A small three-degree-of-freedom rocker

Abstract

The application discloses a small three-degree-of-freedom rocker, relates to the technical field of human-computer interaction control devices, and comprises a shell, a push rod and a handle, wherein an X / Y-axis movement mechanism is arranged in the shell and corresponds to the lower end of the push rod, a Z-axis movement mechanism is arranged in the handle and corresponds to the upper end of the push rod, the X / Y-axis movement mechanism converts the inclination of the push rod into X / Y-axis rotary movement, and the Z-axis movement mechanism converts the rotation of the handle into the rotary movement of a Z-axis rotating shaft; the modular design of the X / Y-axis movement mechanism and the Z-axis movement mechanism is separated and arranged, the problem of multi-degree-of-freedom movement interference is effectively solved, and the operation precision is improved; the Hall sensor rotary detection module is adopted to replace a traditional potentiometer, signal drift caused by mechanical wear is avoided, and the service life is significantly prolonged; the integrated design of the PCB control board reduces the overall volume, and the embedded mounting structure in the shell cavity is matched, so that the miniaturization degree of the product is improved, the machining and assembly precision of mechanical parts are low, and the production cost is greatly reduced.

Description

Technical Field

[0001] This invention belongs to the field of human-computer interaction control equipment technology, specifically a small three-degree-of-freedom joystick. Background Technology

[0002] Traditional three-degree-of-freedom joysticks, which support X-axis and Y-axis push and Z-axis rotation, generally employ multi-stage gears, linkages, or potentiometers for mechanical transmission and sensing. These traditional structures have several drawbacks: First, their multi-stage transmission mechanisms result in a large overall size, making them difficult to integrate into modern, space-constrained miniaturized devices; second, inherent friction and clearances between mechanical components lead to low control precision and large feedback errors, affecting operational sensitivity and accuracy; third, mechanical components are prone to wear after prolonged use, leading to structural loosening, deformation, or failure, resulting in poor reliability; finally, achieving high precision requires extremely high machining and assembly accuracy of mechanical parts, resulting in high production costs. Summary of the Invention

[0003] The purpose of this invention is to provide a small three-degree-of-freedom joystick to address the problems existing in the prior art.

[0004] The technical solution to achieve the purpose of this invention is as follows: a small three-degree-of-freedom joystick, including a housing, a push rod, and a handle. The push rod is disposed inside the housing. An X / Y axis motion mechanism is disposed inside the housing corresponding to the lower end of the push rod. A Z axis motion mechanism is disposed inside the handle corresponding to the upper end of the push rod. The X / Y axis motion mechanism is used to convert the tilt of the push rod into X / Y axis rotational motion. The Z axis motion mechanism is used to convert the rotation of the handle into Z axis rotational motion. Hall sensor rotation detection modules are disposed on both the X / Y axis motion mechanism and the Z axis motion mechanism to convert the rotation angle of the X / Y axis motion mechanism and the Z axis motion mechanism into voltage signals. A PCB control board is embedded in the bottom of the inner cavity of the housing, and a signal line socket is disposed on one side of the bottom of the housing. The electrical signal of the Hall sensor rotation detection module is processed by the PCB control board and then output to the outside through the signal line socket.

[0005] Furthermore, the X / Y axis motion mechanism includes a docking mounting base. A top panel is fixedly connected to the upper end of the housing. The docking mounting base is inserted and fixed to the center of the top panel. A downwardly recessed mounting box is provided at the center of the docking mounting base. An X-axis rotating shaft is rotatably mounted on the left and right sides of the mounting box via bearings. A through-hole is opened at the center of the X-axis rotating shaft, and a push rod is rotatably pinned to the center of the through-hole. A transition semi-circular bridge is fixedly mounted at the bottom of the push rod, and Y-axis rotating shafts are fixedly connected to both sides of the transition semi-circular bridge. The outer sides of the Y-axis rotating shafts on both sides are rotatably mounted to the center of the front and rear sidewalls of the Y-axis Hall sensor via bearings. The Hall sensor rotation detection module includes an X-axis Hall sensor and a Y-axis Hall sensor. The outer side of the X-axis Hall sensor corresponding to the outer end of the X-axis rotating shaft is fixed to the outer wall of the docking mounting base. The outer side of the Y-axis rotating shaft corresponding to the Y-axis Hall sensor is fixed to the outer wall of the docking mounting base. A permanent magnet block is fixedly connected to the outer ends of the X-axis rotating shaft and the Y-axis rotating shaft corresponding to the X-axis Hall sensor.

