of shaking the stylus 3, at least one of the first elastic member 5 and the second elastic member 6 is deformed to drive the roll rocker 21, and the stylus 3 is deflected around the geometric center surrounded by the first elastic member 5 and the second elastic member 6. When the user's finger leaves the stylus 3, the elastic member restores the deformation and drives the pitch rocker 22 and the roll rocker 21 to return to the initial state, completing the automatic return function.

[0066] When the rocker input device 100 is used in a device with force feedback, such as in a racing car, an airplane, or other force feedback game scenarios, the user shakes the stylus 3 to transmit the angle information to the main control program through the signal transmission module to realize the steering function. At the same time, the main control program controls the first motor 7 and the second motor 8 to rotate in opposite directions according to the game scenario, and applies a feedback torque to the rocker assembly 2 through the first connecting rod 91 and the second connecting rod 92, for example, Figures 3-5 In the roll steering action, that is, in the second direction, the main control program controls the first motor 7 to rotate according to the game scenario, and applies a feedback torque to the roll rocker 21 through the first connecting rod 91 to complete the force feedback operation in the roll state; for example, Figures 6-8 In the pitch steering action, that is, in the first direction, the main control program controls the second motor 8 to rotate according to the game scenario, and applies a feedback torque to the pitch rocker 22 through the second connecting rod 92 to complete the force feedback operation in the pitch state. When the stylus 3 is shaken in a direction between the first direction and the second direction, the roll rocker 21 deforms the first elastic member 5, and the pitch rocker 22 deforms the second elastic member 6. The first motor 7 and the second motor 8 are both rotated to correspondingly apply feedback force to the roll rocker 21 and the pitch rocker 22. The first motor 7 and the second motor 8 cooperate with each other to realize the force feedback function of the stylus 3 steering in any direction within ±45 degrees, that is, the angle between the stylus 3 and the vertical line of the base 1 can vary from 0° to 45°, and the stylus 3 can rotate around the vertical line of the base 1. Of course, the angle between the stylus 3 and the vertical line of the base 1 can also be more than 45°, and the first elastic member 5 and the second elastic member 6 with appropriate elasticity can be selected according to actual needs. That is, flight and driving operations are realized in the game device; in the force feedback scene, the two motors can apply opposite forces to the pitch and roll rockers to achieve the force feedback effect.

[0067] Through the above, the stylus with the gyroscope can be changed into a smart rocker device, and the shaftless structure can avoid the wear problem caused by long-term use of the shaft structure, has the advantages of simple structure, convenient manufacturing, low cost, high reliability and the like, and can realize automatic rocker return in the case of no power supply; in the case of power supply, the motor can realize the force feedback function.

[0068] The preferred embodiments of the present application have been described in detail above, but it should be understood that aspects of the embodiments can be modified to employ aspects, features and concepts of various patents, applications and publications to provide additional embodiments if desired.

[0069] In view of the foregoing detailed description, these and other variations can be made to the embodiments. In general, the terminology used in the claims is intended to be interpreted in its broadest reasonable manner, and not in a limited manner unless the context dictates otherwise. The claims should be interpreted, therefore, to include all embodiments falling within the scope of the claims and their equivalents.

[0070] Those skilled in the art can understand that the above embodiments are specific embodiments for implementing the present application, and in actual application, various changes can be made in form and details without departing from the spirit and scope of the present application.

Claims

1. A stylus-based axisless force feedback joystick input device, characterized in that: include: base; A rocker assembly, the rocker assembly being operable to achieve pitch and roll motions, the rocker assembly comprising: a roll rocker arm having an insertion slot, a pitch rocker arm fixedly connected to the base; the roll rocker arm being elastically connected to the pitch rocker arm, and the pitch rocker arm being elastically connected to the base; the rocker assembly being operable to rock with at least four degrees of freedom; a stylus pen operable to be inserted into or removed from the insertion slot; the stylus pen inserted into the insertion slot operable to drive the roll rocker arm and / or the pitch rocker arm to deflect in a vertical direction relative to the base; an angle sensor, configured to detect a swing angle of the stylus; as well as A signal transmission module is used to transmit the angle detected by the angle sensor.

