A cross-shaped rocker

Abstract

The application discloses a cross rocker, which comprises a rocker, a magnet installed at the end of the rocker, and a magnetic sensor matched with the magnet, wherein a groove is formed on the side of the magnet away from the rocker, and the magnetic sensor is arranged below the groove and can sense the magnetic field of the magnet. The magnet and the magnetic sensor are arranged in a non-contact mode, which can effectively prevent physical abrasion between the magnetic sensor and the magnet and prolong the service life of the rocker. The magnet with the groove and the optimized shape of the magnet are adopted, and the magnetic sensor and the magnet are used for adaptive sensing, so that the motion track of the rocker can be converted into a linear magnetic field curve, and a linear output curve can be obtained after the response curve of the magnetic sensor is matched, thereby enabling the rocker to transmit linear feedback to the operator, and the linear feedback can achieve the feedback effect of a contact type or a mechanical resistance.

Description

Technical Field

[0001] This invention relates to the field of human-computer interaction device technology, and specifically to a cross joystick. Background Technology

[0002] As a commonly used human-computer interaction control component, the joystick's control precision, stability, and lifespan directly determine the user experience and operational reliability of the device. Currently, joysticks on the market are mainly divided into two categories: traditional potentiometer joysticks and magnetic induction joysticks. Among them, traditional potentiometer joysticks achieve signal conversion through physical friction between metal contacts and carbon film. This results in problems such as severe physical wear, easy carbon powder accumulation, short lifespan (usually not exceeding 500,000 operations), and joystick drift, making it difficult to meet the application requirements of high precision and long lifespan.

[0003] Most existing magnetic induction joysticks use a dual-linear Hall sensor combined with a dual-magnet structure, such as... Figure 12 The nonlinear magnetic field variation curve shown in the figure represents the magnetic field strength generated by the magnet at the sensor location when the rocker arm is swung, with the vertical axis representing the magnetic induction intensity at the sensor location. The horizontal axis represents the swing angle of the magnet when the rocker arm is swung. Displacement detection is achieved by detecting changes in the single-dimensional magnetic field. Although this solves the problem of physical wear in traditional potentiometer-type rockers, this structure has significant drawbacks. Traditional bilinear Hall sensors can only detect linear displacement along the X and Y axes separately, and the magnets used are mostly conventional flat or cylindrical, with a nonlinear magnetic field distribution (e.g., ...). Figure 12 As shown in the figure, when the joystick makes a circular or oblique motion, the magnetic field change curve is prone to distortion, leading to the accumulation of nonlinear errors and the formation of a "dead zone". This causes the control trajectory to deviate from the ideal circle, seriously affecting the control accuracy. Summary of the Invention

[0004] Therefore, the present invention aims to solve the problem that the magnetic field change curve of the existing magnetic induction operation joystick is nonlinear and prone to distortion when it makes circular or oblique movements, resulting in the accumulation of nonlinear errors and poor control accuracy, and thus provides a cross joystick.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: A cross-shaped joystick includes a joystick, a magnet, and a magnetic sensor. The magnet is fixedly connected to the joystick and swings around an axis of rotation with the joystick. The magnetic sensor is spaced apart from the magnet and is used to sense the magnetic field vector of the magnet. The magnet is an axially magnetized concave cylindrical magnet, and a groove is provided on the side of the magnet facing the magnetic sensor.

[0006] Furthermore, when the magnet swings with the remote control lever, the magnetic field vector sensed by the magnetic sensor is linearly related to the swing angle of the magnet.

[0007] Furthermore, the magnetic sensor is a TMR sensor.

[0008] Furthermore, the magnet is cylindrical, the groove is in the shape of a body of revolution, and the central axis of the groove is the same as the central axis of the magnet.

[0009] Furthermore, the groove has a rectangular or conical cross-section.

[0010] Furthermore, one end of the remote control lever is fixed to the center of the end face of the magnet near the remote control lever; when the magnet swings to a position where its circular end face is parallel to the magnetic sensor, the central axis of the magnetic sensor and the central axis of the groove are coaxial.

[0011] Furthermore, the diameter of the circular end face of the magnet is D1, and the diameter of the groove opening is D2, satisfying: 1≥D2:D1≥0.5.

[0012] Furthermore, the axial thickness of the magnet is H1, and the groove depth is H2, satisfying: 1 > H2: H1 ≥ 0.5.