[0006] Furthermore, the upper side of the docking mounting base is provided with a horn-shaped docking cylinder wall, and the outer wall of the push rod is movably sleeved with a docking slider. The lower end of the docking slider is provided with a tapered head with the small end facing downward, and the tapered head matches the horn-shaped docking cylinder wall. The upper end of the outer wall of the push rod is sleeved with an adjusting sleeve, and the side wall of the adjusting sleeve is threaded with a sleeve fixing screw. The inner end of the sleeve fixing screw passes through the adjusting sleeve and abuts against the side wall of the push rod. The outer wall of the push rod is sleeved between the adjusting sleeve and the docking slider, and the two ends of the return compression spring abut against the bottom of the adjusting sleeve and the top of the docking slider, respectively.

[0007] Furthermore, a dustproof corrugated cover is fixedly connected to the upper end of the outer wall of the push rod, and the lower end of the dustproof corrugated cover abuts against the upper end of the top panel.

[0008] Furthermore, a fixed protruding edge is provided on the bottom outer side of the dustproof corrugated cover, and a fixed pressure plate is fixedly connected to the upper end of the top panel corresponding to the fixed protruding edge on the lower side of the dustproof corrugated cover.

[0009] Furthermore, the Z-axis motion mechanism includes a Z-axis rotary seat and a handle. The Z-axis rotary seat is sleeved and fixed to the upper end of the push rod. The handle includes upper and lower half-covers, which are rotatably connected to the upper and lower ends of the Z-axis rotary seat via bearings. The upper and lower half-covers of the handle are fixedly connected after being aligned. The Hall sensor rotation detection module also includes a Z-axis Hall sensor. The Z-axis Hall sensor is fixedly installed inside the upper half-cover of the handle, corresponding to the center of the upper end of the Z-axis rotary seat. A permanent magnet block is fixedly connected to the center of the upper end of the Z-axis rotary seat.

[0010] Furthermore, a pre-tightening torsion spring is sleeved on the upper end of the outer wall of the Z-axis rotary seat, and the lower end of the pre-tightening torsion spring is fixedly connected to the Z-axis rotary seat. A movable lever is fixedly connected to the upper end of the pre-tightening torsion spring. A lever fixing seat is fixedly connected to the middle of the upper half cover of the handle, and a handle lever is fixedly connected to one side of the lever fixing seat. The handle lever abuts against the movable lever.

[0011] Furthermore, a lever fixing bolt is inserted through the upper end of the lever fixing seat corresponding to the position of the handle lever, and the bottom of the lever fixing bolt is threadedly connected to the upper end of the handle lever.

[0012] Furthermore, the handle lever is an elliptical flat shaft.

[0013] Furthermore, a boss is provided on the side wall of the Z-axis rotary seat corresponding to the starting position of the movable lever, and a positioning pin is fixedly connected to the upper center of the boss corresponding to the position of the movable lever, and the positioning pin abuts against the movable lever.

[0014] Compared with the prior art, the significant advantages of this invention are:

[0015] (1) The present invention effectively solves the problem of multi-degree-of-freedom motion interference by separating the X / Y axis motion mechanism and the Z axis motion mechanism through modular design, and improves the operation accuracy; the use of Hall sensor rotation detection module to replace traditional potentiometer avoids signal drift caused by mechanical wear and significantly extends service life; the integrated design of PCB control board reduces the overall volume, and the embedded installation structure in the inner cavity of the shell improves the miniaturization of the product, reduces the requirements for the processing and assembly accuracy of mechanical parts, and greatly reduces production costs.