2. The stylus-based axisless force feedback joystick input device according to claim 1, characterized in that: The rolling rocker arm comprises a main support rod, and a first branch rolling rocker and a second branch rolling rocker connected to the main support rod, wherein the main support rod has the insertion slot; and the first branch rolling rocker and the second branch rolling rocker form a first preset angle; The pitch rocker arm comprises a first branch pitch rocker and a second branch pitch rocker connected in a cross-connected manner, wherein an extension direction of the second branch pitch rocker forms a second preset angle with the branch roll rocker; the first branch pitch rocker extends along a first direction, and the second branch pitch rocker extends along a second direction; The first branch rolling rocker and the second branch rolling rocker are elastically connected to two ends of the first branch pitch rocker respectively; Both ends of the second branch pitch rocker are elastically connected to the base.

3. The stylus-based axisless force feedback joystick input device according to claim 2, characterized in that: The joystick input device further includes: a pair of legs, the legs being arranged on the base and being located on both sides of the extension direction of the first branch rolling rocker; a pair of first elastic members, wherein both ends of the first branch pitch rocker are respectively connected to the first branch roll rocker and the second branch roll rocker through the first elastic members; and a pair of second elastic members, wherein both ends of the second branch pitch rocker are respectively connected to the pair of legs through the second elastic members; In which, the support rod is operable to drive the rolling rocker arm and / or the pitching rocker arm to deflect relative to the vertical direction of the base; when the main support rod deflects toward the second direction, the first branch rolling rocker arm and the second branch rolling rocker arm drive the first elastic member to deform, and the first elastic member provides a rebound force to pull the first branch rolling rocker arm and the second branch rolling rocker arm to reset; when the main support rod deflects toward the first direction, the second branch pitching rocker arm drives the second elastic member to deform, and the second elastic member provides a rebound force to reset the rolling rocker arm and the pitching rocker arm.

4. The stylus-based axisless force feedback joystick input device according to claim 3, characterized in that: A line connecting a pair of legs is in the second direction; the first direction and the second direction are perpendicular to each other.

5. The stylus-based axisless force feedback joystick input device according to claim 3, characterized in that: Each of the first elastic members includes a pair of first elastic sheets, which are cross-arranged, and two ends of each of the first elastic sheets are respectively connected to the rolling rocker arm and the pitching rocker arm.

6. The stylus-based axisless force feedback joystick input device according to claim 5, characterized in that: The rolling rocker arm has a first connecting arm provided at the free end of the first branch rolling rocker arm, and a second connecting arm provided at the free end of the second branch rolling rocker arm; The pitch rocker arm has a third connecting arm and a fourth connecting arm respectively connected to the two ends of the first branch pitch rocker; The first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are arranged obliquely relative to the horizontal plane; both ends of the first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are connected to different first elastic pieces.

7. The stylus-based axisless force feedback joystick input device according to claim 6, characterized in that: Each of the second elastic members includes: a pair of second elastic sheets, which are cross-arranged; two ends of each of the second elastic sheets are respectively connected to the supporting legs and the pitch rocker arm.

8. The stylus-based axisless force feedback joystick input device according to claim 7, characterized in that: The pitch rocker arm has a fifth connecting arm and a sixth connecting arm respectively connected to the two ends of the second branch pitch rocker; The pair of legs respectively have a seventh connecting arm and an eighth connecting arm; Two ends of the fifth connecting arm, the sixth connecting arm, the seventh connecting arm, and the eighth connecting arm are connected to different second elastic pieces.

9. The stylus-based axisless force feedback joystick input device according to claim 2, wherein: The joystick input device further includes: a first motor connected to the first branch rolling rocker or the second branch rolling rocker; a second motor connected to the first branch pitch rocker; A main control module is electrically connected to the first motor and the second motor, and is used to control the start and stop of the first motor and / or the second motor after receiving an external signal; when the first motor is started, it provides force feedback to the rolling rocker arm, and when the second motor is started, it provides force feedback to the pitching rocker arm.

10. The stylus-based axisless force feedback joystick input device according to claim 2, wherein: The first branch roll rocker and the second branch roll rocker are in an arc shape away from two ends of the first branch pitch rocker; A line connecting the free end of the first branch rolling rocker and the free end of the second branch rolling rocker is in a first direction.

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