[0013] Furthermore, the included angle between the bottom wall of the groove and the side wall of the groove is α, which satisfies: 150°≥α≥90°.

[0014] Furthermore, the maximum swing angle of the remote control lever is ±17°-±26°.

[0015] The technical solution of this invention has the following advantages: The cross joystick provided by this invention, by setting a magnetic sensor that corresponds to and cooperates with a magnet, and by setting a non-contact spacing between the magnet and the magnetic sensor, effectively eliminates physical wear of the magnetic sensor and the magnet, improves the lifespan of the joystick, and makes the pushing feel better. By using a magnet with grooves and optimizing the shape of the magnet, the movement trajectory of the joystick can be converted into a linear magnetic field curve. At the same time, by using the magnetic sensor to adapt and sense the magnet, and by matching the response curve of the magnetic sensor, a linear output curve can be obtained, realizing linear output and transmitting linear feedback to the operator. This linear feedback can achieve the feedback effect of contact or mechanical resistance. By setting a magnet with grooves, no software or hardware upgrades are required, which can reduce production costs. At the same time, the use of a non-contact magnetoresistive magnetic sensor to achieve linear curve output can also avoid the noise caused by mechanical resistance, providing a low-noise operating environment for the operator and ensuring the user experience of the cross joystick. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the cross rocker arm provided in this invention; Figure 2 This is a schematic diagram of the cross rocker arm in its swinging state as provided in this invention; Figure 3 This is a three-dimensional structural diagram of the magnet in this invention; Figure 4 This is a schematic diagram of the magnet structure in this invention; Figure 5 This is a schematic diagram of the structure of the magnet with a frustum-shaped groove in this invention; Figure 6 This is a schematic diagram of the structure of the magnet with a rectangular groove in this invention; Figure 7 This is a schematic diagram of the structure of the magnet with a conical groove in this invention; Figure 8 This is a schematic diagram of the structure of the magnet with a spherical groove in this invention; Figure 9 This is a schematic diagram of the magnetic field lines distribution and oscillation trajectory of the magnet provided in this invention. Figure 10 for Figure 9 A schematic diagram of the magnetic field change curve corresponding to the oscillation trajectory of the magnet; Figure 11 A schematic diagram of the magnetic field lines distribution and oscillation trajectory of a cylindrical magnet in the prior art; Figure 12 for Figure 11 A schematic diagram of the magnetic field change curve corresponding to the oscillation trajectory of the magnet; Figure 13 This is a schematic diagram of the output curve of the magnetic sensor provided in this invention; Figure 14 This is a schematic diagram of the response curve of the magnetic sensor provided in this invention under ideal conditions; Figure 15 This is a schematic diagram of the magnetic field curve corresponding to the ideal swing trajectory of the magnet provided in this invention. Figure 16 This is a schematic diagram of the output curve of the sensor provided in this invention under ideal conditions; Explanation of reference numerals in the attached drawings: 1. Remote control lever; 101. Rotating shaft; 2. Magnet; 3. Groove; 4. Magnetic sensor; a1. First end; a2. Second end. Detailed Implementation

[0018] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this invention, it should be noted that the TMR sensor is a tunnel magnetoresistive sensor.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0023] like Figures 1-8 The cross-shaped rocker arm shown includes a remote control lever 1, a magnet 2, and a magnetic sensor 4. The magnet 2 is fixedly connected to the remote control lever 1 and swings with the remote control lever 1 around the axis of a rotating shaft 101. The magnetic sensor 4 is spaced apart from the magnet 2 and is used to sense the magnetic field of the magnet 2. The magnet 2 is an axially magnetized concave cylindrical magnet, and a groove 3 is provided on the side of the magnet 2 facing the magnetic sensor 4.

[0024] This cross joystick, by setting a magnetic sensor 4 that corresponds to and cooperates with the magnet 2, and by setting a non-contact spacing between the magnet 2 and the magnetic sensor 4, effectively eliminates physical wear between the magnet 2 and the magnetic sensor 4, improves the joystick's service life, and makes the push feel better. By using a magnet 2 with a groove 3 and optimizing the shape of the magnet 2, when the magnet 2 swings, the magnetic field at the position of the magnetic sensor 4 changes linearly with the swing angle of the magnet 2. The magnetic sensor 4 outputs the magnetic field change it senses, achieving linear output and transmitting linear feedback to the operator. This linear feedback can achieve the feedback effect of contact or mechanical resistance. By setting the magnet 2 with a groove 3, no software or hardware upgrades are required, which can reduce production costs. At the same time, the use of the magnetic sensor 4, a non-contact magnetoresistive method to achieve linear output, can also avoid the noise caused by mechanical resistance, providing the operator with a low-noise operating environment and ensuring the user experience of the cross joystick.