[0016] (2) When the push rod is released, the reset compression spring will quickly take effect, pushing the docking slider to slide down along the wall of the horn docking cylinder. Through the docking guide between the horn docking cylinder wall and the docking slider contact surface, the push rod can quickly return to its initial position, improving the convenience of operation and response speed. Adjusting the cooperation between the sliding sleeve and the sliding sleeve fixing screw can adjust the preload of the reset compression spring according to actual needs, thereby flexibly controlling the reset speed and force of the push rod, enhancing the practicality and adaptability of this small three-degree-of-freedom rocker structure.

[0017] (3) This invention utilizes a pre-tensioned torsion spring, a movable lever, a lever fixing seat, and a handle lever in coordination. The pre-tensioned torsion spring generates a pre-tensioning force opposite to the rotation direction of the handle lever. When the handle rotates in the Z-axis direction, the handle lever rotates accordingly and pushes the movable lever. The movable lever further twists the pre-tensioned torsion spring, providing rotational resistance to the handle. This allows the operator to feel clearer feedback when rotating the handle, enhancing the tactile sensation of operation. Simultaneously, when the handle is released, the elastic restoring force of the pre-tensioned torsion spring causes the movable lever to rotate in the opposite direction, thereby pushing the handle lever and the entire handle back to their initial position. This ensures that the handle can automatically and accurately reset when no external force is applied, improving the stability and reliability of operation. This design not only optimizes the operating experience but also reduces operational errors that may result from inaccurate manual reset.

[0018] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0019] Figure 1 This is a perspective view of a small three-degree-of-freedom joystick in one embodiment.

[0020] Figure 2 This is a front sectional view of a small three-degree-of-freedom rocker in one embodiment.

[0021] Figure 3 yes Figure 2 Enlarged view of point A in the middle.

[0022] Figure 4 This is a side sectional view of a small three-degree-of-freedom rocker in one embodiment.

[0023] Figure 5 yes Figure 4 Enlarged view of point B in the middle.

[0024] Figure 6 This is a top sectional view of the small three-degree-of-freedom joystick corresponding to the handle lever in one embodiment.

[0025] Reference numerals: 1. Outer shell; 2. Top panel; 3. Docking mounting base; 4. X-axis pivot; 5. Through-hole; 6. Push rod; 7. Adapter semi-circular bridge; 8. Y-axis pivot; 9. X-axis Hall sensor; 10. Y-axis Hall sensor; 11. Z-axis pivot; 12. Handle; 13. Permanent magnet; 14. Z-axis Hall sensor; 15. Preload torsion spring; 16. Movable lever; 17. Positioning pin; 18. Handle lever; 19. Horn docking cylinder wall; 20. Docking slider; 21. Return compression spring; 22. Adjusting sleeve; 23. Sleeve fixing screw; 24. Dustproof corrugated cover; 25. Fixing pressure plate; 26. PCB control board; 27. Signal line socket; 28. Lever fixing base; 29. ​​Lever fixing bolt. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0027] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0028] In one embodiment, combined Figure 1 - Figure 6 This invention provides a small three-degree-of-freedom rocker structure, including a housing 1, a push rod 6, and a handle 12. The push rod 6 is disposed inside the housing 1. An X / Y axis motion mechanism is disposed inside the housing 1 corresponding to the lower end of the push rod 6. A Z axis motion mechanism is disposed inside the handle 12 corresponding to the upper end of the push rod 6. The X / Y axis motion mechanism converts the tilt of the push rod 6 into X / Y axis rotational motion, and the Z axis motion mechanism converts the rotation of the handle 12 into Z axis rotational motion. Hall sensor rotation detection modules are disposed on the X / Y axis motion mechanism and the Z axis motion mechanism. The rotation angle of the X / Y axis motion mechanism and the Z axis motion mechanism is converted into voltage signals by the Hall sensor rotation detection modules. A PCB control board 26 is embedded in the bottom of the inner cavity of the housing 1, and a signal line socket 27 is disposed on one side of the bottom of the housing 1. The electrical signal of the Hall sensor rotation detection module is processed by the PCB control board 26 and then output to the outside through the signal line socket 27.

[0029] When the operator pushes the push rod 6 to tilt it forward, backward, left, or right, the rotating shaft in the X / Y axis motion mechanism will cause the corresponding permanent magnet block 13 to undergo displacement changes. The X-axis Hall sensor 9 and the Y-axis Hall sensor 10 respectively capture these changes and generate corresponding voltage signals. In the Z-axis direction, the rotation of the handle 12 will directly drive the Z-axis Hall sensor 14 to rotate, so that it continuously monitors the rotation angle change of the permanent magnet block 13 during the rotation of the handle 12. All the collected voltage signals are transmitted to the PCB control board 26 at the bottom of the inner cavity of the housing 1. The PCB control board 26 has a built-in signal processing circuit, which can amplify, filter, and digitize the input analog voltage signals, and finally output the processed digital signals to external devices through the signal cable socket on the side of the housing. This signal acquisition and transmission method ensures that the operation commands can be converted into electrical signal output in real time and accurately, providing reliable data support for subsequent control or feedback systems.

[0030] Compared to traditional joystick structures, this invention effectively solves the problem of multi-degree-of-freedom motion interference by separating the X / Y axis motion mechanism and the Z axis motion mechanism through a modular design, thereby improving operational accuracy. The use of a Hall sensor rotation detection module instead of a traditional potentiometer avoids signal drift caused by mechanical wear, significantly extending service life. The integrated design of the PCB control board reduces the overall size, and the embedded mounting structure within the housing further enhances product miniaturization, lowers the requirements for machining and assembly precision of mechanical parts, and greatly reduces production costs.

[0031] Furthermore, in one embodiment, the X / Y axis motion mechanism includes a docking mounting base 3. A top panel 2 is fixedly connected to the upper end of the housing 1, and the docking mounting base 3 is inserted and fixed to the center of the top panel 2. A downwardly recessed mounting box is provided at the center of the docking mounting base 3, and an X-axis rotating shaft 4 is rotatably mounted on the left and right sides of the mounting box via bearings. A through rotating hole 5 is provided at the center of the X-axis rotating shaft 4, and a push rod 6 is pinned to the center of the through rotating hole 5. A transition semicircular bridge 7 is fixedly mounted at the bottom of the push rod 6 via a nut, and the transition semicircular bridge 7... Y-axis rotating shafts 8 are fixedly connected to both sides of bridge 7. The outer sides of the Y-axis rotating shafts 8 are rotated and installed with bearings to the center of the front and rear side walls of bridge 0. The Hall sensor rotation detection module includes an X-axis Hall sensor 9 and a Y-axis Hall sensor 10. The outer side of the X-axis Hall sensor 9 corresponding to the outer end of the X-axis rotating shaft 4 is fixed to the outer wall of the docking mounting base 3. The outer side of the Y-axis rotating shaft 8 corresponding to the Y-axis Hall sensor 10 is fixed to the outer wall of the docking mounting base 3. A permanent magnet block 13 is fixedly connected to the outer end of the X-axis rotating shaft 4 and the Y-axis rotating shaft 8 corresponding to the outer end of the X-axis Hall sensor 9.