[0025] In this embodiment, the magnet 2 is axially magnetized, with magnetic poles distributed along its thickness. The first end a1 of the magnet 2 furthest from the remote control 1 is the S pole, and the corresponding second end a2 closer to the remote control 1 is the N pole; alternatively, the first end a1 furthest from the remote control 1 is the N pole, and the corresponding second end a2 closer to the remote control 1 is the S pole. By axially orienting the magnet 2 along its thickness, the magnetization direction is ensured to be perpendicular to the end face of the magnet 2. This concentrates the magnetic lines of force near the upper and lower end faces of the magnet 2, thereby increasing the magnetic field sensed by the magnetic sensor and improving output accuracy. Furthermore, the groove 3 on the magnet 2 ensures that the magnetic field sensed by the magnetic sensor during operation of the remote control 1 is a linearly changing magnetic field, resulting in a linear output. This provides linear feedback to the operator and offers a more comfortable feel.

[0026] In this embodiment, the magnetic sensor 4 employs a magnetic sensing element. Specifically, in this application, this magnetic sensing element can be a TMR (tunneling magnetoresistive) element. In alternative embodiments, the magnetic sensing element can also be other types of magnetic sensing elements.

[0027] In this embodiment, as Figure 2 As shown, the magnet 2 swings left and right around the rotating shaft 101 with the remote control lever 1. The maximum angular travel of the left and right swing with the central axis of the rotating shaft 101 as the reference is 19°. In alternative embodiments, the maximum swing angle of the magnet 2 driven by the remote control lever 1 can be increased or decreased as needed. In order to ensure the accuracy of the detection, the maximum angular travel range is generally 17°-26°.

[0028] In this embodiment, the diameter of the circular end face of the magnet 2 is D1, and the diameter of the groove opening of the groove 3 is D2, satisfying: 1 ≥ D2 : D1 ≥ 0.5; the axial thickness of the magnet 2 is H1, and the groove depth of the groove 3 is H2, satisfying: 1 > H2 : H1 ≥ 0.5; the included angle between the bottom wall of the groove 3 and the side wall of the groove 3 is α, satisfying: 150° ≥ α ≥ 90°. Specifically, as... Figure 4 As shown, the ratio of the axial thickness H1 of magnet 2 to the groove depth H2 of groove 3 is 2:1, and the included angle α between the bottom wall and the side wall of groove 3 is 120°. In alternative embodiments, the corresponding proportions of the size and shape of magnet 2, as well as the size of the included angle α, can be adjusted according to actual needs.

[0029] In this embodiment, as Figure 3 , Figure 4 , Figure 5 As shown, magnet 2 is cylindrical, and groove 3 is a body of revolution, with the central axis of groove 3 being the same as the central axis of magnet 2. Specifically, groove 3 is frustum-shaped. Furthermore, the axial thickness of cylindrical magnet 2 is less than its diameter, giving it an overall flattened cylindrical shape.

[0030] In alternative embodiments, such as Figure 6 As shown, groove 3 can be replaced with a rectangular groove; as Figure 7 As shown, groove 3 can be replaced with a cone shape, and the diameter of the end of the conical groove 3 furthest from the remote control lever 1 is 0; as Figure 8 As shown, groove 3 can be replaced with a spherical groove.

[0031] In this embodiment, one end of the remote control 1 is fixed to the center of the end face of the magnet 2 near the remote control 1; when the magnet 2 swings to a position where its circular end face is parallel to the magnetic sensor 4 (i.e., as shown in the image), Figure 1 At the position shown, the circular end face of magnet 2 is parallel to Figure 1 (As shown in the horizontal direction), the central axis of the magnetic sensor 4 and the central axis of the groove 3 are set coaxially.