[0032] Here, the unique structural design of the X / Y axis motion mechanism ensures flexible rotation of the joystick in the X and Y axes. When the push rod 6 is operated, its rotation in the X-axis direction directly drives the X-axis rotating shaft 4 to rotate, and its rotation in the Y-axis direction pushes the push rod 6 to rotate within the through-hole 5. This motion is then transmitted to the Y-axis rotating shaft 8 via the connecting semi-circular bridge 7, achieving rotation in the Y-axis direction. During rotation, the X-axis Hall sensor 9 and the Y-axis Hall sensor 10 detect the rotation of the X-axis rotating shaft 4 and the Y-axis rotating shaft 8, respectively. By sensing the positional change of the permanent magnet 13, they accurately capture every subtle movement of the joystick and convert it into an electrical signal output, providing accurate data for subsequent control and processing. Through this series of precision components and sensors, this small three-degree-of-freedom joystick structure not only achieves high-precision motion control but also greatly improves the stability and reliability of operation.

[0033] More preferably, the upper side of the docking mounting base 3 is provided with a horn docking cylinder wall 19, and the outer wall of the push rod 6 is movably sleeved with a docking slider 20. The lower end of the docking slider 20 is provided with a cone-shaped head with the small end facing down, and the cone-shaped head matches the horn docking cylinder wall 19. The upper end of the outer wall of the push rod 6 is sleeved with an adjusting sleeve 22, and the side wall of the adjusting sleeve 22 is threaded with a sleeve fixing screw 23. The inner end of the sleeve fixing screw 23 passes through the adjusting sleeve 22 and abuts against the side wall of the push rod 6. The outer wall of the push rod 6 is sleeved with a return compression spring 21 between the adjusting sleeve 22 and the docking slider 20, and the two ends of the return compression spring 21 abut against the bottom of the adjusting sleeve 22 and the top of the docking slider 20, respectively.

[0034] Here, through the horn-shaped docking cylinder wall 19 and the docking slider 20, when the push rod 6 is operated, the docking slider 20 slides within the horn-shaped docking cylinder wall 19 as the push rod 6 moves. Its conical head design makes the sliding process smoother and more stable, effectively reducing friction and jamming. When the push rod 6 is released, the return compression spring 21 quickly takes effect, pushing the docking slider 20 downwards along the horn-shaped docking cylinder wall 19. Through the docking guide of the contact surface between the horn-shaped docking cylinder wall 19 and the docking slider 20, the push rod 6 quickly returns to its initial position, improving the convenience of operation and response speed. Adjusting the cooperation between the sliding sleeve 22 and the sliding sleeve fixing screw 23 allows the preload of the return compression spring 21 to be adjusted according to actual needs, thereby flexibly controlling the return speed and force of the push rod 6, enhancing the practicality and adaptability of this small three-degree-of-freedom rocker structure.

[0035] More preferably, a dustproof corrugated cover 24 is fixedly connected to the upper end of the outer wall of the push rod 6, and the lower end of the dustproof corrugated cover 24 abuts against the upper end of the top panel 2. A fixed protruding edge is provided on the outer side of the bottom of the dustproof corrugated cover 24, and a fixed pressure plate 25 is fixedly connected to the upper end of the top panel 2 corresponding to the fixed protruding edge on the lower side of the dustproof corrugated cover 24.

[0036] Here, the dustproof corrugated cover 24 effectively prevents dust and debris from entering the rocker arm structure, avoiding the impact of dust accumulation on the smooth sliding of the push rod 6 and the normal operation of internal parts, thereby extending the service life of the entire small three-degree-of-freedom rocker arm structure. Simultaneously, the lower end of the dustproof corrugated cover 24 abuts against the upper end of the top panel 2, and a fixed protrusion is provided on the outer bottom side. Combined with the corresponding fixed pressure plate 25 on the upper end of the top panel 2, the dustproof corrugated cover 24 can be securely installed between the outer wall of the push rod 6 and the top panel 2. When the push rod 6 is operated and moved, the dustproof corrugated cover 24 can flexibly extend and retract, ensuring good dustproof performance without obstructing the normal movement of the push rod 6.

[0037] Furthermore, in one embodiment, the Z-axis motion mechanism includes a Z-axis rotary seat 11 and a handle 12. The Z-axis rotary seat 11 is sleeved and fixed to the upper end of the push rod 6. The handle 12 includes two half-covers, and the two half-covers are rotatably connected to the upper and lower ends of the Z-axis rotary seat 11 through bearings. The two half-covers of the handle 12 are fixedly connected by screws after they are engaged. The Hall sensor rotation detection module also includes a Z-axis Hall sensor 14. The Z-axis Hall sensor 14 is fixedly installed in the upper half-cover of the handle 12 and is set at the upper center of the Z-axis rotary seat 11. A permanent magnet block 13 is fixedly connected to the upper center of the Z-axis rotary seat 11.

[0038] Here, the Z-axis motion mechanism, with its stable connection between the Z-axis rotary seat 11 and the upper end of the push rod 6, provides a reliable support foundation for the rotation of the handle 12. The handle 12 employs a design where two half-covers, upper and lower, are rotatably connected to the Z-axis rotary seat 11 via bearings. This structure allows the handle 12 to rotate flexibly in the Z-axis direction. The upper and lower half-covers are then fixed together with screws, ensuring the overall structural strength and stability of the handle 12 while facilitating the installation of internal components. The Z-axis Hall sensor 14 is fixedly installed inside the upper half-cover of the handle 12, corresponding to the center of the upper end of the Z-axis rotary seat 11. It cooperates with the permanent magnet block 13, which is fixedly connected to the center of the upper end of the Z-axis rotary seat 11. When the handle 12 rotates in the Z-axis direction, the permanent magnet block 13 rotates accordingly. The Z-axis Hall sensor 14 can accurately detect changes in the magnetic field generated by the permanent magnet block 13, thereby precisely acquiring the rotation information of the handle 12 in the Z-axis direction. This provides crucial data support for the precise control of the entire small three-degree-of-freedom joystick structure, improving the operational accuracy and flexibility of the joystick structure in three-dimensional space.

[0039] More preferably, a preloaded torsion spring 15 is sleeved on the upper end of the outer wall of the Z-axis rotary seat 11, and the lower end of the preloaded torsion spring 15 is fixedly connected to the Z-axis rotary seat 11. A movable lever 16 is fixedly connected to the upper end of the preloaded torsion spring 15. A lever fixing seat 28 is fixedly connected to the middle of the upper half cover of the handle 12, and a handle lever 18 is fixedly connected to one side of the lever fixing seat 28. The handle lever 18 abuts against the movable lever 16.

[0040] Here, through the cooperation of the pre-tensioning torsion spring 15, the movable lever 16, the lever fixing seat 28, and the handle lever 18, the pre-tensioning torsion spring 15 generates a pre-tensioning force opposite to the rotation direction of the handle lever 18. When the handle 12 rotates in the Z-axis direction, the handle lever 18 rotates accordingly and pushes the movable lever 16. The movable lever 16 further twists the pre-tensioning torsion spring 15, providing rotational resistance to the handle 12. This allows the operator to feel clearer feedback when rotating the handle 12, enhancing the tactile feel of the operation. Simultaneously, when the handle 12 is released, the elastic restoring force of the pre-tensioning torsion spring 15 drives the movable lever 16 to rotate in the opposite direction, thereby pushing the handle lever 18 and the handle 12 back to their initial position. This ensures that the handle 12 can automatically and accurately reset without external force, improving operational stability and reliability. This design not only optimizes the user experience but also reduces operational errors that may result from inaccurate manual reset.

[0041] More preferably, the handle lever 18 is an elliptical flat shaft, and a lever fixing bolt 29 is inserted through the upper end of the lever fixing seat 28 corresponding to the position of the handle lever 18. The bottom of the lever fixing bolt 29 is threadedly connected to the upper end of the handle lever 18.