[0032] In this embodiment, the groove 3 is configured such that the magnetic field of the magnet 2 at the sensing position of the magnetic sensor 4 changes linearly with the swing angle of the magnet 2. Specifically, when the magnet 2 swings with the remote control 1, the magnetic field sensed by the magnetic sensor 4 changes linearly with the swing angle of the magnet 2.

[0033] In this embodiment, the following is adopted: Figure 4 The magnetic field lines of the magnet 2 with groove 3 shown are distributed as follows: Figure 9 As shown in the diagram, the magnetization direction of magnet 2 is axial magnetization from bottom to top. The groove is located at the top. The magnetic field lines of magnet 2 start from the top (N pole) and eventually return to the bottom (S pole). Figure 9It can be seen that the magnetic field lines at the upper end (the upper end of the groove side) are convergent, while those at the lower end (the side without the groove) are divergent. When magnet 2 follows... Figure 2 As shown, when the remote control 1 swings left and right around the rotating shaft 101, the magnetic lines of force passing through the position of the magnetic sensor 4 form a magnetic field like... Figure 9 The arc-shaped strip above the groove shows the swing trajectory curve (this trajectory curve can also be called the swing trajectory of magnet 2 with remote control lever 1). Figure 9 The magnetic field change curve on the swing trajectory shown is as follows: Figure 10 As shown, it can be seen that the magnetic field on the swing trajectory exhibits a linear change with the swing angle, that is, it provides a linearly changing magnetic field for the magnetic sensor 4 to sense when the remote control lever 1 swings. Figure 10 As shown, the output curve of the magnet 2 with groove 3 in this application tends to be a straight line, and there is a linear relationship between the swing angle of the horizontal axis remote control lever 1 and the magnetic field strength on the vertical axis. Therefore, the magnitude of the magnetic field of the magnet 2 with groove 3 on the corresponding swing curve changes linearly with the swing angle. When combined with a magnetic sensor 4 with linear response (such as...), Figure 14 As shown, the output of magnetic sensor 4 changes linearly with the magnetic field. The output of magnetic sensor 4 can then achieve the following: Figure 13 The linear output curve shown indicates that the output of the magnetic sensor 4 changes linearly with the swing angle, thus providing linear feedback to the operator and offering a more comfortable feel.

[0034] After the magnet 2 is fitted with the groove 3, its magnetic field lines are distributed as follows: Figure 9 As shown, the magnetic field distribution on the side with the groove is different from that on the side without the groove. The magnitude of the magnetic field on the side with the groove along the oscillation trajectory varies with the oscillation angle as follows: Figure 10 The linear variation is shown. The magnitude of the magnetic field on the side without the groove, along the corresponding oscillation curve, varies non-linearly with the oscillation angle.

[0035] By taking, for example Figure 11 The magnetic field lines of the cylindrical magnet shown in the prior art are distributed in a divergent manner. This causes the magnetic field lines at the location of the magnetic sensor 4 to form a pattern when the cylindrical magnet oscillates. Figure 11 The arc-shaped bar above shows the swing trajectory curve (this trajectory curve can also be called the swing trajectory of the magnet). Figure 11 The magnetic field change curve on the swing trajectory shown is as follows: Figure 12As shown, it can be seen that the magnetic field along the swing trajectory exhibits a nonlinear relationship with the swing angle. This means the rate of change of the magnetic field strength at the sensor location with the swing angle is not uniform, and the relationship between the magnetic field strength at the sensor and the swing angle is complex and nonlinear. Therefore, the magnetic field strength of the magnetic field lines on the corresponding swing curve, without the use of a grooved magnet, varies nonlinearly with the swing angle. This means the output of the magnetic sensor also varies nonlinearly with the swing angle, thus providing nonlinear feedback to the operator and affecting the feel of the operation.

[0036] In this embodiment, Figure 13 This is a schematic diagram of the output curve of the magnetic sensor 4 provided in this invention, that is, the actual output curve of the magnetic sensor 4 when the entire remote control lever 1 swings. Figure 14 This is a schematic diagram of the response curve of the magnetic sensor 4 provided in this invention under ideal conditions. Figure 15 This is a schematic diagram of the magnetic field curve along an ideal swing trajectory. When magnet 2 swings, the magnetic field at the location of magnetic sensor 4 changes linearly with the swing angle of magnet 2 under ideal conditions, and is consistent with... Figure 10 The magnetic field curve generated during the actual implementation process corresponds to this. Figure 16 It is based on Figure 14 Magnetic sensor response curve and Figure 15 The linear output target curve obtained by magnetic field curve coupling, the output curve of magnetic sensor 4, that is, the relationship between the output of magnetic sensor 4 and the swing angle of remote control stick 1 (swing angle of magnet 2) is linear.