[0042] Here, the elliptical flat shaft design of the handle lever 18 allows the rotation of the handle lever 18 to adjust the contact position between the handle lever 18 and the movable lever 16. When the contact position is far away from the pre-tensioned torsion spring 15, the resistance to the rotation of the handle 12 increases, and the operator can perceive the feedback more clearly. When the contact position is close to the pre-tensioned torsion spring 15, the handle 12 rotates more easily. This design allows the operator to flexibly adjust the resistance of the handle 12 according to actual needs and usage habits, thereby obtaining a more comfortable operating experience that better suits their personal operating style.

[0043] More preferably, a boss is provided on the side wall of the Z-axis rotary seat 11 corresponding to the starting position of the movable lever 16, and a positioning pin 17 is fixedly connected to the upper center of the boss corresponding to the position of the movable lever 16, and the positioning pin 17 abuts against the movable lever 16.

[0044] Here, the positioning pin 17 is used to fix the reset position of the movable lever 16. When the handle 12 automatically resets without external force, the movable lever 16 will rotate to the position against the positioning pin 17 under the elastic restoring force of the pre-tightened torsion spring 15. This ensures that the movable lever 16 can return to a uniform and accurate initial position each time it resets, avoiding subsequent operational instability or data errors that may be caused by reset position deviation, and improving the operational accuracy and reliability of this small three-degree-of-freedom rocker structure.

[0045] It should be noted that for components without special structural limitations, any component that can achieve the corresponding function in the existing technology is acceptable.

[0046] It should also be noted that the above-mentioned settings, installations, connections, and fixations can be made using, but are not limited to, bolts, threads, etc. Any existing fixed or movable connection scheme can be adapted, as long as the corresponding function can be achieved.

[0047] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention without departing from its spirit and scope should be included within the protection scope of the present invention.

Claims

1. A small three-degree-of-freedom rocker, characterized in that, The device includes a housing (1), a push rod (6), and a handle (12). The push rod (6) is located inside the housing (1). An X / Y axis motion mechanism is provided inside the housing (1) corresponding to the lower end of the push rod (6). A Z axis motion mechanism is provided inside the handle (12) corresponding to the upper end of the push rod (6). The X / Y axis motion mechanism is used to convert the tilt of the push rod (6) into X / Y axis rotational motion. The Z axis motion mechanism is used to convert the rotation of the handle (12) into Z axis rotational motion. Hall sensor rotation detection modules are provided on both the X / Y axis motion mechanism and the Z axis motion mechanism to convert the rotation angle of the X / Y axis motion mechanism and the Z axis motion mechanism into voltage signals. A PCB control board (26) is embedded at the bottom of the inner cavity of the housing (1). A signal line socket (27) is provided on one side of the bottom of the housing (1). The electrical signal of the Hall sensor rotation detection module is processed by the PCB control board (26) and then output to the outside through the signal line socket (27). The X / Y axis motion mechanism includes a docking mounting base (3). A top panel (2) is fixedly connected to the upper end of the outer shell (1). The docking mounting base (3) is inserted and fixed to the center of the top panel (2). A recessed mounting box is provided at the center of the docking mounting base (3). An X-axis rotating shaft (4) is rotatably mounted on the left and right sides of the mounting box via bearings. A through rotating hole (5) is provided at the center of the X-axis rotating shaft (4). A push rod (6) is rotatably connected to the center of the through rotating hole (5). A transition semicircular bridge (7) is fixedly mounted at the bottom of the push rod (6). A transition semicircular bridge (7) is fixedly connected to both sides of the transition semicircular bridge (7). Y-axis rotating shaft (8), the outer sides of the Y-axis rotating shaft (8) on both sides are rotated and installed with bearings to the center of the front and rear side walls of the docking mounting base (3). The Hall sensor rotation detection module includes an X-axis Hall sensor (9) and a Y-axis Hall sensor (10). The X-axis Hall sensor (9) is fixed to the outer wall of the docking mounting base (3) on one side corresponding to the outer end of the X-axis rotating shaft (4). The outer side of the Y-axis rotating shaft (8) on one side corresponding to the Y-axis Hall sensor (10) is fixed to the outer wall of the docking mounting base (3). A permanent magnet block (13) is fixedly connected to the outer end of the X-axis rotating shaft (4) and the Y-axis rotating shaft (8) on one side corresponding to the outer end of the X-axis Hall sensor (9). The Z-axis motion mechanism includes a Z-axis rotary seat (11) and a handle (12). The Z-axis rotary seat (11) is sleeved and fixed to the upper end of the push rod (6). The handle (12) includes upper and lower half covers, and the upper and lower half covers are rotatably connected to the upper and lower ends of the Z-axis rotary seat (11) through bearings respectively. The upper and lower half covers of the handle (12) are fixedly connected after being aligned. The Hall sensor rotation detection module also includes a Z-axis Hall sensor (14). The Z-axis Hall sensor (14) is fixedly installed in the upper half cover of the handle (12) and is set at the upper center of the Z-axis rotary seat (11). A permanent magnet block (13) is fixedly connected to the upper center of the Z-axis rotary seat (11).

2. The small three-degree-of-freedom rocker according to claim 1, characterized in that, The upper side of the docking mounting base (3) is provided with a horn docking cylinder wall (19). The outer wall of the push rod (6) is movably sleeved with a docking slider (20). The lower end of the docking slider (20) is provided with a cone head with the small end facing down, and the cone head matches the horn docking cylinder wall (19). The upper end of the outer wall of the push rod (6) is sleeved with an adjusting sleeve (22), and the side wall of the adjusting sleeve (22) is threaded with a sleeve fixing screw (23). The inner end of the sleeve fixing screw (23) passes through the adjusting sleeve (22) and abuts against the side wall of the push rod (6). The outer wall of the push rod (6) is sleeved with a return compression spring (21) between the adjusting sleeve (22) and the docking slider (20), and the two ends of the return compression spring (21) abut against the bottom of the adjusting sleeve (22) and the top of the docking slider (20) respectively.

3. The small three-degree-of-freedom rocker according to claim 2, characterized in that, The upper end of the outer wall of the push rod (6) is fixedly connected to a dustproof corrugated cover (24), and the lower end of the dustproof corrugated cover (24) abuts against the upper end of the top panel (2).

4. The small three-degree-of-freedom rocker according to claim 3, characterized in that, The bottom outer side of the dustproof corrugated cover (24) is provided with a fixed protrusion, and the top panel (2) is fixedly connected to the fixed protrusion on the lower side of the dustproof corrugated cover (24) with a fixed pressure plate (25).

5. The small three-degree-of-freedom rocker according to claim 1, characterized in that, A pre-tightening torsion spring (15) is sleeved on the upper end of the outer wall of the Z-axis rotary seat (11), and the lower end of the pre-tightening torsion spring (15) is fixedly connected to the Z-axis rotary seat (11). A movable lever (16) is fixedly connected to the upper end of the pre-tightening torsion spring (15). A lever fixing seat (28) is fixedly connected to the middle of the upper half cover of the handle (12), and a handle lever (18) is fixedly connected to one side of the lever fixing seat (28). The handle lever (18) abuts against the movable lever (16).

6. The small three-degree-of-freedom rocker according to claim 5, characterized in that, The upper end of the lever fixing seat (28) is provided with a lever fixing bolt (29) through the lever corresponding to the position of the handle lever (18), and the bottom of the lever fixing bolt (29) is threadedly connected to the upper end of the handle lever (18).

7. The small three-degree-of-freedom rocker according to claim 5, characterized in that, The handle lever (18) is an elliptical flat shaft.

8. The small three-degree-of-freedom rocker according to claim 5, characterized in that, The side wall of the Z-axis rotary seat (11) is provided with a boss at the starting position of the movable lever (16), and a positioning pin (17) is fixedly connected to the upper center of the boss at the position of the movable lever (16), and the positioning pin (17) abuts against the movable lever (16).

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