[0037] Specifically, since the design of the magnetic field curve is affected by factors such as the size, shape, and magnetization direction of magnet 2, it can be adjusted according to actual needs. A schematic diagram of the ideal magnetic field curve on the optimized swing trajectory is shown below. Figure 15 As shown, and as Figure 14 After coupling the response curve of the magnetic sensor 4 shown, the following can be obtained: Figure 16 The linear output curve shown provides linear feedback to the operator via the joystick, achieving the feedback effect of a contact / mechanical resistor.

[0038] It should be noted that the cross joystick provided by this invention is used as an example in game controllers. In addition, the cross joystick in this invention can also be applied to other products, such as controllers that require control precision, such as controllers for robots / drones / precision instruments. There are no limitations here, nor will they be listed one by one.

[0039] In summary, this type of cross joystick, by setting a magnetic sensor 4 that corresponds to and cooperates with the magnet 2, and by setting a non-contact spacing between the magnet 2 and the magnetic sensor 4, effectively eliminates physical wear between the magnet 2 and the magnetic sensor 4, thereby improving the joystick's lifespan and providing a better pushing feel. By using a magnet 2 with a groove 3 and optimizing the shape of the magnet 2, the magnetic field change sensed by the magnetic sensor 4 when the magnet 2 swings can output a linear response curve, transmitting linear feedback to the operator. This linear feedback can achieve the feedback effect of contact or mechanical resistance. By setting the magnet 2 with a groove 3, no software or hardware upgrades are required, which can reduce production costs. At the same time, using the magnetic sensor 4, a non-contact resistor, to achieve the linear curve output can also avoid the noise caused by mechanical resistance, providing the operator with a low-noise operating environment and ensuring a good user experience for the cross joystick.

[0040] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A cross-shaped rocker arm, characterized in that, The device includes a remote control stick (1), a magnet (2), and a magnetic sensor (4). The magnet (2) is fixedly connected to the remote control stick (1) and swings around the axis of a rotating shaft (101) with the remote control stick (1). The magnetic sensor (4) is spaced apart from the magnet (2) and is used to sense the magnetic field of the magnet (2). The magnet (2) is an axially magnetized concave columnar magnet, and a groove (3) is provided on the side of the magnet (2) facing the magnetic sensor (4).

2. The cross rocker arm according to claim 1, characterized in that, When the magnet (2) swings with the remote control (1), the magnetic field sensed by the magnetic sensor (4) is linearly related to the swing angle of the magnet (2).

3. The cross rocker arm according to claim 1, characterized in that, The magnetic sensor (4) is a TMR sensor.

4. The cross rocker arm according to claim 1, characterized in that, The magnet (2) is cylindrical, and the groove (3) is a rotating body. The central axis of the groove (3) is the same as the central axis of the magnet (2).

5. The cross rocker arm according to claim 4, characterized in that, The groove (3) has a rectangular or conical cross-section.

6. The cross rocker arm according to claim 4, characterized in that, One end of the remote control lever (1) is fixed to the center of the end face of the magnet (2) near the remote control lever (1); when the magnet (2) swings to a position where its circular end face is parallel to the magnetic sensor (4), the central axis of the magnetic sensor (4) and the central axis of the groove (3) are coaxial.

7. The cross rocker arm according to claim 4, characterized in that, The diameter of the circular end face of the magnet (2) is D1, and the diameter of the groove (3) is D2, satisfying: 1≥D2:D1≥0.

5.

8. The cross rocker arm according to claim 7, characterized in that, The axial thickness of the magnet (2) is H1, and the groove depth of the groove (3) is H2, satisfying: 1 > H2: H1 ≥ 0.

5.

9. The cross rocker arm according to claim 8, characterized in that, The included angle between the bottom wall of the groove (3) and the side wall of the groove (3) is a, which satisfies: 150°≥a≥90°.

10. The cross rocker arm according to claim 1, characterized in that, The maximum swing angle of the remote control lever (1) is ±17°-±26°.

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